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A comparison of efficiency-aware model-predictive control approaches for wave energy devices

Journal of Ocean Engineering and Marine Energy

Sergiienko, Nataliia Y.; Bacelli, Giorgio B.; Coe, Ryan G.; Cazzolato, Benjamin S.

This paper compares four different formulations of model predictive control that attempt to maximise electrical power generated by a wave energy converter (WEC). Control laws include (1) pure maximisation of mechanical power, (2) maximisation of mechanical power with a control penalty factor, (3) maximisation of electrical power using power conversion efficiency, and (4) maximisation of electrical power using the full electro-mechanical model of a system. For this study, a wave-to-wire model is developed for a floating spherical buoy connected to a permanent magnet synchronous generator. The performance of the controllers, including the mechanical and electrical power outputs, is compared in irregular wave conditions for the unconstrained and force-constrained scenarios. The results demonstrate that the controller designed to maximise mechanical power is not suitable for practical applications and may lead to negative electrical power output due to the non-ideal power take-off efficiency. Moreover, the replacement of the power take-off dynamics by the efficiency coefficient does not guarantee the maximum electrical power production.

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The Marine and Hydrokinetic ToolKit (MHKiT) for Data Quality Control and Analysis [Slides]

Olson, Sterling S.; Fao, Rebecca F.; Coe, Ryan G.; Ruehl, Kelley M.; Driscoll, Frederick D.; Gunawan, Budi G.; Lansing, Carina L.; Ivanov , Hristo I.

The ability to collect, ingest, condition, reduce, quality control, process, visualize, and store data in a standardized way is critical at all stages of Marine Energy (ME) research and technology/project development. MHKiT is an open-source, standardized suite of ME data processing functions that provides the ability to ingest, condition, reduce, quality control, process, visualize and store ME data. MHKiT is developed in both Python and Matlab.

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Maybe less is more: Considering capacity factor, saturation, variability, and filtering effects of wave energy devices

Applied Energy

Coe, Ryan G.; Ahn, Seongho; Neary, Vincent S.; Kobos, Peter H.; Bacelli, Giorgio B.

While a great deal of research has been performed to quantify and characterize the wave energy resource, there are still open questions about how a wave energy developer should use this wave resource information to design a wave energy converter device to suit a specific environment or, alternatively, to assess potential deployment locations. It is natural to focus first on the impressive magnitudes of power available from ocean waves, and to be drawn to locations where mean power levels are highest. However, a number of additional factors such as intermittency and capacity factor may be influential in determining economic viability of a wave energy converter, and should therefore be considered at the resource level, so that these factors can influence device design decisions. This study examines a set of wave resource metrics aimed towards this end of bettering accounting for variability in wave energy converter design. The results show distinct regional trends that may factor into project siting and wave energy converter design. Although a definitive solution for the optimal size of a wave energy converter is beyond the reaches of this study, the evidence presented does support the idea that smaller devices with lower power ratings may merit closer consideration.

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The MBARI-WEC: a power source for ocean sensing

Journal of Ocean Engineering and Marine Energy

Hamilton, Andrew; Cazenave, François; Forbush, Dominic D.; Coe, Ryan G.; Bacelli, Giorgio B.

Interest in wave energy converters to provide autonomous power to various ocean-bound systems, such as autonomous underwater vehicles, sensor systems, and even aquaculture farms, has grown in recent years. The Monterey Bay Aquarium Research Institute has developed and deployed a small two-body point absorber wave energy device suitable to such needs. This paper provides a description of the system to support future open-source access to the device and further the general development of similar wave energy systems. Additionally, to support future control design and system modification efforts, a set of hydrodynamic models are presented and cross-compared. To test the viability of using a linear frequency-domain admittance model for controller tuning, the linear model is compared against four WEC-Sim models of increasing complexity. The linear frequency-domain model is found to be generally adequate for capturing system dynamics, as the model agreement is good and the degree of nonlinearity introduced in the WEC-Sim models is generally less than 2.5%.

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A practical approach to wave energy modeling and control

Renewable and Sustainable Energy Reviews

Coe, Ryan G.; Bacelli, Giorgio B.; Forbush, Dominic D.

The potential for control design to dramatically improve the economic viability of wave energy has generated a great deal of interest and excitement. However, for a number of reasons, the promised benefits from better control designs have yet to be widely realized by wave energy devices and wave energy remains a relatively nascent technology. This brief paper summarizes a simple, yet powerful approach to wave energy dynamics modeling, and subsequent control design based on impedance matching. Our approach leverages the same concepts that are exploited by a simple FM radio to achieve a feedback controller for wave energy devices that approaches optimal power absorption. If fully utilized, this approach can deliver immediate and consequential reductions to the cost of wave energy. Additionally, this approach provides the necessary framework for control co-design of a wave energy converter, in which an understanding of the control logic allows for synchronous design of the device control system and hardware.

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Modelling a heaving point-absorber with a closed-loop control system using the dualsphysics code

Energies

Ropero-Giralda, Pablo; Crespo, Alejandro J.C.; Coe, Ryan G.; Tagliafierro, Bonaventura; Domínguez, José M.; Bacelli, Giorgio B.; Gómez-Gesteira, Moncho

The present work addresses the need for an efficient, versatile, accurate and open-source numerical tool to be used during the design stage of wave energy converters (WECs). The device considered here is the heaving point-absorber developed and tested by Sandia National Laboratories. The smoothed particle hydrodynamics (SPH) method, as implemented in DualSPHysics, is proposed since its meshless approach presents some important advantages when simulating floating devices. The dynamics of the power take-off system are also modelled by coupling DualSPHysics with the multi-physics library Project Chrono. A satisfactory matching between experimental and numerical results is obtained for: (i) the heave response of the device when forced via its actuator; (ii) the vertical forces acting on the fixed device under regular waves and; (iii) the heave response of the WEC under the action of both regular waves and the actuator force. This proves the ability of the numerical approach proposed to simulate accurately the fluid–structure interaction along with the WEC’s closed-loop control system. In addition, radiation models built from the experimental and WAMIT results are compared with DualSPHysics by plotting the intrinsic impedance in the frequency domain, showing that the SPH method can be also employed for system identification.

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A Scoping Study to Determine the Location-Specific WEC Threshold Size for Wave-Powered AUV Recharging

IEEE Journal of Oceanic Engineering

Driscol, Blake P.; Gish, L.A.; Coe, Ryan G.

The aim of this study is to determine the threshold wave energy converter (WEC) type and size to charge a fleet of U.S. Navy autonomous underwater vehicles (AUVs) in various geographic locations of interest. The U.S. Navy deploys AUVs in locations around the world that must be charged manually, decreasing their operational endurance and creating operational limitations. Ocean waves are a potential power source that can be converted into electricity using a WEC and stored using a battery. It would be beneficial to develop a WEC that could autonomously charge AUVs offshore. Numerous locations were analyzed to determine the minimum size of a WEC capable of providing sufficient charging power and offering a strategic advantage. By predicting the WEC efficiency (based on empirical equations) and wave resource (based on available data), electrical power generation across numerous WEC types and locations was compared in MATLAB. The generalized process developed here could be used to determine the required size and type of WECs to charge a fleet of AUVs in different locations around the world.

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A second benchmarking exercise on estimating extreme environmental conditions: Methodology & baseline results

Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE

Mackay, Ed; Haselsteiner, Andreas F.; Coe, Ryan G.; Manuel, Lance

Estimating extreme environmental conditions remains a key challenge in the design of offshore structures. This paper describes an exercise for benchmarking methods for extreme environmental conditions, which follows on from an initial benchmarking exercise introduced at OMAE 2019. In this second exercise, we address the problem of estimating extreme metocean conditions in a variable and changing climate. The study makes use of several very long datasets from a global climate model, including a 165-year historical run, a 700-year pre-industrial control run, which represents a quasi-steady state climate, and several runs under various future emissions scenarios. The availability of the long datasets allows for an in-depth analysis of the uncertainties in the estimated extreme conditions and an attribution of the relative importance of uncertainties resulting from modelling choices, natural climate variability, and potential future changes to the climate. This paper outlines the methodology for the second collaborative benchmarking exercise as well as presenting baseline results for the selected datasets.

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Comments on Control of Wave Energy Converters

IEEE Transactions on Control Systems Technology

Bacelli, Giorgio B.; Coe, Ryan G.

The main objective of this letter is to consolidate the knowledge about the dynamics and control of oscillating-body wave energy converters (WECs). A number of studies have shown that control systems strongly affect power absorption; however, there remains a need for a concise and integrated explanation of the theoretical and practical implications that control can have on both performance and the broader WEC design process. This short letter attempts to fill this gap by presenting a discussion on the key practical aspects concerning the dynamics and control of oscillating-body WEC. In particular, the focus is on the choice of control models and a simple causal control scheme suitable for real-time implementation. Finally, consideration is given to the effect of the power takeoff (PTO) on the maximization of electrical power, thus leading to the derivation of useful conditions for the control co-design of the PTO system.

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Scoping and concept design of a WEC for autonomous power

Oceans Conference Record (IEEE)

Korde, Umesh A.; Gish, L.A.; Bacelli, Giorgio B.; Coe, Ryan G.

This paper reports results from an ongoing investigation on potential ways to utilize small wave energy devices that can be transported in, and deployed from, torpedo tubes. The devices are designed to perform designated ocean measurement operations and thus need to convert enough energy to power onboard sensors, while storing any excess energy to support vehicle recharging operations. Examined in this paper is a traditional tubular oscillating water column device, and particular interest here is in designs that lead to optimization of power converted from shorter wind sea waves. A two step design procedure is investigated here, wherein a more approximate two-degree-of-freedom model is first used to identify relative dimensions (of device elements) that optimize power conversion from relative oscillations between the device elements. A more rigorous mathematical model based on the hydrodynamics of oscillating pressure distributions within solid oscillators is then used to provide the hydrodynamic coefficients, forces, and flow rates for the device. These results provide a quick but rigorous way to estimate the energy conversion performance of the device in various wave climates, while enabling more accurate design of the power takeoff and energy storage systems.

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Modeling and predicting power from a WEC array

Oceans Conference Record (IEEE)

Coe, Ryan G.; Bacelli, Giorgio B.; Gaebele, Daniel; Cotten, Alfred; McNatt, Cameron; Wilson, David G.; Weaver, Wayne; Kasper, Jeremy L.; Khalil, Mohammad K.; Dallman, Ann R.

This study presents a numerical model of a WEC array. The model will be used in subsequent work to study the ability of data assimilation to support power prediction from WEC arrays and WEC array design. In this study, we focus on design, modeling, and control of the WEC array. A case study is performed for a small remote Alaskan town. Using an efficient method for modeling the linear interactions within a homogeneous array, we produce a model and predictionless feedback controllers for the devices within the array. The model is applied to study the effects of spectral wave forecast errors on power output. The results of this analysis show that the power performance of the WEC array will be most strongly affected by errors in prediction of the spectral period, but that reductions in performance can realistically be limited to less than 10% based on typical data assimilation based spectral forecasting accuracy levels.

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Development of a comparison framework for evaluating environmental contours of extreme sea states

Journal of Marine Science and Engineering

Eckert, Aubrey C.; Martin, Nevin; Coe, Ryan G.; Seng, Bibiana; Stuart, Zacharia; Morrell, Zachary

Environmental contours of extreme sea states are often utilized for the purposes of reliability-based offshore design. Many methods have been proposed to estimate environmental contours of extreme sea states, including, but not limited to, the traditional inverse first-order reliability method (I-FORM) and subsequent modifications, copula methods, and Monte Carlo methods. These methods differ in terms of both the methodology selected for defining the joint distribution of sea state parameters and in the method used to construct the environmental contour from the joint distribution. It is often difficult to compare the results of proposed methods to determine which method should be used for a particular application or geographical region. The comparison of the predictions from various contour methods at a single site and across many sites is important to making environmental contours of extreme sea states useful in practice. The goal of this paper is to develop a comparison framework for evaluating methods for developing environmental contours of extreme sea states. This paper develops generalized metrics for comparing the performance of contour methods to one another across a collection of study sites, and applies these metrics and methods to develop conclusions about trends in the wave resource across geographic locations, as demonstrated for a pilot dataset. These proposed metrics and methods are intended to judge the environmental contours themselves relative to other contour methods, and are thus agnostic to a specific device, structure, or field of application. The metrics developed and applied in this paper include measures of predictive accuracy, physical validity, and aggregated temporal performance that can be used to both assess contour methods and provide recommendations for the use of certain methods in various geographical regions. The application and aggregation of the metrics proposed in this paper outline a comparison framework for environmental contour methods that can be applied to support design analysis workflows for offshore structures. This comparison framework could be extended in future work to include additional metrics of interest, potentially including those to address issues pertinent to a specific application area or analysis discipline, such as metrics related to structural response across contour methods or additional physics-based metrics based on wave dynamics.

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Deterministic incident-wave elevation prediction in intermediate water depth

Journal of Ocean Engineering and Marine Energy

Korde, Umesh A.; Coe, Ryan G.; Bacelli, Giorgio B.

Potential performance gains from optimal (non-causal) impedance-matching control of wave energy devices in irregular ocean waves are dependent on deterministic wave elevation prediction techniques that work well in practical applications. Although a number of devices are designed for operation in intermediate water depths, little work has been reported on deterministic wave prediction in such depths. Investigated in this paper is a deterministic wave-prediction technique based on an approximate propagation model that leads to an analytical formulation, which may be convenient to implement in practice. To improve accuracy, an approach to combine predictions based on multiple up-wave measurement points is evaluated. The overall method is tested using experimental time-series measurements recorded in the U.S. Navy MASK basin in Carderock, MD, USA. For comparison, an alternative prediction approach based on Fourier coefficients is also tested with the same data. Comparison of prediction approaches with direct measurements suggest room for improvement. Possible sources of error including tank reflections are estimated, and potential mitigation approaches are discussed.

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Initial conceptual demonstration of control co-design for WEC optimization

Journal of Ocean Engineering and Marine Energy

Coe, Ryan G.; Bacelli, Giorgio B.; Olson, Sterling S.; Neary, Vincent S.; Topper, Mathew B.R.

While some engineering fields have benefited from systematic design optimization studies, wave energy converters have yet to successfully incorporate such analyses into practical engineering workflows. The current iterative approach to wave energy converter design leads to sub-optimal solutions. This short paper presents an open-source MATLAB toolbox for performing design optimization studies on wave energy converters where power take-off behavior and realistic constraints can be easily included. This tool incorporates an adaptable control co-design approach, in that a constrained optimal controller is used to simulate device dynamics and populate an arbitrary objective function of the user’s choosing. A brief explanation of the tool’s structure and underlying theory is presented. To demonstrate the capabilities of the tool, verify its functionality, and begin to explore some basic wave energy converter design relationships, three conceptual case studies are presented. In particular, the importance of considering (and constraining) the magnitudes of device motion and forces in design optimization is shown.

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Feedback Resonating Control for a Wave Energy Converter

IEEE Transactions on Industry Applications

Bacelli, Giorgio B.; Nevarez, Victor N.; Coe, Ryan G.; Wilson, David G.

Through the use of advanced control techniques, wave energy converters (WECs) can achieve substantial increases in energy absorption. The motion of the WEC device is a significant contribution to the energy absorbed by the device. Reactive (complex conjugate) control maximizes the energy absorption due to the impedance matching. The issue with complex conjugate control is that, in general, the controller is noncausal, which requires prediction of the incoming waves. This article explores the potential of employing system identification techniques to build a causal transfer function that approximates the complex conjugate controller over a finite frequency band of interest. This approach is quite viable given the band-limited nature of ocean waves. The resulting controller is stable, and the average efficiency of the power captured by the causal controller in realistic ocean waves is 99%, when compared to the noncausal complex conjugate.

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Advanced WEC Dynamics and Controls MASK3 Test

Coe, Ryan G.; Bacelli, Giorgio B.; Spencer, Steven; kjdulle, dforbus k.

Sandia National Laboratories and the Department of Energy (DOE) have completed on a multi-year program to examine the effects of control theory on increasing power produced by resonant wave energy conversion (WEC) devices. The tank tests have been conducted at the Naval Surface Warfare Center Carderock Division (NSWCCD) Maneuvering and Sea Keeping Basin (MASK) in West Bethesda, MD. This report outlines the "MASK3" wave tank test within the Advanced WEC Dynamics and Controls (AWDC) project. This test represents the final test in the AWDC project. The focus of the MASK3 test was to consider coordinated 3-degree-of-freedom (3DOF) control of a WEC in a realistic ocean environment. A key aspect of this test was the inclusion of a "self-tunine mechanism which uses an optimization algorithm to update controller gains based on a changing sea state. The successful implementation of the self-tuning mechanism is the last crucial step required for such a controller to be implemented in real ocean environments.

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A summary of the Advanced WEC Dynamics and Control project

Coe, Ryan G.; Bacelli, Giorgio B.

This report serves as a comprehensive summary of the work completed by the "Advanced WEC Dynamics and Controls projecr during the period of 2013-2019. This project was first envisioned to simply consider the question of designing a controller for wave energy converters (WECs), without a complete recognition of the broader considerations that such a task must necessarily examine. This document describes both the evolution of the project scope and the key findings produced. The basic goal of the project has been to deliver tractable methodologies and work flows that WEC designers can use to improve the performance of their machines. Engineering solutions, which may offer 80% of the impact, but require 20% of the effort compared to a perfect result (which may be many years of development down the road) were preferred. With this doctrine, the work of the project often involved translating existing methods that have been successfully developed and applied for other fields, into the application area of wave energy.

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

Applied Ocean Research

Bacelli, Giorgio B.; Spencer, Steven; Patterson, David; Coe, Ryan G.

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.

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The effect of environmental contour selection on expected wave energy converter response

Journal of Offshore Mechanics and Arctic Engineering

Edwards, Samuel J.; Coe, Ryan G.

A wave energy converter must be designed to both maximize power production and to ensure survivability, which requires the prediction of future sea states. It follows that precision in the prediction of those sea states should be important in determining a final WEC design. One common method used to estimate extreme conditions employs environmental contours of extreme conditions. This report compares five environmental contour methods and their repercussions on the response analysis of Reference Model 3 (RM3). The most extreme power take-off (PTO) force is predicted for the RM3 via each contour and compared to identify the potential difference in WEC response due to contour selection. The analysis provides insight into the relative performance of each of the contour methods and demonstrates the importance of an environmental contour in predicting extreme response. Ideally, over-predictions should be avoided, as they can add to device cost. At the same time, any "exceedances," that is to say sea states that exceed predictions of the contour, should be avoided so that the device does not fail. For the extreme PTO force response studied here, relatively little sensitivity to the contour method is shown due to the collocation of the device's resonance with a region of agreement between the contours. However, looking at the level of observed exceedances for each contour may still give a higher level of confidence to some methods.

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Wave-powered auv recharging: A feasibility study

Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE

Driscol, Blake P.; Gish, Andrew; Coe, Ryan G.

The aim of this study is to determine whether multiple U.S. Navy autonomous underwater vehicles (AUVs) could be supported using a small, heaving wave energy converter (WEC). The U.S. Navy operates numerous AUVs that need to be charged periodically onshore or onboard a support ship. Ocean waves provide a vast source of energy that can be converted into electricity using a wave energy converter and stored using a conventional battery. The Navy would benefit from the development of a wave energy converter that could store electrical power and autonomously charge its AUVs offshore. A feasibility analysis is required to ensure that the WEC could support the energy needs of multiple AUVs, remain covert, and offer a strategic military advantage. This paper investigates the Navy's power demands for AUVs and decides whether or not these demands could be met utilizing various measures of WEC efficiency. Wave data from a potential geographic region is analyzed to determine optimal locations for the converter in order to meet the Navy's power demands and mission set.

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Feedback Resonating Control for a Wave Energy Converter

SPEEDAM 2018 - Proceedings: International Symposium on Power Electronics, Electrical Drives, Automation and Motion

Nevarez, Victor N.; Bacelli, Giorgio B.; Coe, Ryan G.; Wilson, David G.

Through the use of advanced control techniques, wave energy converters have significantly improved energy absorption. The motion of the WEC device is a significant contribution to the energy absorbed by the device. Reactive control (complex conjugate control) maximizes the energy absorption due to the impedance matching. The issue with complex conjugate control is that the controller is non-causal, which requires prediction into the oncoming waves to the device. This paper explores the potential of using system identification (SID) techniques to build a causal transfer function that approximates the complex conjugate controller over a specific frequency band of interest. The resulting controller is stable, and the average efficiency of the power captured by the causal controller is 99%, when compared to the non-causal complex conjugate.

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Design load analysis for wave energy converters

Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE

Van Rij, Jennifer; Yu, Yi H.; Coe, Ryan G.

This study demonstrates a systematic methodology for establishing the design loads of a wave energy converter. The proposed design load methodology incorporates existing design guidelines, where they exist, and follows a typical design progression; namely, advancing from many, quick, order-ofmagnitude accurate, conceptual stage design computations to a few, computationally intensive, high-fidelity, design validation simulations. The goal of the study is to streamline and document this process based on quantitative evaluations of the design loads' accuracy at each design step and consideration for the computational efficiency of the entire design process. For the wave energy converter, loads, and site conditions considered, this study demonstrates an efficient and accurate methodology of evaluating the design loads.

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Full long-term design response analysis of a wave energy converter

Renewable Energy

Coe, Ryan G.; Michelen, Carlos; Eckert, Aubrey C.; Sallaberry, Cédric

Efficient design of wave energy converters requires an accurate understanding of expected loads and responses during the deployment lifetime of a device. A study has been conducted to better understand best-practices for prediction of design responses in a wave energy converter. A case-study was performed in which a simplified wave energy converter was analyzed to predict several important device design responses. The application and performance of a full long-term analysis, in which numerical simulations were used to predict the device response for a large number of distinct sea states, was studied. Environmental characterization and selection of sea states for this analysis at the intended deployment site were performed using principle-components analysis. The full long-term analysis applied here was shown to be stable when implemented with a relatively low number of sea states and convergent with an increasing number of sea states. As the number of sea states utilized in the analysis was increased, predicted response levels did not change appreciably. However, uncertainty in the response levels was reduced as more sea states were utilized.

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A comparison of control strategies for wave energy converters

International Journal of Marine Energy

Coe, Ryan G.; Bacelli, Giorgio B.; Wilson, David G.; Abdelkhalik, Ossama; Korde, Umesh A.; Robinett, Rush D.

In this study, we employ a numerical model to compare the performance of a number of wave energy converter control strategies. The controllers selected for evaluation span a wide range in their requirements for implementation. Each control strategy is evaluated using a single numerical model with a set of sea states to represent a deployment site off the coast of Newport, OR. A number of metrics, ranging from power absorption to kinematics, are employed to provide a comparison of each control strategy's performance that accounts for both relative benefits and costs. The results show a wide range of performances from the different controllers and highlight the need for a holistic design approach which considers control design as a parallel component within the larger process WEC design.

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An assessment of WEC control performance uncertainty

Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE

Coe, Ryan G.; Bacelli, Giorgio B.; Wilson, David G.

A linear dynamic model for a wave energy converter (WEC) has been developed based on the results of experimental wave tank testing. Based on this model, a model predictive control (MPC) strategy has been designed and implemented. To assess the performance of this control strategy, a deployment environment off the coast of Newport, OR has been selected and the controller has been used to simulate the WEC response in a set of irregular sea states. To better understand the influence of model accuracy on control performance, an uncertainty analysis has been performed by varying the parameters of the model used for the design of the controller (i.e. the control model), while keeping the WEC dynamic model employed in these simulations (i.e. the plant model) unaltered. The results of this study indicate a relative low sensitivity of the MPC control strategy to uncertainties in the controller model for the specific case studied here.

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WEC geometry optimization with advanced control

Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE

Coe, Ryan G.; Bacelli, Giorgio B.; Wilson, David G.

A study was performed to optimize the geometry of a point absorber style wave energy converter (WEC). An axisymmetric single-body device, moving in heave only, was considered. Design geometries, generated using a parametric definition, were optimized using genetic algorithms. Each geometry was analyzed using a boundary element model (BEM) tool to obtain corresponding frequency domain models. Based on these models, a pseudo-spectral method was applied to develop a control methodology for each geometry. The performance of each design was assessed using a Bretschneider sea state. The objective of optimization is to maximize harvested energy. In this preliminary investigation, a constraint is imposed on the the geometry to guarantee a linear dynamic model would be valid for all geometries generated by the optimization tool. Numerical results are presented for axisymmetric buoy shapes.

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Estimation of excitation force on wave energy converters using pressure measurements for feedback control

OCEANS 2016 MTS/IEEE Monterey, OCE 2016

Abdelkhalik, Ossama; Zou, Shangyan; Bacelli, Giorgio B.; Robinett, Rush D.; Wilson, David G.; Coe, Ryan G.

Many of the control strategies for wave energy converters (WECs) that have been studied in the literature rely on the availability of estimates for either the wave elevation or the exciting force caused by the incoming wave; with the objective of addressing this issue, this paper presents the design of a state estimator for a WEC. In particular, the work described in this paper is based on an extended Kalman filter that uses measurements from pressure sensors located on the hull of the WEC to estimate the wave exciting force. Simulation results conducted on a heaving point absorber WEC shows that the extended Kalman filter provides a good estimation of the exciting force in the presence of measurement noise combined with a simplified model of the system, thus making it a suitable candidate for the implementation in an experimental set-up.

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Advanced WEC Dynamics & Controls FY16 Testing Report

Coe, Ryan G.; Bacelli, Giorgio B.; Wilson, David G.; Patterson, David

A model-scale wave tank test was conducted in the interest of improving control systems design of wave energy converters (WECs). The success of most control strategies is based directly upon the availability of a reduced-order model with the ability to capture the dynamics of the system with sufficient accuracy. For this reason, the test described in this report, which is the first in a series of planned tests on WEC controls, focused on system identification (system ID) and model validation.

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A comparison of WEC control strategies

Coe, Ryan G.; Bull, Diana L.; Bacelli, Giorgio B.; Wilson, David G.; Korde, Umesh A.; Robinett, Rush D.; Abdelkhalik, Ossama A.

The operation of Wave Energy Converter (WEC) devices can pose many challenging problems to the Water Power Community. A key research question is how to significantly improve the performance of these WEC devices through improving the control system design. This report summarizes an effort to analyze and improve the performance of WEC through the design and implementation of control systems. Controllers were selected to span the WEC control design space with the aim of building a more comprehensive understanding of different controller capabilities and requirements. To design and evaluate these control strategies, a model scale test-bed WEC was designed for both numerical and experimental testing (see Section 1.1). Seven control strategies have been developed and applied on a numerical model of the selected WEC. This model is capable of performing at a range of levels, spanning from a fully-linear realization to varying levels of nonlinearity. The details of this model and its ongoing development are described in Section 1.2.

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On the short-term uncertainty in performance f a point absorber wave energy converter

Coe, Ryan G.; Michelen Strofer, Carlos A.; Manuel, Lance M.; Canning, Jarred C.

Of interest, in this study, is the quantification of uncertainty in the performance of a two-body wave point absorber (Reference Model 3 or RM3), which serves as a wave energy converter (WEC). We demonstrate how simulation tools may be used to establish short-term relationships between any performance parameter of the WEC device and wave height in individual sea states. We demonstrate this methodology for two sea states. Efficient structural reliability methods, validated using more expensive Monte Carlo sampling, allow the estimation of uncertainty in performance of the device. Such methods, when combined with metocean data quantifying the likelihood of different sea states, can be useful in long-term studies and in reliability-based design.

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Nonlinear time-domain performance model for a wave energy converter in three dimensions

2014 Oceans - St. John's, OCEANS 2014

Coe, Ryan G.; Bull, Diana L.

A nonlinear three-dimensional time-domain performance model has been developed for a floating axisymmetric point absorbing WEC. This model employs a set of linear partial differential equations, in the form of a state-space model, to replace the convolution integrals needed to solve for radiation reaction. Linear time-domain results are verified against predictions from a frequency-domain model. Nonlinear timedomain predictions are compared back to frequency-domain and linear time-domain predictions to show the effects of some linearization assumptions. A simple resistive control strategy is applied throughout these scenarios.

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Sensitivity of a wave energy converter dynamics model to nonlinear hydrostatic models

Proceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE

Coe, Ryan G.; Bull, Diana L.

A three dimensional time-domain model, based on Cummins equation, has been developed for an axisymmetric point absorbing wave energy converter (WEC) with an irregular cross section. This model incorporates a number of nonlinearities to accurately account for the dynamics of the device: hydrostatic restoring, motion constraints, saturation of the powertake-off force, and kinematic nonlinearities. Here, an interpolation model of the hydrostatic restoring reaction is developed and compared with a surface integral based method. The effects of these nonlinear hydrostatic models on device dynamics are explored by comparing predictions against those of a linear model. For the studied WEC, the interpolation model offers a large improvement over a linear model and is roughly two orders-of-magnitude less computationally expensive than the surface integral based method.

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Design of a physical point-absorbing WEC model on which multiple control strategies will be tested at large scale in the MASK basin

Proceedings of the International Offshore and Polar Engineering Conference

Bull, Diana L.; Coe, Ryan G.; Monda, Mark; Dullea, Kevin; Bacelli, Giorgio B.; Patterson, David

A new multi-year effort has been launched by the Department of Energy to validate the extent to which control strategies can increase the power produced by resonant wave energy conversion (WEC) devices. This paper describes the design of a WEC device to be employed by this program in the development and assessment of WEC control strategies. The operational principle of the device was selected to provide a test-bed for control strategies, in which a specific control strategies effectiveness and the parameters on which its effectiveness depends can be empirically determined. Numerical design studies were employed to determine the device geometry, so as to maximize testing opportunities in the Maneuvering and Seakeeping (MASK) Basin at the Naval Surface Warfare Centers David Taylor Model Basin. Details on the physical model including specific components and model fabrication methodologies are presented. Finally the quantities to be measured and the mechanisms of measurement are listed.

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Extreme Conditions Modeling Workshop Report

Coe, Ryan G.; Neary, Vincent S.; Lawon, Michael J.; Yu, Yi-Hsiang Y.; Weber, Jochem W.

Sandia National Laboratories (SNL) and the National Renewable Energy Laboratory (NREL) hosted the Wave Energy Converter (WEC) Extreme Conditions Modeling (ECM) Workshop in Albuquerque, New Mexico on May 13–14, 2014. The objective of the workshop was to review the current state of knowledge on how to numerically and experimentally model WECs in extreme conditions (e.g. large ocean storms) and to suggest how national laboratory resources could be used to improve ECM methods for the benefit of the wave energy industry. More than 30 U.S. and European WEC experts from industry, academia, and national research institutes attended the workshop, which consisted of presentations from W EC developers, invited keynote presentations from subject matter experts, breakout sessions, and a final plenary session .

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113 Results
113 Results