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15-19 

15 

 

 

 

Article 

Design and implementation of a dual-axis sun 

tracker for an Arduino-based micro-controller 

photovoltaic system 
Lin Fung Wong, Hadi Nabipour Afrouzi*, Jalal Tavalaei 

 Faculty of Engineering, Computing and Science, Swinburne University of Technology Sarawak 93350, Kuching, Malaysia 

A R T I C L E   I N F O 
 

Article history: 
Received 04 March 2024  
Received in revised form 
06 April 2024 
Accepted 16 May 2024 
 
Keywords:  
Solar panel, Arduino uno, Tracking system,  
Dual axis, Fixed PV system 
 
*Corresponding author 
Email address: 
HAfrouzi@swinburne.edu.my  
 
 
DOI: 10.55670/fpll.futech.3.3.3 
 

A B S T R A C T 
 

This research investigates the optimization of solar panel performance by 
designing and implementing a low-cost Dual-Axis Sun Tracker (DAST) for an 
Arduino-based Microcontroller Photovoltaic System. The primary aim is to 
enhance solar energy extraction by precisely aligning the panel perpendicular 
to the sun's position, maximizing output voltage and current efficiency 
compared to fixed systems. The DAST employs two micro servo motors, SG90, 
controlled by a specialized chronological algorithm in offline mode, ensuring 
strategic alignment and scheduled adjustments. A comprehensive evaluation of 
the DAST's performance is conducted, contrasting it with a Fixed System to 
underscore the advantages of solar tracking. As a result, a DAST produces 
higher output than a fixed system by 0.896W during sunny days and 0.206W 
during cloudy days. Besides, the efficiency of PV panels in the DAST is 71.65%, 
and fixed is 49.66% during sunny days, while DAST is 22.96% and fixed is 
17.91% during cloudy days. 

 

1. Introduction 

Malaysia consists of West Malaysia and East Malaysia, 

located on the island of Kalimantan. Due to its location in the 

equatorial zone, Malaysia experiences a constant high daily 

average temperature ranging from 21°C to 32°C. Additionally, 

it receives an average of 4000-5000 Wh/m2 of daily solar 

radiation and approximately 1643 kWh/m2 of energy on a 

yearly basis. The country also receives an average of 4 to 8 

hours of sunshine per day. This implies that Malaysia receives 

a significant amount of solar radiation throughout the year, 

making solar energy a viable energy source. With the 

increasing population of Malaysia, it is estimated that 

electrical energy demand soar to 274 TWh in the year 2030. 

Recently, Malaysia has been producing its electricity 

primarily from five different sources: oil, coal, natural gas, 

hydropower, and other fuels like biomass, biogas, and solar. 

As of the end of 2010, the fuel mix used to generate power was 

as follows: 57% natural gas, 24.1% coal, 8.4% hydro, 6.4% 

oil/diesel, and 4.2% biomass/others [1]. Malaysia aims to 

achieve a target of obtaining 25% of its energy from 

renewable sources overall by 2050. Solar energy is one of the 

renewable energy sources in this situation, and it can be 

pragmatically fitted because it is an affordable, clean, and 

green energy source that is broadly used anywhere. Unlike 

fossil fuels, which significantly negatively influence the 

environment, climate, resources, and future generations, 

solar energy is a greenhouse gases free source. Solar 

photovoltaic (PV) energy is a type of renewable energy 

generated by a solar cell system that utilizes PV technology to 

convert solar irradiation into electrical energy. Currently, 

solar PV projects have become more affordable than the 

marginal costs of fossil fuels on a global scale [2]. In addition 

to exploring new materials for PV cells, researchers have 

proposed various alternative approaches. One such approach 

is the concentrated photovoltaic (CPV) system, which 

concentrates a large amount of sunlight onto PV cells. Another 

method involves using maximum power point trackers, which 

track and operate on the maximum power point of the PV 

arrays to draw maximum power. Solar tracking is also a useful 

approach, as it follows the sun's path to maximize the solar 

energy captured from the sun. Therefore, this research aims 

to design and develop an Arduino-based Dual Axis Solar 

Tracker (DAST) for energy improvement of solar PV panels to 

maximize the captured power. Despite the equatorial location 

having ample sunshine, the DAST still chases an accurate 

power grasp in order to prioritize and ascertain the DAST 

 

 

Future Technology 

Open Access Journal 

https://doi.org/10.55670/fpll.futech.3.3.3 

 

 

 

 

 

 

 

 

August 2024| Volume 03 | Issue 03 | Pages 15-19  

Journal homepage: https://fupubco.com/futech 

 

ISSN 2832-0379 

mailto:HAfrouzi@swinburne.edu.my
https://doi.org/10.55670/fpll.futech.3.3.3
https://fupubco.com/futech
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LF. Wong et al. /Future Technology                                                                                           August 2024| Volume 03 | Issue 03 | Pages 15-19 

16 

 

benefits over the region's Static Solar System (SSS). Precisely 

directing maximum light intensity toward solar modules as 

the sun moves is crucial for optimizing power output [3]. 

Previous efforts include tracking systems utilizing fuzzy logic, 

programmable logic controllers (PLCs), closed-loop servo 

systems, and stepper motors with light sensors [4]. Therefore, 

designing a DAST with a procedure for tracking the sun's 

position (sun path) using an offline approach is proposed. 

2. Literature review 

2.1 Solar energy in Malaysia 

With the decrease in the cost of solar panels, the 

accessibility and affordability of solar power have greatly 

improved. This has led to a significant rise in the number of 

solar PV installations across the country. As more individuals 

and businesses recognize the benefits of solar energy, there 

has been a notable surge in the adoption of solar power 

systems. This trend can be attributed to the favorable 

economic and environmental factors associated with solar 

energy, including reduced electricity costs and a cleaner, 

more sustainable energy source. However, Malaysia’s solar 

energy applications primarily consist of two types: solar 

thermal applications and PV technologies. Solar thermal 

energy (STE) involves harnessing solar energy to generate 

thermal or heat energy [5]. It is a technology that focuses on 

capturing and utilizing the heat from the sun. The types of PV 

panels often used in Malaysia are Mono-Crystalline Silicon, 

Poly-Crystalline Silicon, Copper-Indium-Diselenide (CIS), and 

Thin-film Silicon (using Amorphous Silicon). Our experiments 

also show that Mono-Crystalline Silicon and Poly-Crystalline 

Silicon are the best for under the hot sun. However, CIS and 

Thin-film silicon perform better during cloudy days.  

2.2 Solar photovoltaic system 

The movement of the Earth gives rise to two important 

factors that affect the angle of the sun relative to the horizon. 

The first factor is the azimuth angle, which changes with the 

seasons as the Earth orbits the Sun. This causes variations in 

the sun's position in relation to the horizon. The second factor 

is the rotation of the Earth on its axis, resulting in the sun's 

daily journey from east to west, also called elevation angle. 

These movements of the Earth impact the density of sunlight 

falling on a stationary surface, leading to changes in the 

intensity of light throughout the day. 

3. System design  

The solar tracking system comprises a solar panel, an 

Arduino microcontroller, and sensors. For this system to 

function, the sun must emit light. As sensors, the LDRs 

measure the amount of light that reaches the solar panels. The 

LDR then sends data to the Arduino microcontroller after that. 

The servo motor circuit is then constructed. The +5V supply 

of the Arduino microcontroller is linked to one of the servo's 

three pins. The ground is connected to the servo's negative. 

The analog point of the microcontroller is connected to the 

data point of the servo. Then, a potentiometer controls the 

servo motor's speed. Weather conditions or sensor 

obstructions may impact the performance of the LDR-sensor-

based solar tracking system. Therefore, a closed-loop tracking 

system, along with an active and chronological algorithm, is 

required based on feedback control. The device pushes the 

solar panel towards the sun at predetermined intervals with 

specified azimuth and elevation angles while using 

mathematical techniques to track the sun's position. The 

elevation angle is the sun's angular height in the sky relative 

to the horizon, and it varies during the day depending on 

location latitude and the day of the year. Azimuth is the 

horizontal angle measured from true north to the sun's 

projection. 

3.1 Declination-clock and Pseudo-azimuthal mounting 

This study describes a dual-axis solar tracker with 

several uses that employ sensing-based and astronomical 

tracking techniques. The system determines the sun's 

location and positions the solar panel according to a real-time 

clock and a combination of light-dependent resistors (LDRs). 

The tracking angle is adjusted depending on the time of day 

using the real-time clock and the LDRs to monitor solar 

irradiation. The device also includes a safety measure that 

positions the solar panel horizontally in the event of strong 

winds.  

3.2 Methodology implementation  

The dual-axis solar tracker system utilizes two servo 

motors with motor shafts to rotate the x-axis and y-axis. The 

reason for choosing a servo motor is its precise control, high 

torque, low power consumption, and minimal maintenance. 

Arduino IDE is used to program the ATmega328P 

microcontroller – Arduino Uno. Besides, a Real Time Clock 

(RTC) IC Module is used to precisely schedule the movement 

of the solar panels to align with the sun's position. As the sun 

in East Malaysia (Sabah and Sarawak) rises in the east and 

sets in the west, with a more vertical path due to its proximity 

to the equator, an offline sun path tracking algorithm was 

developed in the Arduino IDE to enable the microcontroller to 

track the sun's position based on the latitude, longitude, and 

time of year. By utilizing the solar tracking system, the solar 

panel can receive sunlight at a 90-degree angle, ensuring that 

the PV panel will make a 90-degree angle with the sun, and 

the perpendicular drawn on the plane makes a 0-degree angle 

with the sun, in line with Lambert's cosine law for maximum 

illumination. The experiment involved fixing the PV panel at a 

30o head South, and the procedure was repeated throughout 

the day. The output voltage and current produced by the PV 

panels were measured at specific intervals using a multimeter 

to compare the output efficiency of the dual-axis solar tracker 

system and the fixed system. 

A micro servo motor, a Real Time Clock I2C Module, an 

Arduino Maker UNO board, and a PV panel make up the Dual-

Axis Sun Tracker Arduino-based Microcontroller 

Photovoltaic System. Two servo motors comprise this 

electromechanical system's two rotating angles, east-west 

and north-south, respectively. The RTC plays a critical role in 

precisely scheduling the movement of the solar panels to align 

with the sun’s position. By accurately keeping track of time, 

the microprocessor automatically rotates the rotation of two 

servo motors to the necessary angle for the greatest received 

solar intensity. The PV panel generates a voltage and current 

proportional to the intensity of sunlight. This Dual-Axis solar 

tracker uses a chronological algorithm to ensure that the solar 

tracking system will not be affected by cloudy weather. This 

is shown in Figure 1. The chronological algorithm uses the sun 

tracking mathematical models to determine the sun's location 

and control the solar panel's movement. The microprocessor 



LF. Wong et al. /Future Technology                                                                                           August 2024| Volume 03 | Issue 03 | Pages 15-19 

17 

 

will determine the sun's location and, using specified azimuth 

and elevation angles will command the servo motor to move 

the solar panel in the sun's direction at predetermined 

intervals. The elevation angle is the sun's angular height in the 

sky as measured from the object's horizon. In contrast, the 

azimuth angle is the angle in the horizontal plane measured 

from true north to the horizontal projection of the sun ray. 

The formula for the azimuth and elevation angle is below: 

𝑎𝑛𝑔𝑙𝑒𝐴𝑧 = 𝑡𝑎𝑛−1  [
𝑠𝑖𝑛𝜃

(𝑐𝑜𝑛𝜃𝑠𝑖𝑛𝜑)−(𝑡𝑎𝑛𝛿𝑐𝑜𝑠𝜑)
]          (1) 

and, 

𝑎𝑛𝑔𝑙𝑒𝐸𝑙𝑒 = 𝑠𝑖𝑛−1 [(𝑠𝑖𝑛𝛿𝑠𝑖𝑛𝜑) + (𝑐𝑜𝑠𝛿𝑐𝑜𝑠𝜑𝑐𝑜𝑠𝜃)]         (2) 

Where: 

𝜑 = 𝑙𝑎𝑡𝑖𝑡𝑢𝑑𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑜𝑐𝑎𝑡𝑖𝑜𝑛  

𝛿 = 𝑠𝑜𝑙𝑎𝑟 𝑑𝑒𝑐𝑙𝑖𝑛𝑎𝑡𝑖𝑜𝑛 𝑎𝑛𝑔𝑙𝑒  

𝜃 = ℎ𝑜𝑢𝑟 𝑎𝑛𝑔𝑙𝑒  

3.3 System schematic architecture 

The figure below shows the designed system's schematic 

diagram. It details the design of the dual-axis Arduino-based 

solar tracking system's architectural arrangement. The plan 

is for the microcontroller to direct the two servo motors to 

move the PV panel array to the appropriate angle using a 

chronological method (offline mode) with the RTC module. 

The programming code is running through the Arduino IDE. 

The microcontroller controls the servo motor, and the two 

reference axes function proportionally. 

3.4 Control criteria and dynamics 

Figure 1 depicts the programming interface of Arduino 

IDE, which utilizes an offline mode algorithm to control two 

servo motors, adjusting them to specific angles based on the 

sun's azimuth and elevation angles determined by the precise 

time of the sun's path. The RTC is responsible for reading and 

storing computer time in the Arduino, ensuring accurate 

timekeeping even when the power is off. The system records 

and calculates the historical azimuth and elevation angles by 

referencing historical sun path data, particularly during the 

December solstice. This information is then used to position 

the servo motors accurately based on the current time, 

aligning the solar panels optimally with the sun's position. 

The setup comprises two 12V 250mA (3W) polycrystalline 

photovoltaic (PV) panels, SG90 Micro Servo motors, an RTC 

I2C module, an Arduino Maker Uno board, and a custom-

designed 3D printed solar tracker bracket. Polycrystalline 

panels were chosen due to cost-effectiveness, high efficiency, 

and robustness. The RTC module ensures accurate 

timekeeping even without power and facilitates the offline 

mode algorithm. The Arduino Maker Uno board was selected 

for its ample IO ports and affordability. SG90 Micro Servos 

offers precise control and user-friendly operation. The 3D-

printed solar tracker bracket, known for its cost-efficiency 

and quick production, complements the system. The system 

uses a chronological algorithm that leverages RTC-recorded 

time and historical sun path data to program the 

microcontroller. This algorithm controls two servo motors — 

one for the X-plane (azimuth) and the other for the Y-plane 

(elevation) — to align the solar panels optimally. The DAST 

Arduino Breadboard diagram is shown in Figure 2, and the 

system flowchart of the dual-axis solar tracking system is 

shown in Figure 3. 

4. Results and discussion 

4.1 Construction and testing of developed DAST 

After finalizing the paper design and analysis, the 

research project proceeded through three key stages. The 

initial phase of the research involved writing and debugging 

the software code using Arduino IDE to develop an offline 

mode algorithm. This algorithm enabled the Arduino 

microcontroller to control the servo motors based on 

historical sun path data preset inside the Arduino. The second 

stage focused on implementing the code onto the Arduino and 

assembling all the required wiring components on a 

solderless breadboard, ensuring connections for the two 

servos and the RTC module were appropriately set up. Finally, 

the experiment phase commenced with four days, comprising 

two sunny days Figure 4 (a) and two cloudy days Figure 4 (b).  

 
Figure 1. Dual-axis solar tracker system algorithm 
 
 

 
Figure 2. DAST Arduino breadboard diagram 

 



LF. Wong et al. /Future Technology                                                                                           August 2024| Volume 03 | Issue 03 | Pages 15-19 

18 

 

Figure 3. Flowchart of dual-axis solar tracking system 

Then, the power output efficiency of the Dual-Axis Solar 
Tracker (DAST) and a fixed system was compared. Table 1 
classified the seek-out details. 

4.2 Comparison of average power output for DAST and 

fixed on sunny and cloudy days 

On sunny days, the Dual-Axis Solar Tracker (DAST) exhibited 
an average power output surpassing that of the fixed system 
by approximately 0.896W. Moreover, the average efficiency of 
the PV panel in the DAST was approximately 22% higher than 
that of the fixed system. Conversely, on cloudy days, the DAST 
showcased an average power output higher than the fixed 
system by around 0.206W, with the average efficiency of the 
DAST's PV panel surpassing that of the fixed system by 
approximately 5.05%. 

4.3 Average power output of DAST and fixed systems 

A practical comparison chart of the average power output 
between the DAST and fixed systems illustrates subtle 
differences during sunny days, particularly between 12 PM 
and 1 PM when the sun aligns perpendicularly to the PV panel. 
Notably, the fixed system shows unstable power output, 
mainly before 12 PM and after 1 PM. Conversely, the DAST 
consistently generates better power output due to its ability 
to continually face the sun with its two moving axes. This 
alignment ensures that the panel remains perpendicular to 
the sun's rays, optimizing power production throughout the 
day. Despite the efforts of both the DAST and the fixed system, 
the power output remained below 2W during the cloudy day, 
primarily due to the dense cloud cover. The graph indicates 
unstable power output from both systems. However, a 

comparative analysis highlights the DAST's relatively higher 
power output throughout the day, particularly noticeable 
before 11 AM and after 3 PM compared to the fixed system. 

 

 

4.4 Average energy output of DAST and fixed systems 

During sunny days, the average energy output of DAST is 
26.269Wh, whereas the fixed system outputs 18.206Wh. 
Consequently, the DAST generates approximately 44.29% 
more power than the fixed system. 

On cloudy days, the average energy output of DAST is 
8.416Wh, whereas the fixed system outputs 6.564Wh. 
Therefore, the DAST generates approximately 28.21% more 
power than the fixed system. The difference in sky conditions 
significantly impacts efficiency, potentially halving or 
doubling the capable generated energy between sunny and 
cloudy days (Table 2). 

Table 1. Comparison of average output DAST and fixed  

 

 

 

 

 
Figure 4. Average Power Output of DAST and Fixed of Sunny and 
Cloudy Days 

(a) 

(b) 



LF. Wong et al. /Future Technology                                                                                           August 2024| Volume 03 | Issue 03 | Pages 15-19 

19 

 

Table 2. The average energy output of DAST and fixed systems 

 

5. Conclusion 

In conclusion, the research project aimed to design and 
implement a dual-axis sun tracker for a photovoltaic system 
using an Arduino-based microcontroller. The study also 
aimed to deepen the understanding of solar energy in the 
Malaysian context, particularly Kuching city. It seeks practical 
applications by presenting a comprehensive performance 
analysis of the dual-axis solar tracking system, highlighting its 
potential in pursuing sustainable energy solutions. The dual-
axis solar tracker demonstrated higher output than a fixed 
system, approximately 0.896W and 0.206W during sunny and 
cloudy days, respectively. It has been proven that the use of a 
dual-axis solar tracker can increase efficiency by 
approximately 71.65% and 22.96% compared to the fixed 
system during sunny and cloudy days, respectively. 

Ethical issue 
The authors are aware of and comply with best practices in 
publication ethics, specifically with regard to authorship 
(avoidance of guest authorship), dual submission, 
manipulation of figures, competing interests, and compliance 
with policies on research ethics. The authors adhere to 
publication requirements that the submitted work be original 
and not published elsewhere. 

Data availability statement 
The datasets analyzed during the current study are available 
and can be given upon reasonable request from the 
corresponding author. 

Conflict of interest 

The authors declare no potential conflict of interest. 

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future energy sources for electrical power generation in 

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[2] Singh, AK & Singh, RR 2021, 'An Overview of Factors 

Influencing Solar Power Efficiency and Strategies for 

Enhancing,' 2021 Innovations in Power and Advanced 

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[3] Ayoade, IA, Adeyemi, OA, Adeaga, OA, Rufai, RO & 

Olalere, SB 2022, 'Development of Smart (Light 

Dependent Resistor, LDR) Automatic Solar Tracker,' 

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[4] Idoko, JA, Bamgbade, OB, Abubakar, IN, Onyechokwa, 

TI, Adegboye, BA & Mustapha, BM 2020, 'Design of 

Automatic Solar Tracking System Prototype to 

Maximize Solar Energy Extraction,' IEEE, 

[5] Bhatia, SC 2014, '4 - Solar thermal energy', in SC Bhatia 

(ed.) Advanced Renewable Energy Systems,  Woodhead 

Publishing India, pp. 94-143. 

  

 

 

 

 

 

 

 

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