Wave tank and bench-top control testing of a wave energy converter

An increasing number of experiments are being conducted to study the design and performance of wave energy converters. Often in these tests, a real-time realization of prospective control algorithms is applied in order to assess and optimize energy absorption as well as other factors. This paper details the design and execution of an experiment for evaluating the capability of a model-scale WEC to execute basic control algorithms. Model-scale hardware, system, and experimental design are considered, with a focus on providing an experimental setup capable of meeting the dynamic requirements of a control system. To more efficiently execute such tests, a dry bench testing method is proposed and utilized to allow for controller tuning and to give an initial assessment of controller performance; this is followed by wave tank testing. The trends from the dry bench test and wave tank test results show good agreement with theory and confirm the ability of a relatively simple feedback controller to substantially improve energy absorption. Additionally, the dry bench testing approach is shown to be an effective and efficient means of designing and testing both controllers and actuator systems for wave energy converters.     

Optimal causal control of a wave energy converter in a random sea

This paper concerns the design of feedback control systems to maximize power generation of a wave energy converter (WEC) in a random sea. In the literature on WEC control, most of the proposed feedback controllers fall into three categories. Many are static; i.e., they extract power by imposing an equivalent damping or resistive load on the power take-off (PTO) devices. Others are dynamic and are designed to maximize power generation at all frequencies, which results in an anticausal feedback law. Other dynamic control design methods are causal, and are tuned to achieve the anticausal performance at only a single frequency. By contrast, this paper illustrates that the determination of the true optimal causal dynamic controller for a WEC can be found as the solution to a nonstandard linear quadratic Gaussian (LQG) optimal control problem. The theory assumes that the control system must make power generation decisions based only on present and past measurements of the generator voltages and/or velocities. It is shown that unlike optimal anticausal control, optimal causal control requires knowledge of the stationary spectral characteristics of the random sea state. Additionally, it is shown that the efficiency of the generator factors into the feedback synthesis. The theory is illustrated on a linear dynamical model for a buoy-type WEC with significant resonant modes in surge and pitch, and equipped with three spatially-distributed generators.     

Constrained near-optimal control of a wave energy converter in three oscillation modes

This paper investigates the performance of a small axisymmetric buoy under wave-by-wave near optimal control in surge, heave, and pitch modes in long-crested irregular waves. Wave prediction is obtained using a deterministic propagation model. The paper describes the overall formulation leading up to the derivation of the feedforward control forces in surge and heave, and the control moment in pitch. The radiation coupling between surge and pitch modes is accounted for in the model. Actuation is relative to deeply submerged reaction masses. Heave oscillations are constrained by the swept-volume limit. Oscillation constraints are also applied on the surge and pitch oscillations. The paper discusses time-domain simulations for an irregular wave input with and without the present control. Also discussed are results obtained over a range of irregular wave conditions derived for energy periods from 7 s to 17 s, and a significant wave height of 1 m. It is found that, while the gains in power capture enabled by the present control are significant, the actuation forces are also very large, given the small size of the buoy. Further, due to the small size, heave is found to be the dominant contributor to power capture, with relatively modest contributions from surge and pitch.     

On a near-optimal control approach for a wave energy converter in irregular waves

Real-time smooth reactive control and optimal damping of wave energy converters in irregular waves is difficult in part because the radiation impulse response function is real and causal, which constrains the frequency-dependent added mass and radiation damping according to the Kramers–Kronig relations. Optimal control for maximum energy conversion requires independent synthesis of the impulse response functions corresponding to these two quantities. Since both are non-causal (one being odd and other even), full cancellation of reactive forces and matching of radiation damping requires knowledge or estimation of device velocity into the future. To address this difficulty and the non-causality of the exciting force impulse response function, this paper investigates the use of propagating-wave surface elevation up-wave of the device to synthesize the necessary forces. Long-crested waves are assumed, and the approach is based on the formulations of Naito and Nakamura [2] and Falnes [22]. A predominantly heaving submerged device comprised of three vertically stacked discs driving a linear power take-off is studied. The overall formulation leads to smooth control that is near-optimal, given the approximations involved in the time-shifting of the non-causal impulse response functions and the consequent up-wave distances at which wave surface elevation is required. Absorbed power performance with the near-optimal approach is compared with two other cases, (i) when single-frequency tuning is used based on non-real time adjustment of the reactive and resistive loads to maximize conversion at the spectral peak frequency, and (ii) when no control is applied with damping set to a constant value. Simulation results for wave spectra over a range of energy periods and significant wave heights are compared for the three situations studied. While practical implementation presents engineering challenges, in terms of time-averaged absorbed power, unconstrained near-optimal control is found to perform significantly better than single-frequency tuning in the spectra with longer energy periods (>10 s for the present device), and somewhat better in the spectra with shorter energy periods (here ≤10 s).     

Rocking buoy wave energy converter

A device for converting ocean wave energy into electricity utilizing a rocking buoy and a hydrogen pressure cell is described. The moored buoy contains a pneumatic tube filled with a dense liquid which rocks back and forth as a result of the ocean wave activity. Hydrogen gas, maintained above the dense fluid is alternatively compressed and expanded by the moving fluid. The hydrogen gas communicates with a hydrogen pressure cell and the resulting pressure difference across the cell leads to an electrical voltage and under load, to electrical power.     

Wind-wave power available to a wave energy converter array

A theoretical expression of the wave power striking a rectilinear array of wave energy convertion devices in a random sea is derived. The theory is then applied to a linear array which is 1 km in length. For purposes of illustration, the Pierson-Neumann-James directional spectrum is used to represent the random sea. Comparison of the results obtained by using the present theory with those obtained from the previously accepted theory shows significant differences. First, the maximum available power predicted by the present theory is 75% of that predicted by the former theory. Secondly, power transmission is predicted when the wind direction and the array axis are parallel, whereas no power transmission was formerly predicted for this condition.     

Wave climate scatter performance of a cycloidal wave energy converter

A lift based cycloidal wave energy converter (WEC) was investigated using potential flow numerical simulations in combination with viscous loss estimates based on published hydrofoil data. This type of wave energy converter consists of a shaft with one or more hydrofoils attached eccentrically at a radius. The main shaft is aligned parallel to the wave crests and submerged at a fixed depth. The operation of the WEC as a wave-to-shaft energy converter interacting with straight crested waves was estimated for an actual ocean wave climate. The climate chosen was the climate recorded by a buoy off the north-east shore of Oahu/Hawaii, which was a typical moderate wave climate featuring an average annual wave power P_W = 17 kWh/m of wave crest. The impact of the design variables radius, chord, span and maximum generator power on the average annual shaft energy yield, capacity factor and power production time fraction were explored. In the selected wave climate, a radius R = 5 m, chord C = 5 m and span of S = 60 m along with a maximum generator power of P_G = 1.25 MW were found to be optimal in terms of annual shaft energy yield. At the design point, the CycWEC achieved a wave-to-shaft power efficiency of 70%. In the annual average, 40% of the incoming wave energy was converted to shaft energy, and a capacity factor of 42% was achieved. These numbers exceeded the typical performance of competing renewables like wind power, and demonstrated that the WEC was able to convert wave energy to shaft energy efficiently for a range of wave periods and wave heights as encountered in a typical wave climate.     

Investigation on the energy absorption performance of a fixed-bottom pressure-differential wave energy converter

In this article, we investigate the energy absorption performance of a fixed-bottom pressure-differential wave energy converter. Two versions of the technology are considered: one has the moving surfaces on the bottom of the air chambers whereas the other has the moving surfaces on the top. We developed numerical models in the frequency domain, thereby enabling the power absorption of the two versions of the device to be assessed. It is observed that the moving surfaces on the top allow for easier tuning of the natural period of the system. Taking into account stroke limitations, the design is optimized. Results indicate that the pressure-differential wave energy converter is a highly efficient technology both with respect to energy absorption and selected economic performance indicators.     

Research on energy conversion system of floating wave energy converter

A wave power device includes an energy harvesting system and a power take-off system. The power take-off system of a floating wave energy device is the key that converts wave energy into other forms. A set of hydraulic power take-off system, which suits for the floating wave energy devices, includes hydraulic system and power generation system. The hydraulic control system uses a special“self-hydraulic control system”to control hydraulic system to release or save energy under the maximum and the minimum pressures. The maximum pressure is enhanced to 23 MPa, the minimum to 9 MPa. Quite a few experiments show that the recent hydraulic system is evidently improved in efficiency and reliability than our previous one, that is expected to be great significant in the research and development of our prototype about wave energy conversion.     

垂荡式波浪能装置运动模型数值分析

垂荡式波浪能装置在海洋可再生能源开发中被广泛应用,通过浮子与摇杆在垂荡方向的相对运动吸收波浪能。在以往相关的运动预报数值分析中,通常基于微幅波假设,仅考虑浮子与摇杆在垂荡方向的运动,忽略摇杆其他自由度运动。建立并求解了垂荡式波浪能装置的非线性联合运动方程组,分析垂荡式波浪能装置的波浪载荷、浮子与平台连接处的受力情况。数值计算系统的运动响应,并将计算结果与已有的试验数据进行比较验证,结果表明数值模拟的垂荡式波能装置的运动响应与试验结果相符合。最后,应用本计算方法分析PTO(power take-off)参数对波能装置发电性能的影响。     

The effect of sub-optimal control and the spectral wave climate on the performance of wave energy converter arrays

A linear hydrodynamic model is used to assess the sensitivity of the performance of a wave energy converter (WEC) array to control parameters. It is found that WEC arrays have a much smaller tolerance to imprecision of the control parameters than isolated WECs and that the increase in power capture of WEC arrays is only achieved with larger amplitudes of motion of the individual WECs. The WEC array radiation pattern is found to provide useful insight into the array hydrodynamics. The linear hydrodynamic model is used, together with the wave climate at the European Marine Energy Centre (EMEC), to assess the maximum annual average power capture of a WEC array. It is found that the maximum annual average power capture is significantly reduced compared to the maximum power capture for regular waves and that the optimum array configuration is also significantly modified. It is concluded that the optimum configuration of a WEC array will be as much influenced by factors such as mooring layout, device access and power smoothing as it is by the theoretical optimum hydrodynamic configuration.     

Numerical modeling on hydrodynamic performance of a bottom-hinged flap wave energy converter

The hydrodynamic performance of a bottom-hinged flap wave energy converter(WEC) is investigated through a frequency domain numerical model.The numerical model is verified through a two-dimensional analytic solution,as well as the qualitative analysis on the dynamic response of avibrating system.The concept of "optimum density" of the bottom-hinged flap is proposed,and its analytic expression is derived as well.The frequency interval in which the optimum density exists is also obtained.The analytic expression of the optimum linear damping coefficient is obtained by a bottom-hinged WEC.Some basic dynamic properties involving natural period,excitation moment,pitch amplitude,and optimum damping coefficient are analyzed and discussed in detail.In addition,this paper highlights the analysis of effects on the conversion performance of the device exerted by some important parameters.The results indicate that "the optimum linear damping period of 5.0 s" is the most ideal option in the short wave sea states with the wave period below 6.0 s.Shallow water depth,large flap thickness and low flap density are advised in the practical design of the device in short wave sea states in order to maximize power capture.In the sea state with water depth of 5.0 m and wave period of 5.0 s,the results of parametric optimization suggest a flap with the width of 8.0 m,thickness of 1.6 m,and with the density as little as possible when the optimum power take-off(PTO) damping coefficient is adopted.     

一种铰接摆式波浪能转换装置结构性能分析及优化

对一种海底铰接摆式波浪能转换装置进行了模型建立及控制优化。分析了装置的水动力特性,考虑黏性阻尼,研究了压载和负载阻尼的控制对装置的波能转换功率和效率的影响。指出对海底铰接摆式波能转换装置而言,由于多数周期附加转动惯量较装置本身的转动惯量大很多,因此压载控制对波能转换功率和效率的影响较小,而负载阻尼的控制则表现出较好的效果和可行性。     

A second order random wave model for predicting the power performances of a wave energy converter

The power performances of a point absorber wave energy converter(WEC) operating in a nonlinear multidirectional random sea are rigorously investigated. The absorbed power of the WEC Power-Take-Off system has been predicted by incorporating a second order random wave model into a nonlinear dynamic filter. This is a new approach, and, as the second order random wave model can be utilized to accurately simulate the nonlinear waves in an irregular sea, avoids the inaccuracies resulting from using a first order linear wave model in the simulation process. The predicted results have been systematically analyzed and compared, and the advantages of using this new approach have been convincingly substantiated.     

Modeling and control of a 75 kW class variable liquid-column oscillator for highly efficient wave energy converter

The modeling and control of a variable liquid-column oscillator having a liquid filled U-tube with air chambers at its vertical columns are presented. As an ocean wave energy extracting device, the structure of the variable liquid-column oscillator (VLCO) is analogous to that of the tuned liquid-column damper used to suppress oscillatory motion in large structures like tall buildings and cargo ships. However, owing to an air spring effect caused by the dynamic pressure of air chambers, the amplitude of response of the VLCO becomes significantly amplified for a desired wave period. The governing equations for the motion of VLCO structure under wave excitation and the motion of liquid with an air spring effect caused by an air–liquid interaction are described by a series of nonlinear differential equations. A set of control parameters for extracting maximum power from various wave conditions is determined for the efficient operation of the VLCO. It is found that the effect of the air spring has an important role to play in making the oscillation of the VLCO match with the ocean wave. In this way, the VLCO provides the most effective mode for extracting energy from the ocean wave.     

Numerical modelling of a point-absorbing wave energy converter in irregular and extreme waves

Based on the Navier-Stokes (RANS) equations, a three-dimensional (3-D) mathematical model for the hydrodynamics and structural dynamics of a floating point-absorbing wave energy converter (WEC) with a stroke control system in irregular and extreme waves is presented. The model is validated by a comparison of the numerical results with the wave tank experiment results of other researchers. The validated model is then utilized to examine the effect of wave height on structure displacements and connection rope tension. In the examined cases, the differences in WEC’s performance exhibited by an inviscid fluid and a viscous fluid can be neglected. Our results also reveal that the differences in behavior predicted by boundary element method (BEM) and the RANS-based method can be significant and vary considerably, depending on wave height.