Wave Force Prediction Effect on the Energy Absorption of a Wave Energy Converter With Real-Time Control

In this work, the hydrodynamic performance of a novel wave energy converter (WEC) configuration which combines a moonpool platform and a javelin floating buoy, called the moonpool–javelin wave energy converter (MJWEC), was studied by semianalytical, computational fluid dynamics (CFD), and experimental methods. The viscous term is added to the potential flow solver to obtain the hydrodynamic coefficients. The wave force, the added mass, the radiation damping, the wave capture, and the energy efficiency of the configuration were assessed, in the frequency and time domains, by a semianalytical method. The CFD method results and the semianalytical results were compared for the time domain by introducing nonlinear power take-off (PTO) damping; additionally, the viscous dissipation coefficients under potential flow could be confirmed. Finally, a 1:10 scale model was physically tested to validate the numerical model and further prove the feasibility of the proposed system.

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Constrained Optimal Control of a Heaving Buoy Wave-Energy Converter

Journal of Offshore Mechanics and Arctic Engineering ◽

10.1115/1.4001431 ◽

2010 ◽

Vol 133 (1) ◽

Cited By ~ 136

Author(s):

Jørgen Hals ◽

Johannes Falnes ◽

Torgeir Moan

Keyword(s):

Energy Absorption ◽

Wave Energy ◽

Optimal Operation ◽

Wave Energy Converter ◽

Irregular Waves ◽

Energy Converter ◽

Model Predictive Controller ◽

Wave Energy Converters ◽

Predictive Controller ◽

Energy Converters

The question of optimal operation of wave-energy converters has been a key issue since modern research on the topic emerged in the early 1970s, and criteria for maximum wave-energy absorption soon emerged from frequency domain analysis. However, constraints on motions and forces give the need for time-domain modeling, where numerical optimization must be used to exploit the full absorption potential of an installed converter. A heaving, semisubmerged sphere is used to study optimal constrained motion of wave-energy converters. Based on a linear model of the wave-body interactions, a procedure for the optimization of the machinery force is developed and demonstrated. Moreover, a model-predictive controller is defined and tested for irregular sea. It repeatedly solves the optimization problem online in order to compute the optimal constrained machinery force on a receding horizon. The wave excitation force is predicted by use of an augmented Kalman filter based on a damped harmonic oscillator model of the wave process. It is shown how constraints influence the optimal motion of the heaving wave-energy converter, and also how close it is possible to approach previously published theoretical upper bounds. The model-predictive controller is found to perform close to optimum in irregular waves, depending on the quality of the wave force predictions. An absorbed power equal to or larger than 90% of the ideal constrained optimum is achieved for a chosen range of realistic sea states. Under certain circumstances, the optimal wave-energy absorption may be better in irregular waves than for a corresponding regular wave having the same energy period and wave-power level. An argument is presented to explain this observation.

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