Energy-maximising wave energy conversion control strategies are commonly based upon direct optimal control theory, where the control problem is discretised and transcribed into a nonlinear programme, and a solution is found via numerical routines. Though appealing from an optimality viewpoint, the real-time application of such strategies to realistic (complex) wave energy systems, such as the PeWEC device, can become potentially challenging, due to its intrinsic multiple degree-of-freedom (DoF) nature. Furthermore, this pendulum-based system is not only multi-DoF in its nature, but also underactuated, i.e. only one mode, associated to the pendulum mechanism installed inside the wave-excited floating body, can be effectively actuated. We propose, in this paper, a set of four simple and intuitive energy-maximising controllers for the PeWEC system based, upon linear time-invariant (LTI) systems. We achieve this by deriving the so-called impedance-matching conditions for the PeWEC, and extending well-established LTI controllers, originally designed for fully actuated single-DoF systems, to this multi-DoF underactuated case. In particular, we explore, design, and synthesise both feedback, and feedforward configurations, making explicit emphasis in their main characteristics. Furthermore, we provide a performance assessment for each of the proposed controllers, showing their energy-maximising capabilities for the wave resource characterising the Mediterranean Sea.

Intuitive LTI energy-maximising control for multi-degree of freedom wave energy converters: The PeWEC case / Carapellese, Fabio; Pasta, Edoardo; Paduano, Bruno; Faedo, NICOLAS EZEQUIEL; Mattiazzo, Giuliana. - In: OCEAN ENGINEERING. - ISSN 0029-8018. - ELETTRONICO. - 256:(2022), p. 111444. [10.1016/j.oceaneng.2022.111444]

Intuitive LTI energy-maximising control for multi-degree of freedom wave energy converters: The PeWEC case

Fabio Carapellese;Edoardo Pasta;Bruno Paduano;Nicolas Faedo;Giuliana Mattiazzo
2022

Abstract

Energy-maximising wave energy conversion control strategies are commonly based upon direct optimal control theory, where the control problem is discretised and transcribed into a nonlinear programme, and a solution is found via numerical routines. Though appealing from an optimality viewpoint, the real-time application of such strategies to realistic (complex) wave energy systems, such as the PeWEC device, can become potentially challenging, due to its intrinsic multiple degree-of-freedom (DoF) nature. Furthermore, this pendulum-based system is not only multi-DoF in its nature, but also underactuated, i.e. only one mode, associated to the pendulum mechanism installed inside the wave-excited floating body, can be effectively actuated. We propose, in this paper, a set of four simple and intuitive energy-maximising controllers for the PeWEC system based, upon linear time-invariant (LTI) systems. We achieve this by deriving the so-called impedance-matching conditions for the PeWEC, and extending well-established LTI controllers, originally designed for fully actuated single-DoF systems, to this multi-DoF underactuated case. In particular, we explore, design, and synthesise both feedback, and feedforward configurations, making explicit emphasis in their main characteristics. Furthermore, we provide a performance assessment for each of the proposed controllers, showing their energy-maximising capabilities for the wave resource characterising the Mediterranean Sea.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2964587