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1.
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. 相似文献
2.
This paper investigates wave-by-wave control of a wave energy converter using incident wave prediction based on up-wave surface elevation measurement. The goal of control is to approach the hydrodynamically optimum velocity leading to optimum power absorption. This work aims to study the gains in energy conversion from a deterministic wave propagation model that accounts for a range of group velocities in deriving the prediction. The up-wave measurement distance is assumed to be small enough to allow a deterministic propagation model, and further, both wave propagation and device response are assumed to be linear. For deep water conditions and long-crested waves, the propagation process is also described using an impulse response function (e.g. [1]). Approximate low and high frequency limits for realistic band-limited spectra are used to compute the corresponding group velocity limits. The prediction time into the future is based on the device impulse response function needed for the evaluation of the control force. The up-wave distance and the duration of measurement are then determined using the group velocity limits above.A 2-body axisymmetric heaving device is considered, for which power capture is through the relative heave oscillation between the two co-axial bodies. The power take-off is assumed to be linear and ideal as well as capable of applying the necessary resistive and reactive load components on the relative heave oscillation. The predicted wave profile is used along with device impulse response functions to compute the actuator force components at each instant. Calculations are carried out in irregular waves generated using a number of uni-modal wave spectra over a range of energy periods and significant wave heights. Results are compared with previous studies based on the use of instantaneous up-wave wave-profile measurements, both without and with oscillation constraints imposed. Considerable improvements in power capture are observed with the present approach over the range of wave conditions studied. 相似文献
3.
Floating oscillating bodies constitute a large class of wave energy converters, especially for offshore deployment. Usually the Power-Take-Off (PTO) system is a directly linear electric generator or a hydraulic motor that drives an electric generator. The PTO system is simplified as a linear spring and a linear damper. However the conversion is less powerful with wave periods off resonance. Thus, a nonlinear snap-through mechanism with two symmetrically oblique springs and a linear damper is applied in the PTO system. The nonlinear snap-through mechanism is characteristics of negative stiffness and double-well potential. An important nonlinear parameter is defined as the ratio of half of the horizontal distance between the two springs to the original length of both springs. Time domain method is applied to the dynamics of wave energy converter in regular waves. And the state space model is used to replace the convolution terms in the time domain equation. The results show that the energy harvested by the nonlinear PTO system is larger than that by linear system for low frequency input. While the power captured by nonlinear converters is slightly smaller than that by linear converters for high frequency input. The wave amplitude, damping coefficient of PTO systems and the nonlinear parameter affect power capture performance of nonlinear converters. The oscillation of nonlinear wave energy converters may be local or periodically inter well for certain values of the incident wave frequency and the nonlinear parameter , which is different from linear converters characteristics of sinusoidal response in regular waves. 相似文献
4.
Wave energy fluctuating a great deal endangers the security of power grid especially micro grid in island. A DC nano grid supported by batteries is proposed to smooth the output power of wave energy converters (WECs). Thus, renewable energy converters connected to DC grid is a new subject. The characteristics of WECs are very important to the connection technology of HPTO type WECs and DC nano grid. Hydraulic power take-off system (HPTO) is the core unit of the largest category of WECs, with the functions of supplying suitable damping for a WEC to absorb wave energy, and converting captured wave energy to electricity. The HPTO is divided into a hydraulic energy storage system (HESS) and a hydraulic power generation system (HPGS). A primary numerical model for the HPGS is established in this paper. Three important basic characteristics of the HPGS are deduced, which reveal how the generator load determines the HPGS rotation rate. Therefore, the connector of HPTO type WEC and DC nano grid would be an uncontrollable rectifier with high reliability, also would be a controllable power converter with high efficiency, such as interleaved boost converter-IBC. The research shows that it is very flexible to connect to DC nano grid for WECs, but bypass resistance loads are indispensable for the security of WECs.. 相似文献
5.
A direct-drive wave energy conversion system based on a three-phase permanent magnet tubular linear generator （PMTLG） and a heaving buoy is proposed to convert wave energy into electrical energy. Sufficient experimental methods are adopted to compare the computer simulations, the validity of which is verified by the experiment results from a wave tank laboratory. In the experiment, the motion curves of heaving buoy are with small fluctuations, mainly caused by the PMTLG＇s detent force. For the reduction of these small fluctuations and a maximum operational efficiency of the direct-drive wave energy conversion system, the PMTLG＇s detent force minimization technique and the heaving buoy optimization will be discussed. It is discovered that the operational efficiency of the direct-drive wave energy conversion system increases dramatically after optimization. The experiment and optimization results will provide useful reference for the future research on ocean wave energy conversion system. 相似文献
6.
Ocean wave energy is an emerging kind of renewable energy, and several energy conversion methods are available today. One solution is to connect a buoy to a linear generator. Such units are quite small (10–100 kW), and farm solutions are suggested to increase power production. This paper shows the results from small farm simulations where the translator motion is varied for the generators in the farm.Simulations with five and 10 units show that power fluctuations decrease with an increasing number of generators. 相似文献
7.
Yingguang Wang 《海洋学报(英文版)》2021,40(4):127-135
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. 相似文献
8.
Dynamic analysis of wave energy converter by incorporating the effect of hydraulic transmission lines 总被引：1，自引：0，他引：1
A heaving-buoy wave energy converter equipped with hydraulic power take-off is studied in this paper. This wave energy converter system is divided into five subsystems: a heaving buoy, hydraulic pump, pipelines, non-return check valves and a hydraulic motor combined with an electric generator. A dynamic model was developed by considering the interactions between the subsystems in a state space form. The transient pressures caused by starting/stopping the buoy or closing/opening the check valves were predicted numerically using the established model. The simulation results show that transmission line dynamics play a dominant role in the studied wave energy converter system. The length of the pipeline will not only affect the amplitude of the transient pressures but also affect the converted power. The variation of the time-averaged converted electric power with the pipeline length is estimated using the simulation method for the buoy exposed to one irregular sea state. Finally, it is suggested how reduced power efficiency due to the pipelines may be ameliorated. 相似文献
9.
Ivanova I.A. Agren O. Bernhoff H. Leijon M. 《Oceanic Engineering, IEEE Journal of》2005,30(3):619-629
To extract electrical energy from sea waves in a commercially and technologically acceptable manner, a number of issues have to be solved. Electricity generation by means of direct conversion of the oscillating gravitational potential energy of a floating buoy can be anticipated, provided a proper design of a generator could be made. This paper deals with the simulation of a novel design for a linear generator aimed for the extraction of energy from ocean waves. The ocean waves are modeled by 4-m-height sinusoidal waves with a characteristic period of 7 s. A wide range of the geometrical sizes, permanent magnets, stator winding, and spring forces acting on the buoy are possible. This paper presents simulations of octagonal three-phase linear generators in the 100-kW power range. The beneficial effects of a stator of octagonal shape are briefly investigated, but not studied in depth. The main emphases in the present study have been to decrease power fluctuations and suppress voltage harmonics. In conventional rotating machines, well-known measures are to use a fractional number of slots per pole and phase, and an additional method is to make the pole edges smoother. These methods are here simulated for the first time on a linear machine aimed for ocean wave-energy conversion and a substantial reduction in power fluctuations and voltage harmonics are predicted. 相似文献
10.
Experimental studies were conducted on a trapezoidal pendulum wave energy converter in regular waves. To obtain the incident wave height, the analytical method (AM) was used to separate the incident and reflected waves propagating in a wave flume by analysing wave records measured at two locations. The response amplitude operator (RAO), primary conversion efficiency and the total conversion efficiency of the wave energy converter were studied; furthermore, the power take-off damping coefficients corresponding to the load resistances in the experiment were also obtained. The findings demonstrate that the natural period for a pendulum wave energy converter is relatively large. A lower load resistance gives rise to a larger damping coefficient. The model shows relatively higher wave energy conversion efficiency in the range of 1.0?1.2 s for the incident wave period. The maximum primary conversion efficiency achieved was 55.5%, and the maximum overall conversion efficiency was 39.4%. 相似文献
11.
Raft-type wave energy converter (WEC) is a multi-mode wave energy conversion device, using the relative pitch motion to drive its hydraulic power take-off (PTO) units for capturing energy from the ocean waves. The hydraulic PTO unit as its energy conversion module plays a significant role in storing large qualities of energy and making the output power smooth. However, most of the previous investigations on the raft-type WECs treat the hydraulic PTO unit as a linear PTO unit and do not consider the dynamics of the hydraulic circuit and components in their investigations. This paper is related to a two-raft-type WEC consisting of two hinged rafts and a hydraulic PTO unit. The aim of this paper is to make an understanding of the dynamics of the hydraulic PTO unit and how these affect the performance of the two-raft-type WEC. Therefore, a combined hydrodynamic and hydraulic PTO unit model is proposed to investigate and optimize the performance of the two-raft-type WEC; and based on the simulation of the combined model, the relationships between the optimal power capture ability, the optimal magnitude of the hydraulic PTO force and the wave states are numerically revealed. Results show that an approximately square wave type hydraulic PTO force is produced by the hydraulic PTO unit, which causes the performance of the two-raft-type WEC not to be sinusoidal and the energy capturing manner different from that of the device using a linear PTO unit; moreover, there is an optimal magnitude of the hydraulic PTO force for obtaining an optimal power capture ability, which can be achieved by adjusting the parameters of the hydraulic PTO unit; in regular waves, the optimal power capture ability as well as the optimal magnitude of the hydraulic PTO force normalized by the wave height presents little relationship with the wave height, mainly depends on the wave period; in irregular waves, the trends of the optimal power capture ability and the normalized optimal magnitude of the hydraulic PTO force against the peak wave periods at different significant wave heights are generally identical and show a good correlation. All means that the hydraulic PTO unit of the two-raft-type WEC can be tuned to the wave states, and these would provide a valuable guidance for the optimal design of its hydraulic PTO unit. 相似文献
12.
13.
Modelling and control of oscillating-body wave energy converters with hydraulic power take-off and gas accumulator 总被引：1，自引：0，他引：1
Antnio F. de O. Falco 《Ocean Engineering》2007,34(14-15):2021-2032
14.
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). 相似文献
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16.
The realistic assessment of an ocean wave energy resource that can be converted to an electrical power at various offshore sites depends upon many factors, and these include estimating the resource recognizing the random nature of the site-specific wave field, and optimizing the power conversion from particular wave energy conversion devices. In order to better account for the uncertainty in wave power resource estimates, conditional probability distribution functions of wave power in a given sea-state are derived. Theoretical expressions for the deep and shallow water limits are derived and the role of spectral width is studied. The theoretical model estimates were compared with the statistics obtained from the wave-by-wave analysis of JONSWAP based ocean wave time-series. It was shown that the narrow-band approximation is appropriate when the variability due to wave period is negligible. The application of the short-term models in evaluating the long-term wave power resource at a site was illustrated using wave data measured off the California coast. The final example illustrates the procedure for incorporating the local wave data and the sea-state model together with a wave energy device to obtain an estimate of the potential wave energy that could be converted into a usable energy resource. 相似文献
17.
Wave energy has drawn much attention as an achievable way to exploit the renewable energy. At present, in order to enhance the wave energy extraction, most efforts have been concentrated on optimizing the wave energy convertor and the power take-off system mechanically and electrically. However, focusing the wave power in specific wave field could also be an alternative to improve the wave energy extraction. In this experimental study, the Bragg resonance effect is applied to focus the wave energy. Because the Bragg resonance effect of the rippled bottom largely amplifies the wave reflection, leading to a significant increase of wave focusing. Achieved with an energy conversion system consisting of a point absorber and a permanent magnet single phase linear motor, the wave energy extracted in the wave flume with and without Bragg resonance effect was measured and compared quantitatively in experiment. It shows that energy extraction by a point absorber from a standing wave field resulted from Bragg resonance effect can be remarkably increased compared with that from a propagating wave field (without Bragg resonance effect). 相似文献
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19.
The absorber is known to be vertical axisymmetric for a single-point wave energy converter (WEC). The shape of the wetted surface usually has a great influence on the absorber’s hydrodynamic characteristics which are closely linked with the wave power conversion ability. For complex wetted surface, the hydrodynamic coefficients have been predicted traditionally by hydrodynamic software based on the BEM. However, for a systematic study of various parameters and geometries, they are too multifarious to generate so many models and data grids. This paper examines a semi-analytical method of decomposing the complex axisymmetric boundary into several ring-shaped and stepped surfaces based on the boundary discretization method (BDM) which overcomes the previous difficulties. In such case, by using the linear wave theory based on eigenfunction expansion matching method, the expressions of velocity potential in each domain, the added mass, radiation damping and wave excitation forces of the oscillating absorbers are obtained. The good astringency of the hydrodynamic coefficients and wave forces are obtained for various geometries when the discrete number reaches a certain value. The captured wave power for a same given draught and displacement for various geometries are calculated and compared. Numerical results show that the geometrical shape has great effect on the wave conversion performance of the absorber. For absorbers with the same outer radius and draught or displacement, the cylindrical type shows fantastic wave energy conversion ability at some given frequencies, while in the random sea wave, the parabolic and conical ones have better stabilization and applicability in wave power conversion. 相似文献
20.
The moored three-float line absorber WEC M4 has been developed to optimise power capture through experiments and linear diffraction modelling. With the progression down wave from small to medium to large floats, the device heads naturally into the wave direction. The bow and mid floats are rigidly connected by a beam and a beam from the stern float is connected to the hinge point above the mid float for power take off (PTO). Increasing the bow to mid float spacing to be more than 50% greater than the mid to stern float spacing has been found to improve power capture. To increase power capture further and potentially reduce electricity generation cost the number of mid floats and stern floats is increased while maintaining a single bow float for mooring connection. The bow and mid floats still form a rigid body while the stern floats may respond independently. A time domain linear diffraction model based on Cummins method has been applied to configurations of 121, 123, 132, 133, and 134 floats where the numbers indicate the number of floats: bow, mid, stern. This shows how power capture is increased while response remains similar. We only consider uni-directional (long-crested) waves with narrow band width typical of swell. By considering scatter diagrams for various offshore sites capacities may range from 3.7 MW to 17.3 MW for the eight float system with a capacity factor of 1/3 while the cost of electricity assuming capital cost to be a fixed multiple of steel cost is reduced from that for the three-float system. 相似文献