Parametric resonance is a dynamic instability due to the internal transfer of energy between degrees of freedom. Parametric resonance is known to cause large unstable pitch and/or roll motions in floating bodies, and has been observed in wave energy converters (WECs). The occurrence of parametric resonance can be highly detrimental to the performance of a WEC, since the energy in the primary mode of motion is parasitically transferred into other modes, reducing the available energy for conversion. In addition, the large unstable oscillations produce increased loading on the WEC structure and mooring system, accelerating fatigue and damage to the system. To remedy the negative effects of parametric resonance on WECs, control systems can be designed to mitigate the onset of parametric resonance. A key element of such a control system is a real-time detection system, which can provide an early warning of the likely occurrence of parametric resonance, enabling the control system sufficient time to respond and take action to avert the impending exponential increase in oscillation amplitude. This paper presents the first application of a real-time detection system for the onset of parametric resonance in WECs. The method is based on periodically assessing the stability of a mathematical model for the WEC dynamics, whose parameters are adapted online, via a recursive least squares algorithm, based on online measurements of the WEC motion. The performance of the detection system is demonstrated through a case study, considering a generic cylinder type spar-buoy, a representative of a heaving point absorber WEC, in both monochromatic and polychromatic sea states. The detection system achieved 95% accuracy across nearly 7000 sea states, producing 0.4% false negatives and 4.6% false positives. For the monochromatic waves more than 99% of the detections occurred while the pitch amplitude was less than 1/6 of its maximum amplitude, whereas for the polychromatic waves 63% of the detections occurred while the pitch amplitude was less than 1/6 of its maximum amplitude and 91% while it was less than 1/3 of its maximum amplitude.
Energy-Maximizing Control of Wave-Energy Converters: The Development of Control System Technology to Optimize Their Operation
