Publications

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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.

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.

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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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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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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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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