Liang Li et al.: Wave force prediction effect on the energy absorption of a wave energy converter with real-time control
Abstract-Real-time control has been widely adopted to enlarge the energy extraction of a wave energy converter (WEC). In order to implement a real-time control, it is necessary to predict the wave excitation forces in the close future. In many previous studies, the wave forces over the prediction horizon were assumed to be already known, while the wave force prediction effect has been hardly examined. In this paper, we investigate the effect of wave force prediction on the energy absorption of a heaving point-absorber WEC with real-time latching control. The real-time control strategy is based on the combination of optimal command theory and first order-one variable grey model GM(1,1). It is shown that a long prediction horizon is beneficial to the energy absorption whereas the prediction deviation reduces extracting efficiency of the WEC. Further analysis indicates that deviation of wave force amplitude has little influence on the WEC performance. It is the phase deviation that leads to energy loss. Since the prediction deviation accumulates over the horizon, a moderate horizon is thus recommended.Index Terms-real-time control, wave energy converter, energy absorption, renewable energy, wave force prediction
I. IntroductionT is expected that the global demand for energy will climb up to 25 percent by 2040 and the world is pursuing economic and renewable energy sources to keep up with this considerable demand growth [1]. Among various of ocean energy resources, sea waves take the advantage of high power density and all-day availability. To extract energy from ocean waves, WECs with various operation mechanisms have been developed. Li et al. [2] showed the power output of an oscillating-body WEC installed on a spar-type floating wind turbine. Boren et al. [3] presented a testing of a scaled vertical axis pendulum WEC. He et al. [4] utilized a floater breakwater to harvest energy from the waves. Experimental study of the concept was performed.Control action is introduced to the WEC to enlarge the energy absorption and broaden the bandwidth. Babarit et al. [5] studied how the declutching control influenced the energy absorption of a WEC in regular and irregular waves. Zou et al.[6] investigated constrained and unconstrained optimal control of a heaving point-absorber. Park et al. [7] proposed an phase L. Li, Z. M. Yuan (corresponding author), and Y. Gao, are with Department of Naval Architecture, Ocean and Marine Engineering, University of Strathclyde, (e-mail: liang.li@strath.ac.uk; zhiming.yuan@strath.ac.uk; yan.gao@strath.ac.uk ).control by estimating the wave period using velocity and acceleration information.The latching control was first proposed by Budal and Falnes [8]. They found that one condition for maximizing energy absorption was to keep the velocity in phase with the wave excitation force. Therefore, the latching control is a kind of phase control. Hoskin and Nichols [9] used op...