Abstract:
A solar tracking system with a plurality of tracking assemblies moved by a single motor. A method and system that prevents overloading the motor or tripping a circuit breaker due to an obstructed or impeded tracker includes sensing movement of the tracker assemblies and entering into obstruction clearing modes. Obstruction clearing mode  1  (OCM 1 ) is a high frequency adjustable mode that prompts movement for an adjustable period of time. If movement commences, the system returns to a normal mode. If there is no movement, the system enters into an obstruction clearing mode  2  (OCM 2 ) with is an adjustable lower frequency series of attempts. If there is no movement, no further attempts are made. Each of these steps are monitored and controlled remotely. There are two types of secure connections for drivelines, torque tubes or affixing driveline linkages for high torque conditions.

Description:
RELATED APPLICATIONS 
     This application is a continuation-in-part application of U.S. patent application Ser. No. 12/137,764, entitled “SINGLE AXIS SOLAR TRACKING SYSTEM”, filed Jun. 12, 2008, which is incorporated herein by reference in its entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Invention (Technical Field) 
     The presently claimed invention relates to solar energy production and more particularly to a method and apparatus for constructing mechanically linked, single axis solar tracking systems of various tracking geometries to follow the diurnal motion of the sun. 
     Background Art 
     Solar tracking systems utilized in renewable energy production are devices that track the motion of the sun relative to the earth to maximize the production of solar energy. Solar trackers move to keep solar modules perpendicular to the sun in either one or two axes. The presently claimed invention applies to photovoltaic modules (PV) for generating electrical power, but may be applied to any solar energy collection device, such as solar thermal or materials exposure testing devices. Solar trackers have been successfully deployed in the industry; however, the prior art designs have not adequately addressed the initial installation costs, flexibility in adaptation to site conditions, and reliability over the relatively long lifetime (20+ years) of the system. In choosing a solar tracker system, one must consider all of the following variables:
         PV module cost,   land cost, site geometry and availability,   installation labor cost,   material cost,   meteorological data,   operation and maintenance costs,   overall efficiency increase that the tracker provides.       

     The state of the art approaches have not fully optimized the combination of all the relevant cost issues. The energy gain provided by trackers is dependent upon the tracking geometry of the system and the location of the installation. A dual axis (D/A) tracker keeps the collector perpendicular to the sun on both axis&#39;, and provides the greatest gain in energy production at any location. Single axis (S/A) trackers are fixed in one axis and typically track the daily motion of the sun in the other axis. Single axis tracker geometries include tilted elevation, azimuth, and horizontal. Tilted elevation S/A trackers are tilted as a function of the location&#39;s latitude and track the sun&#39;s daily motion about that tilted axis. Azimuth S/A trackers are tilted at an optimum angle and follow the daily motion of the sun by rotating about the vertical axis. Horizontal S/A trackers are configured parallel to the ground and rotate about a North/South horizontal axis to track the sun&#39;s daily motion. The energy gained varies for each type of tracking geometry and is dependent upon the latitude of the installation and the weather conditions at the installation location. Solar tracking systems for PV modules are commercially available in single axis tilt and roll, single axis horizontal, single axis fixed tilt azimuth, and dual axis geometries. 
     All trackers must be built strong enough to resist the wind forces in any tracking position or be “stowed” to reduce the effect of extreme wind forces. Modules also require periodic cleaning, which in many locations is primarily accomplished by rain “washing” the modules. Snow can impact tracker operations, due to the occurrence of ice or the weight of snow on modules, or snowdrifts that interfere with tracker movement and the collection of solar energy. In addition, construction materials, electronics, drive components, and motors must be able to operate within temperature and climate constraints. 
     In many applications, the horizontal single axis tracker is the most cost effective tracker geometry. A horizontal S/A tracker structure may be supported at many points along the rotating axis and, therefore, requires less complexity and less material for construction than other tracking geometries. The key to successful design of a tracking apparatus for PV modules is to provide the maximum overall economic benefit, such as the initial apparatus cost, the installation cost, the land utilization, the cost and efficiency of the solar modules, and the operation and maintenance costs as well as the efficiency gain provided by the tracking geometry. As the cost of steel and other fabrication material rises, the horizontal tracking geometry is increasingly desirable. It minimizes the structural material requirements by keeping the modules at a relatively low profile to the foundation, and at a minimum overhung moment load relative to the rotating axis without requiring special connections to rotate the system about its center of gravity. 
     The prior art horizontal axis trackers typically have connected each row of modules together with a linear motion linkage in an effort to minimize the number of drive motors required. Prior art mechanically linked horizontal and tilted single axis tracking systems require substantial mechanical linkages structurally capable of resisting high force loading due to overhung solar module weight and large forces induced by the wind. 
     The shortcoming of this prior art system is that all of the wind forces are concentrated to a single point, through the mechanical linkage. The embodiment of the presently claimed invention specifically eliminates the need for a robust mechanical linkage capable of resisting high-load forces induced by the wind. The design of the current embodiments eliminates the transmittance of these wind forces to the linkage, and counteracts the external wind forces locally, within each tracker row or array such that the wind force is not transmitted to the linkage. The prior art also requires a separate, large foundation, or foundations, to anchor a single drive mechanism that rotates many rows of modules with a linear motion motor. One such device is a horizontal, single axis tracking system described in U.S. Pat. No. 6,058,930, to Shingleton. In this system, the horizontal rows of modules are linked together with a linear motion linkage and operated by a single linear actuator attached to a separate, large foundation. In addition to the prior art horizontal axis, mechanically linked trackers require generally fiat or graded terrain for proper operation. Many columns must be installed at height elevations and locations requiring high tolerance within 100+ columns, across two dimensions in a large area, for mechanical linkages between rows to line up for operation. This often requires extensive and costly site preparation. Some prior art linked horizontal trackers have embodiments that allow for installation on undulating terrain, but require expensive joints that must be fabricated onsite that also must resist the large forces induced by the wind. These high force loaded pivoting joints are generally complicated and expensive to construct. Another disadvantage of the prior art is that they are designed as large rectangles with a linkage running down the center of the array field. If the installation field is not suitable in the shape of a rectangle, these systems are often employed in less than optimum configurations where fewer modules are controlled by the linkage. This is another cost increase factor for the prior art in many installations. The linear motion linkage of the prior art represents an excess of material and a labor-intensive installation cost component. The linkage must be robust in order to directly resist the force of an entire field of many rows of trackers to one large linear drive that must be affixed to a large separate linear actuator drive foundation. The separate, large foundation is necessary to anchor the drive mechanism and must resist very high forces induced by the wind to the entire tracker field. In addition, the flexibility in site layout is impacted by the linear motion linkage since the drive connection must run generally centered in the rows and be installed in a straight perpendicular line. The mechanical linkage of the prior art must be fixed at a right angle to the torsion tube and cannot deviate from perpendicular, therefore, not allowing the system to conform to irregular installation site boundaries. 
     Tracking geometries other than the horizontal single axis require more land area for installation. In a field of trackers, all the tracker geometries except for the horizontal axis tracker must be spaced in two dimensions, East/West and North/South, so as not to shade each other. The horizontal axis tracker need only be spaced apart in the East/West dimension to alleviate shading and, therefore, requires much less land to implement. Land contour and shape also critically control the cost of the installation of most horizontal single axis tracker systems. 
     Another type of horizontal axis tracker is not linked together and typically includes multiple PV modules mounted astride a torque tube. These are designed as independently motor driven rows. These horizontal trackers are driven individually by a motor/gear drive system and the PV array is rotated about the center of gravity of the PV module tracking system. Rotating the array about the center of gravity eliminates the moment loads applied to the gear drive by the overhung weight of the solar modules. In order to rotate the array about the center of gravity, this type of horizontal tracker design requires more structural material and more costly torque tube connections and bearings than the present horizontal axis tracker embodiments. Other disadvantages of these tracker designs include a higher projected wind area that requires more structural material and large foundations to resist greater moment loads and larger capacity drives to overcome moment loading from the solar modules that are mounted at a larger distance from the torque tube due to the taller profile of the array. They also have more complex bearing and support points that rotate the PV modules about the center of gravity of the tracker, and use a motor per single tracker row, which equates to increased cost, maintenance, and decreased reliability. 
     A third tracker geometry is a tilted, single axis tracker. Often termed a tilt and roll tracker, it is tilted in elevation and then rotates about that tilted axis. This type of tracker typically offers increased gain over a horizontal tracking system, but at an added cost that should be critically analyzed prior to deployment. These costs include the requirement for more land due to the spacing necessary for shading in both the N/S and E/W dimensions and a more complex structure requiring more structural material because of increased projected height from foundation. These systems are also not capable of automatic stow during high winds since the elevation angle is fixed and therefore, must be structurally capable of withstanding all wind forces. Another tilted single axis geometry is a fixed tilt azimuth tracker. A fixed tilt azimuth tracker is tilted in elevation and then rotates about a vertical axis. This design, although typically more structurally stable than a tilt and roll tracker, suffers from the same cost drawbacks as the tilt and roll design; although, the performance gain may make the tilted single axis geometry economic for some installations. 
     The last tracking geometry is a dual-axis (D/A) tracker. D/A trackers provide the greatest performance gain over all the aforementioned tracking geometries since they keep the solar modules perpendicular to the sun in both axes. There are; however, several practical disadvantages of these systems: more land is required due to spacing necessary for shading in two dimensions; a more complex structure is necessary that requires more structural material as a result of increased projected height from the earth and foundation; and a second drive axis for elevation is necessary, which increases complexity, expense, and maintenance issues. Also, D/A systems typically use two drive motors per a relatively small surface area of solar modules that results in increases in both initial cost and subsequent maintenance costs. Some types of solar collectors, concentrating collectors for example, require D/A tracking to operate. 
     As previously indicated, an ideal solar tracking system will operate in all types of conditions. This includes situations whereby a tracker&#39;s movement is impeded by obstructions or the like. If there are no safeguards in place, permanent damage can result in the tracker system when an obstruction condition exists. In addition, human intervention may be necessary to cure the condition. Sometimes, timely human intervention is impossible if the trackers are in remote locations and secondly, sending out a technician for every obstruction condition can be very costly. 
     Another need in a solar tracker system is the ability to have flexibility in the design of the systems to support different lengths of driveshafts for differing terrain conditions and systems. Presently, the fabrication of specific length of driveshafts requires field welding and painting. A similar problem exists for torsion tubes. A design for providing a simple method to join torsion tube segments together in the field is necessary. 
     SUMMARY OF THE INVENTION (DISCLOSURE OF THE INVENTION) 
     The presently claimed invention solves all of the problems listed above. An object of the presently claimed invention is to mechanically link multiple solar trackers in a large array configuration so that they operate in unison, driven by a single motor and tracker controller. The mechanical linkage system is favorably designed such that it must only be capable of withstanding the relatively low forces required to effect movement of the trackers without the requirement to resist the larger forces induced from the wind that is applied to the array of trackers. 
     Another object of the presently claimed invention is to contain these external wind forces within the supports of each individual solar tracker so that no extra foundations or attachments are necessary. A further object is to apply the drive principals to various solar single-axis tracking geometries to maximize the economic performance for each solar tracking application. 
     The mechanical drive system of the presently claimed invention advantageously links multiple single axis trackers together, moving many trackers through a simple and structurally minimal linkage to decrease cost and increase long-term reliability. The configuration of the mechanical linkage and gear drive assemblies allows the motor to move the linked trackers, yet eliminates the transmission of the external wind forces to the drive linkage. By exploiting the “one way” drive properties of the presently claimed invention, the mechanical linkage need only transmit the relatively small forces necessary to move the tracker, and is not subject to the relatively high forces induced by the wind on the tracker. An added benefit of the system is that a relatively small motor can move a large area of solar modules. The drive system of the presently claimed invention is applicable to all solar tracking geometries. The mechanical drive configuration results in a very reliable, flexible, low cost tracking method that is easy to install and maintain. The various embodiments of the presently claimed invention apply the drive system to the appropriate tracking geometry in order to maximize the economic benefit of the tracking system. 
     One aspect of the disclosed embodiments is to drive mechanically linked multiple rows of a horizontal S/A solar tracking collector assembly. Rows of solar modules are formed by affixing the solar modules to a general horizontally positioned torsion tube having its long axis oriented in a North/South (N/S) direction. Each row includes one or more supports to the North and South of center and as well as the possible use of a center support. A bearing is affixed at each torsion tube support such that rotary motion of the torsion tube may be affected through a single stage worm-gear drive assembly or through a worm-drive gear assembly, which includes a second stage gear that is affixed to the torsion tube and one or more supports. A driven, rotating drive shaft is affixed to both sides of the worm-drive assembly. The drive shaft may be positioned at right angles to the torsion tube and attached to each worm-gear drive to enable rotary motion of the torsion tube by applying rotary motion to the driven drive shaft. Back driving of the gearbox from wind forces applied to the system is virtually eliminated through the properties inherent in the design of the primary worm-drive gear assembly located at each tracker. The worm-drive gear assembly can be efficiently driven by the input of rotary motion from the drive shaft to the worm, but is very inefficient at transmitting rotary motion applied by the system on the worm-gear. Therefore, moment forces, induced by the wind, applied to the solar array cannot be effectively transmitted to the drive shaft linkage. The result is that the drive shaft does not need to resist the forces of the wind on the array and only transmits the driving force from the motor through a highly geared transmission system. This enables the drive shaft to be minimally constructed and allows for flexibility in its design and layout within the solar tracker array field. 
     A further embodiment of this aspect of the presently claimed invention is to incorporate articulating joints at the ends of each drive shaft to enable the tracker rows to vary in height and/or to translate in the N/S direction. The articulated drive shaft adds flexibility in array field layout. Array fields using articulating drive shaft joints may be constructed on undulating or slanted terrain and may be tailored to irregular installation site boundaries. The horizontal axis S/A tracker minimizes the required structural components, allows for a high-density ratio of installed modules to land area, and provides peak performance of a horizontal single axis solar tracking system through the use of a programmable backtracking scheme for early morning and late evening solar energy collection. 
     In addition to minimizing the number and weight of structural components, the horizontal tracking system reduces on-site construction labor and installation requirements. It also provides a means for stowing the array of modules in the event of a hurricane, typhoon or other potentially destructive weather event. Another object of the horizontal tracker embodiment is that even as module costs considerably decline, it should remain competitive as compared with fixed-mounted arrays since it incorporates a minimal amount of structural material. 
     A second embodiment of the claimed invention is to drive multiple tilt and roll S/A solar trackers using the same drive principles as in the horizontal tracking system. In this embodiment, variations of the worm-drive gear system can be effectively used to drive multiple tilt and roll solar trackers in an array field using only one motor and controller. Articulating joints on the drive shafts may also be incorporated to achieve the same flexibility as in the horizontal S/A tracker application. 
     A third embodiment of the presently claimed invention is to incorporate the drive system into a field application of multiple fixed tilt azimuth trackers. A specially designed vertical axis bearing may be designed into the support post of the tracker to place the gear drive connection close to the base of the tracker support in order to provide clearance for the rotary drive linkage system underneath the solar module array. A more conventional bearing system, such as a slew drive may also be incorporated in the fixed tilt azimuth tracking geometry if it is properly designed to withstand the load forces applied near the base of the array support. Another favorable application of the drive system is to incorporate the linked worm-gear drive into a carousel type fixed tilt azimuth tracking array field. In this embodiment, the tilted solar array is rotated on a large area circular bearing to track the sun. The carousel tracker may also be constructed in a low profile design for rooftop applications. 
     The embodiments described in this application are intended to provide a cost effective, long life and low maintenance solution for implementing solar tracking of photovoltaic (PV) or other solar modules for solar energy applications. The presently claimed invention addresses the general problem of how best to mount and track PV modules in order to maximize the economic return from a system installation, while incorporating a similar drive system and principles for each tracking geometry. Since the presently claimed invention may be incorporated in various tracking geometries, it allows for consideration of the balance between module efficiency as it relates to solar tracking geometries, land use, materials utilization, operation and maintenance costs, weather and climate, and installation cost. The current embodiment of the mechanically linked system is superior to the prior art because it eliminates the need for the drive system to resist the high load forces induced by the wind. Other benefits include the elimination of large separate foundation(s) to mount the drive system, the linkage requires less material than the prior art, the linkage also allows for much greater flexibility in field layout of the trackers and a single motor can drive a much larger tracker field. 
     The drive system of the presently claimed invention allows the linkage to be configured two ways: 1) with rigid connecting drive shafts for deployment on even terrain or 2) with articulating or universal joints at the end of the drive shafts for use on uneven terrain or irregularly-shaped layouts. Both linkages may be employed within a single tracker system to install on a field consisting of a combination of even and uneven terrain or irregularly shaped installation sites. 
     The preferred system also has an adjustable limit for the driveline torque applied by the motor to the driveline. The system monitors the torque via clutch slippage or power to the motor, sensors that monitor the movement of the tracker or other methods of monitoring, to determine an event that obstructs the movement of the tracker. A remote location monitors the status of each tracker system and sends commands via a communication system. Once the monitors or sensors detect an obstruction event, the system enters into an obstruction clearing mode  1  (OCM 1 ), which is an adjustable high frequency series of attempts to move the obstructed tracker for an adjustable predetermined amount of time. If the tracker begins normal movement as one of the series of attempts, the system continues in a normal fashion. If the obstruction condition persists after the predetermined period of time, the system enters into an obstruction clearing mode  2  (OCM 2 ). This mode is an adjustable lower frequency mode for an adjustable longer predetermined period of time. Again, if during this mode the tracker moves in a normal fashion, the system reverts back to normal operation. If the obstructed condition persists after the OCM 2 , the remote location is advised and maintenance personnel can be sent to the location. The remote location, during this entire process receives information and may send commands to the tracker system. 
     The obstruction clearing and monitoring system may be designed to prevent over-torque damage to the driveline or other components and prevents breakers from tripping which involves a visit by maintenance personnel to reset the breaker. 
     Another feature in the claimed invention is a method and system for securely connecting a round torsion tube or driveshaft to driveline linkage, such as an articulating joint, or to splice two ends of a round tube in a tracker system. The preferred system has a first end with an 8 shaped configuration and a second end with the same 8 shaped configuration; however, the second end is smaller to allow the second end to be inserted into the first end. In the valley of the 8 shape are keys that are bolted through the first end and second end to form a tight, concentric, keyed driveline connection. This method and system allows for inexpensive fabrication of varying length tubes in a factory and requires no field welding or preparation. The resultant connection is easy to assemble, is adjustable in length, provides for excellent concentricity, tightness, and the ability to transmit high torque loads without failure. 
     A second connection method and system are disclosed for a square tube or driveshaft configuration. A coupler is provided with a spacer plate for insertion into a corner of the coupler. A first end of the square tube is inserted into coupler and spacer plate until it contacts a stop pin in the coupler. The second end is similarly inserted. Push bolts are tightened into threaded apertures in the coupler, pushing spacer plate onto the first and second ends of the square tube. In addition, gouge bolts are tightened into additional threaded apertures, through the space plate and gouge into the first and second end. This connection also avoids field welding and provides for a tight and efficient connection for all square tube splicing in tracker systems. 
     Other objects, advantages and novel features, and further scope of applicability of the presently claimed invention will be set forth in part in the detailed description to follow, taken in conjunction with the accompanying drawings, and in part will become apparent to those skilled in the art upon examination of the following, or may be learned by practice of the claimed invention. The objects and advantages of the claimed invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated into and form a part of the specification, illustrate several embodiments of the presently claimed invention and, together with the description, serve to explain the principles of the claimed invention. The drawings are only for the purpose of illustrating preferred embodiments of the claimed invention and are not to be construed as limiting the claimed invention. The drawings are included in the description below. 
         FIG. 1A  shows the mechanically linked horizontal tracker embodiment with a worm-gear assembly for driving a spur gear rack and another worm-gear assembly for driving a D-Ring chain drive. 
         FIG. 1B  shows a worm-gear assembly for driving a cable drive. 
         FIG. 2  shows a direct drive horizontal tracker system. 
         FIG. 3A  shows the worm-gear assembly for the D-ring chain drive embodiment. 
         FIG. 3B  shows the worm-gear assembly for the spur gear rack assembly. 
         FIG. 4  shows the articulating joints. 
         FIG. 5  is an elevation showing hydraulic dampeners installed on each tracker row to enable greater capacity per row. 
         FIG. 6  shows the mechanically linked worm-drive gearbox incorporated into a tilt and roll solar tracker. 
         FIG. 7  shows the mechanically linked worm-drive gearbox incorporated into a fixed tilt azimuth tracker. 
         FIG. 8A  shows the rotating support tube assembly of  FIG. 7 . 
         FIG. 8B  shows a worm-gear assembly affixed to the vertical support of a fixed tilt azimuth tracker. 
         FIG. 9  shows the mechanically linked worm-drive gearbox incorporated into a fixed tilt carousel solar tracker. 
         FIG. 10  is a flow chart showing the preferred adjustable limit embodiment for over torque conditions. 
         FIG. 11  shows an exploded view of the preferred connection for a circular or round shaft to a u-joint end. 
         FIG. 12  shows the embodiment of  FIG. 11  in a connected state. 
         FIG. 13  shows an exploded view of the preferred square tube coupler. 
         FIG. 14  shows the embodiment of  FIG. 13  in a completed state. 
         FIG. 15  shows the preferred square tube coupler adjoining two square tubes. 
     
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     Best Modes for Carrying Out the Invention 
     The presently claimed invention has four tracker embodiments, a horizontal axis, a fixed tilt azimuth, tilt and roll, and a carousel tracker with the commonality of being linked together mechanically and operated by a rotary driven worm-drive system. All the tracker geometries incorporate a worm-gear primary drive, either attached to the tracker frame directly or through a secondary stage such as a spur gear rack, D-ring chain drive, or cable system mounted to one or two column supports for the tracker. The disclosed embodiment allows many tracker rows to be driven by one drive motor through the mechanical drive shaft linkage, which does not need to resist the external forces applied to the array. 
     Horizontal Single Axis 
     The mechanically linked horizontal, single axis embodiment of the presently claimed invention is a tracking assembly  10  for pointing one or more solar panels or PV modules  12  towards the sun, as shown in  FIG. 1A . Drive mechanism  14 , in this case a drive motor, provides the power to a drive shaft  28  and associated linkage to move PV modules  12 . The preferred driving mechanism  14  is a drive motor with a brake  15  for limiting motor run-on after de-energizing and resisting motor coast and back forces. In the embodiment of  FIG. 1A , drive mechanism  14  rotates drive shaft  28 , which in turn drives worm-gear assembly or drive box  26 , as described below. In the embodiment shown in  FIG. 1A , a drive worm-gear assembly is transferring the power to drive shaft  28 . This assembly utilizes a rotating torsion tube  16 , in this case, horizontal, in the North/South direction, on which PV modules  12  are mounted, using mounting methods well known in the art, such as U bolts  18 , clamps or other well know module mounting systems. Torsion tube  16  is inserted into bearings  20 , with bearing surfaces such as no maintenance polymer bushings, which are attached to support columns  22 . Drive mechanism or motor  14  drives a worm-gear drive box  26 , which in turn, rotates the torsion tube  16  directly, as shown in  FIG. 2 , or drives a secondary element, which in turn drives the torsion tube. In  FIG. 1A , the secondary element is a spur gear rack  30  or D-ring chain drive  34 , which is affixed to torsion tube  16 . The secondary element can also be a cable drive assembly or other drive assemblies well known in the art. (not shown). Thus, when activated by drive mechanism  14  PV modules  12  are rotated. A second, third, etc. tracking assembly, similar to tracking assembly  10  can be connected to drive shaft  28 , in this embodiment on shaft end  30 , with a separate and similar worm assembly. This can be repeated for several tracking assemblies. Thus, one motor  14  can drive a plurality of tracking assemblies. Mechanically linking the trackers in a field reduces the system complexity, operation and maintenance costs, and increases reliability. 
       FIG. 2  shows a direct drive horizontal tracker system. In this embodiment, motor  14  directly drives worm-gear assemblies  26 , which rotate torsion tubes  16 . This provides rotation movement to PV modules  12 . 
       FIGS. 3A and 3B  show the worm-gear assemblies. One of the worm-gear assemblies  26  and  26 ′ are provided at each tracker location and are driven by drive shaft or by drive mechanism. Typically this assembly contains worm  36  and worm-gear  38 . Worm  36  is affixed to drive shaft  28  by means well known in the art.  FIG. 3A  shows worm-gear assembly  26  for driving a D-ring chain drive. Worm-gear  38  is affixed to sprocket  41  for D-ring chain drive assembly  34 .  FIG. 3B  shows worm-gear assembly  26 ′ for driving spur gear rack assembly  30  by affixing drive gear  42  of spur gear rack assembly  30  to worm-gear  38 . Any combination of worm-gear assemblies  26  and  26 ′ can be used in the four embodiments as described herein.  FIG. 1B  shows the worm-gear assembly  26 ″ driving a cable drive  33 . 
     With the mechanically linked worm-drive assembly  26  and  26 ′ design, the site may be graded level to achieve the simplest installation. The mechanically linked design can also be deployed on an ungraded, slanted, or undulating terrain with the addition of articulating joints  40 , such as swivel connections or universal joints in the drive shafts  28 .  FIG. 4  shows an embodiment of a tracker system for use on uneven terrain. Articulating joints  40  compensate for the non-linearity between the trackers in both the horizontal and vertical direction to allow drive shaft  28  to connect to the next tracker without precision leveling and precise location of the next tracker in relation to the first tracker. Again, this articulating joint feature can be used with any of the embodiments disclosed herein. 
     If it is determined not to grade the site level, then only the columns for each single tracker row must be located with precision. Columns for subsequent trackers in a field may be located with little elevation tolerance relative to other tracker rows. Field site preparation, such as grading, is then minimized since the column height from tracker to tracker may be varied. 
     Referring again to  FIG. 1A , support columns  22  are preferably fabricated from round steel galvanized tubing. In a ground based installation, multiple columns  22  are vertically attached to the earth in a straight line using a concrete foundation, columns driven into the ground, a screw type foundation or other foundation arrangement (not shown). For mounting to other structures such as a commercial rooftop or carport, columns  22  are attached to the structure support members (not shown). It may be desirable when mounting to another structure to use an A-Frame support design instead of a vertical tube column in order to distribute the forces over a greater area to the host structure (not shown). 
     Torque tube  16 , preferably square, may be inserted into polymer UHMW bearings  20  designed to center the square torsion tube into the round bearing housing at the top of columns  22 . This torque tube  16  may be comprised of several pieces joined together. The joints may be formed by a swaged connection where one tube is formed with a smaller section to fit into the next tube (not shown). These joints may then be welded together to insure a secure connection (not shown). All welds should be cleaned and painted to avert corrosion. 
     Bearing assembly  20 , preferably UHMW bearings, is installed on the top of the columns  22 , which preferably is a set of tubes joined at ninety degrees (90°), forming a tee. The vertical portion of the tube may form a sleeve to mount over or inside of column  22 . This sleeve may be secured to the column with set bolts that burrow into the round column, and may be further secured with a roll pin pressed into a hole in the two parts, or may simply be welded to the column. Bearing assembly  20  may also be fabricated with a plate or plates that bolt to a vertical support (not shown). 
     Inside the horizontal tube of the bearing tee is an injection-molded polymer bearing, or the like, that has an inside shape conforming to torque tube  16 , and a round outside diameter. This bearing may be made from a polymer material such as UHMW polyethylene with UV inhibitors and may be filled with a lubricant. This bearing may be formed by two separate pieces to facilitate installation into the tee housing. 
     Spur-gear rack  30 , D-ring chain drive assembly  34  or cable drive system (not shown), is connected to torque tube  16  preferably in the center of the tracker row. A circular gear or D-ring chain drive assembly  30  allows for a constant leverage point to resist wind-load forces applied to the array. Linear actuator driven systems translate linear motion into rotary motion, and must resist higher loads due to the fact that the attachment of the actuator to the torque tube changes angle as a cosine function while the tracker rotates. This results in the linear actuator having to resist higher loads than a circular gear or chain drive system. Worm-drive gearbox  26  is mounted to one or two of the center support columns  22  of the tracker, and coupled to a spur-gear rack, D-ring chain drive  30  or cable drive. Each tracker row worm-drive gearbox  26  is connected to the next using rotating drive shafts  28 . The design of worm-gear drive  26  and linkage system eliminates the transfer of wind-load forces to the linkage. The worm-gear drive mechanism  26  resists the wind-load forces locally, within the tracker supports, at each tracker. This design incorporates a rotating drive shaft-linked  28 , worm-gear drive system  26  to rotate many trackers with one motor. 
     As shown in  FIG. 5 , harmonic dampeners  32  may be installed along the length of torque tube  16  at column locations  22 , to decouple the structure from wind-induced forces. Harmonic dampeners  32  increase the number of modules that can be mounted onto a longer torque tube  16  without increasing the stiffness and cost of the supporting structure. Using dampeners  32  eliminates the need to increase the size of torsion tube  16 , while allowing more modules  12  to be mounted onto the same cross-section size tube  16 . The result is that the center of gravity of the array remains close to bearings  20 , which minimizes the overhung weight loading to the drive system and spreads the cost of the gear drive over a larger tracker row size. 
     As shown in  FIGS. 1A and 2 , a row of single solar modules  12  connects to a torsion tube  16  with a mounting apparatus  18  comprising a module frame clamp, a module laminate connection or a module-mounting rail. Connection  18  to torque tube  16  may be made using a square bend U bolt or two bolts and a plate to form a clamp around torque tube  16  or module mounting rails. This arrangement forms a long row of solar modules  12  that rotate East and West as drive system  14  rotates torque tube  16 . An important consideration is to minimize the over-hung rotational moment that the overhung weight of the modules creates. This may be accomplished by directly connecting the module frames to torque tube  16 , or if necessary, using a module rail with a minimum depth, or offset, from the surface of torque tube  16 . 
     Mechanically linked Tilted S/A Tracker 
     The mechanically linked tilt and roll, single axis  44  embodiment of the present invention is a tracking system for pointing one or more solar panels or PV modules  12  towards the sun, and is shown in  FIG. 6 . Drive mechanism (not shown) as previously described, provides the power and linkage to move PV modules  12  via drive shaft  28 . Drive mechanism utilizes a rotating torsion tube  16 , in this case, tilted, in the North/South direction, incorporating mounting rails on which PV modules  12  are mounted. Torsion tube  16  is inserted into the upper bearing  20 , with bearing surfaces such as no maintenance polymer bushings, which is attached to the upper support columns  22 . A combination thrust and radial bearing can be incorporated into worm-drive gearbox  26  to resist the downward and radial forces exerted on the array. As previously described, motor (not shown) drives a worm-gear drive box  26 , which in turn, rotates the torsion tube  16  directly or drives a secondary element, which in turn drives the torsion tube. A spur gear rack or D-ring chain drive, as previously described can be affixed to torsion tube (not shown). Thus, when activated by drive mechanism, PV modules  12  are rotated. Thus, one motor can drive a plurality of drive mechanisms. The mechanically linked tilt and roll tracker  44  exploits the same “one way” drive mechanism as the horizontal tracking system embodiment and thereby transmits only the forces necessary to rotate the PV array and the wind forces are resisted locally within each tracker array. 
     Mechanically Linked Fixed Tilt Azimuth Tracker 
     The mechanically linked fixed tilt azimuth single axis tracker  50  embodiment of the presently claimed invention is shown in  FIG. 7 . This embodiment is also a tracking system for pointing one or more solar panels or PV modules  12  towards the sun. The preferred drive mechanism was previously described and is similar to the description. Drive mechanism utilizes a rotating support tube assembly  52 , in this case, vertical, and incorporating a structure with mounting rails  54  on which PV modules  12  are mounted. As in the previous embodiments, a worm-gear assembly  56  is driven by drive shaft  28 , which in turn rotates outer vertical tube  58  along with mounted PV modules  12 . The rotating tube assembly  52  is shown in  FIG. 8A . Outer vertical support tube  60  is inserted over top bearings  62  that are affixed to the top and the circumference of inner vertical support tube  64 . Top bearing  62  preferably includes a thrust and radial bearing surface as achieved for example with a tapered roller bearing. Drive motor (not shown), as previously described, drives worm-gear drive box  66 , which in turn, rotates the torsion tube  68  directly or drives a secondary element which in turn drives the torsion tube (not shown). A spur gear rack or D-ring chain drive can also be affixed to torsion tube  68 , as previously described. To more clearly shown the drive mechanism for this embodiment,  FIG. 8B  shows a dose up view of worm  70  driving circular worm-gear  72 , causing outer vertical support tube  60  to rotate. Thus, when activated by drive mechanism PV modules  12  are rotated. Another design of the fixed tilt azimuth tracker incorporates a slew drive bearing and worm-drive mechanism to rotate and support the PV array. The gear drive is located sufficiently low on the support structure so that the rotating linkage does not interfere with the PV modules as they rotate. For a mechanical linkage as shown in  FIG. 7 , drive shaft  28  is driven by a motor through a worm-gear drive box  56 , which in turn is affixed to a second drive mechanism for concurrently rotating a second set of PV modules  12 . Thus, one motor  24  can drive a plurality of drive mechanisms. The mechanically linked fixed tilt azimuth tracker exploits the same “one way” drive mechanism as the horizontal tracking system embodiment thereby resisting the wind forces locally within each tracked array. 
     Mechanically Linked Carousel Azimuth Tracker 
     The mechanically linked carousel azimuth tracker is shown in  FIG. 9 . The mechanically linked carousel azimuth single axis tracker embodiment of the presently claimed invention is also a tracking system for pointing one or more solar panels or PV modules  12  towards the sun. Drive mechanism, previously described, provides the power and linkage to move PV modules  12  for each carousel tracker assembly  70 . In this embodiment, each carousel tracker assembly  70  is rotated in unison, as shown. Drive mechanism provides the power and linkage to move PV modules via drive shaft  28 . Drive mechanism utilizes a mechanically linked worm-drive gearbox  72  in conjunction with a large diameter, bearing ring  74  on which PV array  12  rotates. Worm-drive gearbox  72  rotates large diameter ring  74  through the uses of a secondary assembly such as a rack and pinion gear, chain drive or cable drive system (not shown). Rotating drive shaft  28  rotates the worm, which in turn rotates the worm-gear, which then rotates a spur gear, pulley or chain sprocket, which rotates large diameter bearing ring  74 . The bearing incorporates both radial and thrust bearing surfaces. These bearing surfaces may be constructed of polymer bushings, or machined rollers. PV array  12  of carousel tracker  70  may also be configured in a low profile to minimize wind loads and may be suitable for use on rooftop applications. Carousel tracker  70  exploits the same mechanically linked “one way” drive mechanism as the horizontal tracking system embodiment and thereby allowing many trackers to be driven by one motor. The external wind forces on the trackers are resisted locally within each tracked array. 
     Tracker Controller 
     The microprocessor tracker control system may incorporate a global positioning system (GPS) to obtain location and time information and to automatically update and compensate for the internal clock drift of the electronics. Time, date, and location information will be used by the microprocessor controller to calculate the solar position and move the tracking system to maximize the exposure of the modules to the sun. The solar tracking algorithms are well known and published. The system may also have external inputs such as a wind speed monitor to enable the trackers to be automatically feathered in the event of a severe windstorm. The control system may include a manual override function to manually manipulate the tracker position for installation or maintenance. This control system may also incorporate diagnostics, such as tracker functionality and/or array output monitoring. 
     The control system interacts with the motorized portion of the drive system and the data collection system. The gear-drive assembly will incorporate a position feedback mechanism, preferably digital, to allow the microprocessor to move the tracker into a desired position and keep track of whether the tracker is functioning properly. The motorized assembly incorporates an end of travel indicator that will allow the microprocessor to know that it is in the “end” position assuring that the motor will not drive the trackers past their mechanical limits, and allowing the position of the tracker to reset itself once per day to avoid accumulation of position error. The motor should incorporate a means of dynamic overload protection. If the tracker fails to move due to mechanical failure or motor overload, the control system should be capable of detecting the malfunction, stop the operation, and record or transmit the information. 
     Many of the motorized tracker drives may be connected to a single controller in either a wired or wireless network configuration. Multiple master controllers in a large solar field configuration may be networked together. The control system may record and communicate current tracker positions. It may also record and communicate faults in the tracker system to a supervisory control system. Other enhancements to the control system may include PV output monitoring on each tracker. Since the entire module output falls to near zero if it is partially shaded, it is necessary to incorporate a back-tracking scheme which will rotate the modules in the opposite direction of the sun, in order to eliminate one tracker from shading another in the early morning and evening as the sun is close to the horizon. The back-tracking scenario may be calculated from the sun angle, the height of the array, and the spacing between trackers. Individual trackers may back-track at different rates based upon the mounting height of the trackers in relation to the adjoining trackers. 
     For smaller installations where fewer trackers are installed, a simpler optical, dosed loop tracking system can be used instead of the open loop microprocessor control as described above. 
       FIG. 10  is a flow chart that shows the preferred method of incorporating an adjustable limit to the driveline torque that can be applied by the motor to a driveline. In most tracker systems, when a tracker is impeded by an obstacle, or heavy snow load or the like, the circuit breaker for the motor is tripped causing a person to go out to the stuck tracker to reset the circuit breaker even if the obstacle is removed or the stuck condition goes away. For example, if a heavy snow has fallen and temporarily impedes the movement of the tracker. The presently claimed invention provides a system to temporarily remove power to the motor for a predetermined amount of time and to then provide power to the motor again once the impeded condition is cleared or to continue to prevent power to the motor if the condition continues after at least one reset cycle. The determination of the amount of driveline torque or lack of movement of the tracker can be accomplished in several methods. Clutch slippage can be determined, a sensor can be mounted on the tracker to sense movement, the amount of power used by the motor can be monitored for a predetermined level or any other similar method can be employed, each of these methods, collectively defined, as sensing movement of the tracker assembly. 
     Referring to  FIGS. 1 and 10 , the preferred system and method first calculates a position  150  in a programmable logic control (PLC)  152 , as performed in most tracker systems. The system then sends a prompt to move the tracker  154 , if necessary. If the tracker is in a correct position and does not need to be moved  156  the system reverts to calculate position  150  mode. This information is conveyed to a remote supervisory control and data acquisition (SCADA)  180 , via an onboard controller  17 . SCADA  180  provides communication to and from one or more tracker systems via typical communication networks  19 . If the tracker requires movement  158 , a prompt is sent to tracker motor  14  to move the tracker. Tracker position feedback  160  is provided from tracker motor  14  and a determination as to whether the tracker is moving  162 , via a movement sensor  21 . If the tracker is moving  164 , the system is operating normally and the system feeds back to calculate position  150  mode. If the tracker is not moving  166 , the system enters into obstruction clearing mode  1  (OCM 1 )  168  and PLC  152  sends a signal to SCADA  180 . OCM 1   168  is typically a high frequency attempt to move the tracker for a predetermined amount of time by prompting  170  tracker motor  14  and sending a signal to calculate position  150 . For example, this can be once per minute for a thirty minute period of time. The frequency and the time period are fully adjustable by a user. OCM 1   168  is typically sufficient to compensate for a momentary wind event or a temporary obstruction. If the tracker moves as instructed during the OCM 1  period, the tracker is operating in a normal fashion again and reported  172  to SCADA  180  and to calculate position  150 . 
     After the predetermined amount of time is exhausted in OCM 1   168  mode and there is still a no movement condition, a prompt  174  is provided and the system enters an obstruction clearing mode  2  (OCM 2 )  176  via a message from SCADA  180 . OCM 2   176  is typically a lower frequency attempt to move the tracker, for example once every twenty minutes, for a longer period of time, for example two weeks. Again the frequency and time period are fully adjustable by the user. OCM 2   176  is designed for longer term obstruction events, such as a lingering snow storm. If during OCM 2   176  time period, the tracker begins movement, this is reported  178  to SCADA  180  and to calculate position  150  and the system operates in a normal fashion. If after the OCM 2  time period and no movement of the tracker are measured, the system ceases all movement attempts and reports to SCADA  180  that a malfunction condition exists and maintenance crew can be dispatched to the site. 
     The state of the art presently requires welded terminations or splices which are very costly and inflexible for drive-shafts. A welded termination is typically used by welding the end to a driveline yoke or the like. Round tubing is the most efficient and requires the least material for construction for transmitting torque.  FIGS. 11 and 12  show the preferred embodiment for a coupler for round tubes or a connector to the driveline linkage, such as u-joints as shown in the figures. As shown in  FIG. 11 , coupler  100  is formed on round shaft  110 . Coupler  100  has an 8 shaped end  112  with opposing indented grooves  114  which are semicircular and located in the center of 8 shaped ends  112 . One or more coupler apertures  118  are drilled through opposing indented grooves  114 , as shown. Indented grooves  114  are configured to accept half round shaped compression keys  116 . Compression keys  116  have complimentary key apertures  120  that correspond to coupler apertures  118  for insertion of coupler bolts  122 , coupler washers  124 , coupler lock washers  128 , and coupler nuts  126 . 
     Component end  130  has a similar 8 shaped component end  132  that is configured to be inserted inside of 8 shaped end  112  within an optimized tolerance. Inside component indented grooves  134  is an elongated slot  136  for accepting bolts  122  and to make the connection adjustable.  FIG. 12  shows the connection between coupler  100  and component end  130  with bolts  122  inserted through opposing compression keys  116 , coupler apertures  118 , elongated slot  136  and tightened coupler nuts  126 . The structural elements and compression method for coupling round shaft  110  to component  138  provides for an easy system for providing a robust connection. This also provides for a tight, concentric and keyed driveline connection that is inexpensive to fabricate and will accommodate varying length drive-shafts in the factory and does not require field welding or painting. The resulting connection is easy to assemble, is adjustable in length and has excellent concentricity, tightness, and the ability to transmit high torque loads. 
       FIGS. 13, 14, and 15  show the preferred coupler for a square torsion tube or driveline. Coupler  200  is a square tube with an internal dimension larger than a torsion tube  202  or square driveline.  FIG. 13  is an exploded view of coupler  200 .  FIG. 14  shows coupler  200  as assembled and  FIG. 15  shows coupler  200  splicing opposing torsion tubes  202 . Coupler  200  comprises housing  204  with a length  206  sufficient to hold both ends of torsion tube  202  in a stable position and to align two opposing torsion tubes  202 . Preferred coupler  200  has a spacer plate  208  which is an angled structure configured to be sandwiched between housing  204  and torsion tubes  202  when torsion tubes  202  are inserted into housing  204 . Spacer plate  208  is used for further stability and alignment of opposing torsion tubes  202 . Spacer plate  208  has two through bolt apertures  210  and a stop pin aperture  212  located substantially in the center of spacer plate  208 . Housing  204  has two threaded pressing apertures  214  with pressing bolts  216  for pressing against spacer plate  208  when pressing bolts  216  are tightened, thus, pressing spacer plate  208  against opposing torsion tubes  202 . Housing  204  also has two threaded gouging apertures  218  and two gouging bolts  220  that are tightened into threaded gouging apertures  218 . Gouging apertures  218  are substantially aligned with through bolt apertures  210  to allow gouging bolts  220  to contact or gouge into torsion tubes  202  when tightened. Housing  204  preferably has a stop pin  222 , which can be a rivet, bolt or pin, affixed to a center of housing  204  to serve as a stop for insertion of torsion tubes  202  into housing  204 . Although, this disclosure and the drawings show two threaded gouging apertures  218  and two threaded pressing apertures  214  with corresponding bolts, this disclosure is intended to cover any number of them, thus the number can be increased or decreased depending on the application. 
     Although this description referred to PV modules, the presently claimed invention can also be used to track solar heat collectors, building shade systems, sunlight exposure testing of materials, and other systems that require tracking of the sun. 
     Although the claimed invention has been described in detail with particular reference to these preferred embodiments, other embodiments can achieve the same results. Variations and modifications of the presently claimed invention will be obvious to those skilled in the art and it is intended to cover in the appended claims all such modifications and equivalents. The entire disclosures of all references, applications, patents, and publications cited above, are hereby incorporated by reference.