Stochastic control of wave energy converters with constrained displacements for optimal power absorption |
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| Institution: | 1. Department of Civil Engineering, Aalborg University, 9000 Aalborg, Denmark;2. Department of Civil, Structural and Environmental Engineering, Trinity College Dublin, Dublin 2, Ireland;1. Faculty of Technology and Maritime Science, University of Southeast Norway, Tønsberg, Norway;2. Department of Mathematical Sciences and Technology, Norwegian University of Life Sciences, Ås, Norway;1. Department of Mathematics, University of Bergen, Postbox 7800, 5020 Bergen, Norway;2. Oceaneering Asset Integrity AS, PB 1228, Sluppen, 7462 Trondheim, Norway;3. School of Mathematics, University of East Anglia, Norwich Research Park, Norwich NR4 7TJ, United Kingdom;1. Centre for Offshore Foundation Systems, The University of Western Australia, Australia;2. The University of Southampton, UK;1. Guangzhou Institute of Energy Conversion, Chinese Academy of Sciences, Guangzhou, 510640, China;2. Key Laboratory of Renewable Energy, Chinese Academy of Sciences, Guangzhou, 510640, China;3. Guangdong Provincial Key Laboratory of New and Renewable Energy Research and Development, Guangzhou, 510640, China;4. University of Chinese Academy of Sciences, Beijing, 100049, China;1. School of Naval Architecture and Ocean Engineering, Dalian Maritime University, Dalian, Liaoning Proveince, PR China;2. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, PR China;1. Department of Naval Architecture & Ocean Engineering, INHA University, Incheon, Republic of Korea;2. Department of Naval Architecture & Ocean Engineering, INHA University, Incheon, Republic of Korea |
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| Abstract: | An semi-analytical solution is derived for the optimal control of the power take-off of a single-degree of freedom heave point absorber with constraints on the displacement. At first the control force is derived during states, where the displacement constraint is active. This results in an open-loop control law dependent on the external wave load on the absorber. Next, the analytical solution for the optimal control in the unconstrained state is indicated, which turns out to be of the closed loop type with feedback from the present displacement and acceleration and from future velocities. The derived control law contains an undetermined constant, which is calibrated at the interface to the previous constrained state. The approach requires the estimation of the wave load during the constrained states, and the prediction of the future velocity response during unconstrained states. An algorithm has been devised in the paper for handling these problems. The theory has been validated against numerical solutions obtained by nonlinear programming. |
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| Keywords: | Wave energy Heave point absorber Optimal power take-off Displacement constraints |
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