SUPERGEN MARINE 7th DOCTORAL TRAINING PROGRAMME WORKSHOP

Control of Wave and Tidal Converters

22-26 February 2010, Lancaster University

CONTROL TECHNIQUES FOR WAVE ENERGY CONVERTERS

Antnio F. de O. Falco
Instituto Superior Tcnico, Lisbon, Portugal

How far have we gone in 30+ yrs ? Some milestones:

1974 - Salter & the duck

1976 Masuda & Kaimei

1975- The early theoreticians

1985-91 The early OWCs

Early 1980s Point absorbers in Scandinavia

1975-82 - The British Program Goal: 2 GW plant Since 2004

1999-2000
1996 EURATLAS
1991: EU backs up wave energy

The new offshore devices OWCs in Europe

Introduction

Technology challenge

Introduction
Isolated: Pico, LIMPET, Oceanlinx
Oscillating Water Column
(with air turbine)

Fixed structure

In breakwater: Sakata, Mutriku

Floating: Mighty Whale, BBDB Heaving: Aquabuoy, IPS Buoy, Wavebob, PowerBuoy, FO3 Pitching: Pelamis, PS Frog, Searev Heaving: AWS Submerged Bottom-hinged: Oyster, Waveroller

Floating Oscillating body

(hydraulic motor, hydraulic turbine, linear electric generator)

Overtopping
(low head water turbine)

Fixed structure

Shoreline (with concentration): TAPCHAN In breakwater (without concentration): SSG

Floating structure (with concentration): Wave Dragon

Introduction
The size
While, in other renewables, the power is more or less proportional to size/area, the power-versus-size relationship is much more complex for wave energy converters. The concept of point absorber was introduced in Scandinavia around 1980 to describe efficient waveenergy absorption by well-tuned small devices. Theoretically (in linear wave theory), energy from a regular wave of given frequency can be absorbed by a large oscillating body as well as from a small one, provided both are tuned. The oscillation amplitude is larger for the smaller body.

Introduction

Absorbed power

Large body Small body

Wave energy absorption is widerbanded for a large body than for a point-absorber. This is relevant for real polychromatic multi-frequency waves. Here smaller oscillating-bodies are less efficient than larger ones. This can be (partially) overcome by control (phase control).
m

Wave frequency
1.5 1 0.5 0 0.5 1 100 150

200

Spectral power density (m2s)

200 t s

250

0.2 0.15 0.1 0.05 0 0 0.5 1 1.5

Te
Hs

10 s
2m

Frequency (rad/s)

Oscillating-body dynamics

Most wave energy converters are complex (possibly multi-body) mechanical systems with several degrees of freedom.

Buoy

We consider first the simplest case: A single floating body. One degree of freedom: oscillation in heave (vertical oscilation).
PTO

Spring

Damper

Oscillating-body dynamics
x Basic equation (Newton): m

m x

f h (t )

f m (t )
PTO Spring Damper

on wetted PTO surface

fh

fd fr f hs

excitation force (incident wave)

radiation force (body motion)

gS x

= hydrostatic force (body position)

m x

fd

fr

gSx

fm

Cross-section

Oscillating-body dynamics

Frequency-domain analysis

Sinusoidal monochromatic waves

Linear system

Oscillating-body dynamics
x

m x

fd

fr

gSx

fm

fr

A B x x

fm

Kx Cx
Linear spring Linear damper
Spring PTO Damper

B radiation damping A added mass

A and B to be computed (commercial codes WAMIT, AQUADYN, ...) for given and body geometry.

(m A) ( B C ) x ( gS x
mass

K )x

fd
Excitation force

buoyancy added PTO PTO mass radiationdamping spring damping

Oscillating-body dynamics
(m A) ( B C ) x ( gS x
Method of solution: Regular waves Linear system or simply

K )x

fd

( ei

cos t i sin t )

x(t )

Re X 0 ei

fd
t

Re Fd ei

x(t )

X 0 ei t ,

fd

Fd ei

Note : X 0 , Fd are in general complex amplitudes

Fd wave amplitude ( ) to be computed for given and body geometry

X0

Fd
2

(m A) i ( B C )

gS

Oscillating-body dynamics
X0
Power = force velocity

Fd
2

(m A) i ( B C )

gS

=0
P 1 Fd 8B
2

Time-averaged power absorbed from the waves :

B i X0 2

Fd 2B

Note: for given body and given wave amplitude and frequency , B and Fd are fixed. Then, the absorbed power P will be maximum when : K

i X0

Fd 2B
B C

gS K m A

Resonance condition m
K m

Radiation damping = PTO damping

Oscillating-body dynamics
Capture width L : measures the power absorbing capability of device (like power coefficient of wind turbines)

P E

P = absorbed power
E = energy flux of incident wave per unit crest length

For an axisymmetric body oscillating in heave (vertical oscillations), it can be shown (1976) that

Pmax

E 2

or

Lmax

2
CP 0.593

Note: Lmax may be larger than width of body

For wind turbines, Betzs limit is

Oscillating-body dynamics

Incident waves

Axisymmetric heaving body

Max. capture width

wave

Incident waves

Axisymmetric surging body

Oscillating-body dynamics
Example: hemi-spherical heaving buoy of radius a
No spring, no reactive control, K = 0
1

Pmax for
12

P Pmax
P Pmax

0.8 0.6

C* 0.5
C* 2

C*

C a
52

12

2.0

g T* T a

Dimensionless PTO damping

0.4 0.2 C*

If T = 9 s
5
5 7.5 10
12

aopt

22 m

Too large !

Dimensionless g T* T wave period a

12.5 T

15

17.5

Oscillating-body dynamics

How to decrease the resonance frequency of a given floater, without affecting the excitation and radiation forces ?
gS K m A

Resonance condition

Radiation damping = PTO damping

PTO system

Body 1 Body 2

WAVEBOB

Oscillating-body dynamics Time-domain analysis

Regular or irregular waves Linear or non-linear PTO

May require significant computing-time Yields time-series Essential for control studies

Oscillating-body dynamics

Time domain
PTO Spring Damper

From Fourier transform techniques:

(m

A ) (t ) x

f d (t )

gS x(t )

L(t

) ( ) d x

f m ( x, x, t )
PTO

(1)

added mass

excitation hydrostatic

radiation forces

L(t )
f d (t )

1 B( ) sin 2 0
n

td

memory function

f d ,n (t )

from ( ) and spectral distribution (Pierson-Moskowitz, )

Equation (1) to be numerically integrated

Oscillating-body dynamics
Example: Heaving buoy with hydraulic PTO (oil)
Hydraulic cylinder (ram) HP and LP gas accumulator Hydraulic motor
HP gas LP gas accumulator accumulator

Buoy

PTO force:
Coulomb type (imposed by pressure in accumulator, piston area and rectifying valve system)
A

Motor

Valve

Cylinder
B

PTO Equipment
High-pressureoil PTO Pelamis

One of the three power modules of a Pelamis

Peniche shipyard, Portugal, 2006

PTO Equipment
Inside power module

High-pressure-oil PTO Pelamis

LP accumulators

Hydraulic ram

HP accumulators

LP accumulators

PTO Equipment
High-pressure-oil PTO High-pressure accumulators
Commercially available Bladder or piston types Gas: Nitrogen Max. working pressure up to ~ 500 bar Banks of unit required for full-sized WECs

Thermodynamics of gas in accumulator (isentropic process):

pressure-volume pV pressure-temperature

constant

1.4 for air and Nitrogen

( 1)

constant T
U

energy storage (internal energy)

Cv T

PTO Equipment
High-pressure-oil PTO Hydraulic motor

Pistons

Bent axis, variable displacement

Swashplate

PTO Equipment
High-pressure-oil PTO Hydraulic motor
Positive displacement machine. Max. power up to ~ 300 500 kW at > 1000 rpm. Direct drive of electric generator. Relatively compact. Variable displacement (double flow control capability). Fairly good efficiency at maximum flow. Reversible (as pump). Available from a few manufacturers. Not too expensive.

Oscillating-body dynamics

Example: Hemispherical buoy, radius = a

Dimensionless radiation damping coefficient

0.35 0.3 0.25 0.2

Dimensionless memory function

0.04

Analytical Hulme 1982

0.03

B*

0.15 0.1 0.05 0 0 1 2 3 ka 4 5

L*

0.02
L

0.01 0 0.01 0 2 4 6 8 10 12

Dimensionless radius

ka

14

gt Dimensionless time t* t a

Oscillating-body dynamics
Buoy HP gas LP gas accumulator accumulator

External PTO force: Coulomb type (imposed by pressure in accumulator, piston area and rectifying valve system)
Cylinder

Motor

Valve

Irregular waves with Hs, Te and Pierson-Moskowitz spectral distribution

S ( )

2 263H s Te

exp( 1054Te

Oscillating-body dynamics
Sphere radius a 5 m Sea state H s 3 m, Te x (m)

Sphere radius a 5 m Sea state H s 3 m, Te 11s

x (m)

11s
x x (m) (m)

P (kW)

P (kW)

PP (kW) (kW)

Under damped External force 200 kN P 83.1 kW

Optimally damped External force 647 kN P 178.4 kW

Over damped External force 1000 kN P 97.0 kW

Avoid overdamping and underdamping. Recall that accumulator size is finite. How to control the damping level (PTO force or accumulator pressure) to the current sea state (or wave group) ? Answer: Control the oil flow rate q through hydraulic motor as function of pressure difference p

Algorithm:

Buoy

HP gas LP gas accumulator accumulator

p constant

p q
Valve

2 q G Sc p
A

piston control area parameter

Cylinder
B

How to control the instantaneous flow rate of oil? Control the rotational speed and/or control the angle (displacement)

CONTROL OF WAVE ENERGY CONVERTER Note: hydrodynamically the system is linear Performance curves, radius a = 5m
12 10

5s

7s

9s

11s

Te=5s Te=7s Te=9s

P
2 Hs

13s
6 4 2 0 0 50 100 150 200 250

Te=11s Te=13s

( kW/m 2 )

300

350

Sc p

PTO force

Hs

(kN/m)

CONTROL OF WAVE ENERGY CONVERTER Control algorithm

q(t )

2 Sc G p
Control parameter

piston area

Sc p
Pmotor

piston force
q p G
2
12 10

G2 G1

G3

Pmotor 2 Hs

G 2 2 Hs
2

8 6

parabolae
4 2 0 0 50 100 150 200

( kW/m )

Regulation curves

Hs

(kN/m)

CONTROL OF WAVE ENERGY CONVERTER Control algorithm qm (t )

Sc G p
control parameter

piston area
12

G1

G2

G3

10 8

( kW/m )

2 Hs 6 2
4 2

5s

7s
T e=5s

9s 11s

T e=7s T e=9s T e=11s T e=13s G=G1 G=G2 G=G3

13s

0 0 50 100 150 200 250

Hs

(kN/m)

Oscillating-body dynamics
Buoy radius 5m

LINEAR DAMPER

(kW/m 2 )

2 P Hs

12 G4
P H s2 , P m H s2 k W m 2

G3

2 P Hs
G2

(kW/m 2 )

G1 11

10

Te 5s 7 9 13

10 8 C (KNs/m)
P H s 2 kW m2

Hs

8 (kN/m) 6

11 13

A hydraulic PTO and a linear damper may be almost equally 4 4 effective in irregular waves (NO PHASE CONTROL). 2
2

Oscillating-body dynamics

For point absorbers (relatively small bodies) the resonance frequency of the body is in general much larger than the typical wave frequency of sea waves: No resonance can be achieved. Poor energy absorption.

How to increase energy absorption?

Phase control !

Oscillating-body dynamics
Phase control, i.e. wave-to-wave control in radom waves, is one of the main issues in wave energy conversion. Optimal control is a difficult theoretical control problem, that has been under investigation since the late 1970s. Control is made difficult by the randomness of the waves and by the wave-device interaction being a process with memory. The difficulty increases for multimode oscillations and for multibody systems.

Control should be regarded as an open problem and a major challenge in the development of wave energy conversion.

Oscillating-body dynamics Phase-control by latching

Whenever the body velocity comes down to zero, keep the body fixed for an appropriate perid of time. This is an artificial way of reducing the frequency of the body freeoscillations, and achieving resonance.

Phase-control by latching was introduced by Falnes and Budal

J. Falnes, K. Budal, Wave-power conversion by power absorbers. Norwegian Maritime Research, vol. 6, p. 2-11, 1978. Johannes Falnes Kjell Budall (1933-89)

Optimal phase control in random waves requires the prediction of incoming wave and heavy computing. Sub-optimal control strategies by latching were devised by several teams. Usually, control algorithm determines the duration of time the oscillator is kept fixed (latched) in each wave cycle.

Alternative strategy is in terms of load (not time duration): Opposing force to be overcome before the body is released.

Numerical simulations of phase control

Sphere radius 5 m
Gas (Nitrogen): accumulator: 100 kg turbine casing: 20 kg

qm (t ) G Sc p Sc

0.0314 m2 (diameter 200 mm)

Phase-control by latching: body is released when

hydrodynam ic force on body exceeds R( Sc p) ( R 1)

Control parameters:

G controls oil flow rate through hydraulic motor R controls latching (release of body)

PHASE CONTROL
How to achieve phase-control by latching in a floating body with a hydraulic power-take-off mechanism?
4
dx dt m s , 10 f d M N

2 0

velocity

Introduce a delay in the release of the latched body.

2 excit. force 4

608
600 4 602 604 606 t s 608 610 612

614

How?

2
x m

No phase-control: optimal G, R = 1

displacement
608 606
t s

4 600

Increase the resisting force the hydrodynamic forces have to overcome to restart the body motion.
608 610 612 614

602

604

t (s)

REGULAR WAVES Period T = 9 s Amplitude 0,667 m

Regular waves: T = 9 s, amplitude 0.67 m

0.86 10 P

s/kg

7.7 10

s/kg 206 .1 kW

R 1
4
dx dt m s , 10 f d M N

55 .0 kW

R 16
4
dx dt m s , 10 f d M N

velocity

2 0 2 4

2 0

Excit. 2force
4 600 4

No phase-control:
602 604 606 t s 608 610 612 614

600 4

602

Phase-control:
604 606 t s

608

610

612

2
x m

displacement
x m

4 600

602

604 608 606

608 t s

610

612

614

t (s)

4 600

602

608 608 604(s) 606 t

t (s)

608 t s

610

612

250 200 150

P (kW )
100 50 0 0 5 10 15 20 25 30

G is optimized for each R

R R

IRREGULAR WAVES Period Te = 7, 9, 11 s Height Hs = 2 m

Te
25 20

7 s, H s

2m

P 2 Hs kW m 2

4
15 10

28

8
R=1

12

16

20

24

5 0 0 2 4 6

G 10 (s/kg)

8 6

10

12

14

16

Te
30

9 s, H s

2m

P 2 Hs kW

20

28 20 24

m 2 10
R=1
0 0 2 4

8 12

16

10

12

G 106 (s/kg)

Te
30

11 s, H s

2m

P 2 Hs kW m 2

20

28

10

8 R=1

12

16

20

24

0 0 2 4 6 8 10

G 106 (s/kg)

Detailed analysis Te = 9 s Hs=2 m

0.7 10

s/kg

4.2 10

s/kg 28 .5 kW/m 2

2 R 1 P H s 10 .3 kW/m 2
d x d t Hs s 1 , 1 0 f d H s M N m

R 16
d x d t Hs s 1 , 1 0 f d H s M N m

2 P Hs

3 2 1 0 1 2 3 700 2 720

diffr. force

3 2 1 0 1 2 3 700 2 720 740

velocity
760 740 t s
760 780 800

760
t s

760

780

80

1
x Hs

displacement
x Hs

2 700

720

760 t (s)740 t s

760

780

800

2 700

720

t (s)740

760
t s

760

780

The large increase in time-averaged power output results: from a large increase in oil flow rate (increase in control parameter G), and hence in motor size; not from an increase in hydraulic circuit pressure.
100 80

Pressure in HP accumulator

p1 (bar)

60 40 20 0 0 5 10 15 20 25 30

R R

Oscillating-body dynamics
Phase control by latching may significantly increase the amount of absorbed energy by point absorbers. Control of load prior to release is an alternative to latch duration control. Control parameters (G, R) are practically independent of wave height and weakly dependent on wave period. Problems with latching phase control: Latching forces may be very large. Latching control is less effective in two-body WECs. Apart from latching, there are forms of phase control (reactive, uncluching, ).

Oscillating-body dynamics
Several degrees of freedom
Each body has 6 degrees of freedom A WEC may consist of n bodies (n >1) All these modes of oscillation interact with each other through the wave fields they generate. Number of dynamic equations = 6n
PTO

The interference between modes affects: added masses radiation damping coefficients Hydrodynamic coefficients accordingly.

Aij , Bij are defined

body 1 body 2

They can be computed with commercial software (WAMIT, ).

WAVE ENERGY TECHNOLOGIES

Fixed structure Oscillating water column
(with air turbine)

Isolated: Pico, LIMPET In breakwater: Sakata, Douro river

Floating structure: Mighty Whale, BBDB, Oceanlinx

Floating Oscillating bodies

(with hydraulic motor, hydraulic turbine,linear electrical generator)

Essencially translation (heave): IPS Buoy, WaveBob, PowerBuoy Essencially rotation: Pelamis, PS Frog, SEAREV

Essencially translation (heave): AWS

Submerged

Run up
(with low-head hydraulic turbine)

TWO-BODY POINT ABSORBERS

Fixed structure Floating structure (with concentration): Wave Dragon

Rotation: WaveRoller, Oyster

Shoreline (with concentration): TAPCHAN In breakwater (without concentration): SSG

Oscillating-body dynamics
Several degrees of freedom
Example: heaving bodies 1 and 2 reacting against each other.

(m1

A1 ) 1 B1x1 x A12 2 B12 x2 x

gS1x1 C ( x1 f d1
C ( x1

x2 )

K ( x1

x2 )
PTO

(m2

A2 ) 2 B2 x2 x gS 2 x2 A12 1 B12 x1 f d 2 x

x2 ) K ( x1

x2 )

body 1

Note: A12

A21 ,

B12

B21

body 2

IPS Buoy

Wave Bob

AquaBuoy

Hose pumps

Hydraulic ram

Simplifying assumptions for optimization and control

Buoy represented by body 1a (hemispherical buoy)

1a

Acceleration tube represented by body 1b

Inertia of piston and enclosed water represented by body 2

Bodies 1b and 2 are deeply submerged: Wave excitation forces neglected Radiation forces neglected
Hydrodynamic interference between bodies 1a, 1b and 2 neglected

1b

Two-body motion, linear PTO

Coordinates: x : body 1 (1a+1b) y : body 2
M1b , M 2 include added mass

1a

(m1a

A1a

M1b ) B1x x

gSx C ( x y) K ( x y)
damper spring

f d1

1b

M 2 C ( x y) K ( x y) 0 y
2

Regular waves, frequency domain

x(t ) X 0ei t ,
X0
2

y(t ) Y0ei

f dj (t )

Aw

j(

)e i

(m1a

A1a ( ) M 1b ) i ( B C ) K) Aw
2
1a

gS

Y0 (i C

X 0 ( i C K ) Y0 (

M2 i C K )

0.

Time-averaged absorbed power

P 1 2
2

C X 0 Y0

Theoretical max power (axisymmetric body, heave motion):

Pmax
2 g 3 Aw

Radius of buoy = 7.5 m

Mass of buoy

m1a

905.7 103 kg
gS 1.776 MNm
1a

Hydrostatic restoring force coeff. Dimensionless values Motion amplitude Mass of body 1b Mass of body 2

X * X 0 Aw
* M1b

M1b m1a

* M2

M 2 m1a
1b

Damping coefficient
Spring stiffness Power

C C* B( 8 ) K K* gS P P* Pmax

Results from optimization

Regular waves
Linear PTO No spring K = 0
P* P Pmax 1
1a

1b

X* Motion amplitude (dimensionless) Y* R* (relative)

2

T
3 2,5 2 1,5 1 0,5 0 0
25 20 15 10 5 0 0 0,25 0,5 0,75
* M2

8s
X*
Y*
R*
4 2 10 8 6
3 2 1 6 5 4

T 12 s 10
X*

X*

Y*Y*
** MM 2 2

R* * R

0,25

0,5

0,75

* M1b

1,25

1,5

0 0 0 0

1 0,5

12

* 1,5 M1bM *

3 2
1b

4 2,5

35

3,5

200 80 150 60

C*

100 40 50 20 0 0 0 0

C* C*

* M1b

1,25

1,5

1 0,5

12

1,5 3 2 * * M1bM1b

4 2,5

35

3,5

Results from optimization

1a

Irregular waves
(Pierson-Moskowitz)

Linear PTO No spring K = 0

1b

Te
5 4 3 2 1 0 0
25 20 15 10 5 0 0 0,5 1 1,5

8s
5
* Pirr

Te 10 s
4 3

10

* 10 Pirr
* M2

* M2

2 1 0
3,5

Fix M1b , M 2
0,5 1 1,5
* M1b

2,5

0
50 40 30 20

* M1b

C*

10 0

C*

* M1b

2,5

3,5

* M1b

Results from optimization

Reactive phase control
1a

Irregular waves
(Pierson-Moskowitz) * M1b 2 * M 2 1.76

Linear PTO Spring K 0

1b

Te
0,48 0,47 0,46 0,45 0,44 0 0,05 0,1
* Pirr

8s
0,45 0,4
0,35 0,4 0,3 0,25 0,35 0,2 0,3 0,15 0,1 0,25
0,15 0,2

T 12 Tee 10 ss
* Pirr * Pirr

K*

0 0
8 8 6 6

0,1 0,3 0,1 0,2 0,2

4 3,5 3 2,5 2 0 0,05 0,1 0,15 0,2

KK * *

0,4 0,3

0,5 0,4 0,6

0,7 0,5

C* C*

C*

4 4 2 2 0 0

K*

0 0

0,1 0,2 0,2 0,1 0,3

K* K*

0,3 0,4

0,5 0,4 0,6

0,5 0,7

Phase control by latching

PTO: high pressure oil circuit

Hydraulic ram

Hydraulic motor

Gas accumulator

Wavebob (Ireland)

1a

HP gas LP gas accumulator accumulator

Motor

1b
Cylinder

Valve

Flow rate control through motor

HP gas LP gas accumulator accumulator

qm (t )
Sc

2 G Sc p

Motor

pistonarea

Valve Cylinder

p pressuredifference
Phase-control by latching: body is released when

hydrodynam ic force on body exceeds R( Sc p) ( R 1)

Control parameters:

G controls oil flow rate through hydraulic motor R controls latching (release of body)

Non-linear PTO: time-domain analysis

( m1a
t

A1a ( ) M 1b ) (t ) x L(t ) (t ) d x f d 1 (t )

gSx(t ) fm ,

M 2 (t ) y

fm.

Continuity equation for oil-flow Accumulator gas thermodynamics

0,4 0,3

* Pirr
0,2 R=1

a
* M2

7 .5 m 2 1.76
* Pirr

0,1 0,0 0
0,25

Te=8s

R=2 R=4

* M 1b

4
R=1

0,20 0,15 0,10 0,05 0,00 0 1 2 3 4

R=2 R=4

Te=10s

0,10 R=1 0,08

* Pirr

R=2 R=4

0,06 0,04 0,02 0,00 0 1 2 3 4

Te=12s

G 10 (s/kg)

0,4 0,3 * Pirr 0,2 0,1

R=1 R=2 R=4

Te=8s

a 7.5 m
* M 1b 1 * M2

0,0 0,0 0,25 0,5 1,0 1,5 2,0 2,5 3,0

0,20 0,15 * Pirr 0,10 0,05 0,00 0,0

0,12

R=1 R=2 R=4

Te=10s
0,5 1,0 1,5 2,0 2,5 3,0

R=1 0,08 * Pirr 0,04 R=2 R=4

Te=12s
0,00 0,0 0,5 1,0 1,5 6 2,0 2,5 3,0

G 10 (s/kg)

a 7.5 m
* M 1b 1 * M2
0,4 0,3

6
0,3 0,2

0,2

* Pirr
0,1 0,0 0,0 0,5 1,0 1,5

Te=8s

R=1 R=4 R=8

* Pirr
0,1 R=1

Te=10s
0,0
2,0

R=2 R=4

0,0

0,2

0,4

0,6

0,8

1,0

0,20 0,15

0,10 0,08 0,06 0,04 0,02 0,00 0,00 R=1 R=2

* Pirr
0,10 R=1 0,05 R=2

* Pirr

Te=12s
0,00 0,0 0,1 0,2 0,3

R=4 0,4

Te=14s
0,05 0,10 0,15 0,20

R=4 0,25

G 106 (s/kg)

G 10 (s/kg)

0,4 0,3

* Pirr
0,2 0,1 0,0 0,0 0,5 1,0 1,5 2,0 R=1 R=4 R=8

Te=8s

a 7.5 m
* M 1b 1 * M2
* Pirr

0,25 0,20 0,15 0,10 0,05 0,00 0,0 0,5 1,0 1,5

Te=10s

R=1 R=4 R=8

0,15

0,10

* Pirr
0,05 R=1 R=4 R=8 0,4 0,6

T=12s
0,00 0,0 0,2

G 10 (s/kg)

We are far from:

a 5m
* M 1b * M2

HP gas LP gas accumulator accumulator

0
Cylinder

Motor

Valve

30

P 2 Hs kW m 2

20

28

10

8 R=1

12

16

20

24

0 0
A. Falco, Ocean Engineering, 35, 358-366, 2008.

10

G 106 (s/kg)

CONCLUSIONS
A two-body system with a linear damper can be optimized to absorb theoretical maximum energy from regular waves: P* 1 .

This drops to typically less than 50% in irregular waves.

For fixed masses, a linear PTO with a negative spring (reactive control) can significantly increase the energy absorbed from irregular waves. Simulations were made for high-pressure-oil PTO. The performance is slightly poorer than with a linear damper. In the simulated situations, latching was unable to improve the performance, except if mass of body 2 is very large (approaching a single-body system).

OSCILLATING WATER COLUMNS

The problem: The performance of self-rectifying air turbines (Wells, impulse, ) is strongly dependent on pressure (or on flow rate) and on rotational speed.
Power output

constant rotational speed

Air pressure p

How to control the turbine (instantaneous rotational speed) to achieve maximum energy production ?

OWC Dynamics
Two different approaches to modelling:

weightless piston

uniform air pressure

Oscillating body (piston) model (rigid free surface)

Uniform pressure model (deformable free surface)

OWC Dynamics
m(t )
V0

air volume

p(t ) pressure
a

q(t )

volume-flow rate displace by free-surface mass-flow rate of air through turbine air density

q (t )

m(t )
a

p(t ) air pressure

Conservation of air mass (linearized)

m(t )
a

q (t )

V0 dp(t ) 2 ca dt a

flow rate q

qexc excitation qr radiation

Effect of air compressibility

OWC Dynamics
N rotational speed power output pressure head D rotor diameter Pt p

Air turbine

In dimensionless form: p m
a ND 3

Pt D power
aN 3 5

flow

D2 pressure head
aN

power Performance curves of turbine (dimensionless form):

flow

f w ( ),

fP ( )
pressure head

OWC Dynamics
Frequency domain
Linear air turbine
K
t

m(t )
a

q (t )

p (t ), m, q (t ), qr (t ), qexc (t )
Qr ( ) P( ) B( ) iC( ) B C

P, M , Q, Qr , Qexc ei
radiation conductance radiation susceptance

Qexc ( )

( ) Aw

excitation wave coeff. ampl.

P KD aN

Qexc B i C V0
2 a ca

OWC Dynamics

m(t )
a

q (t )

P KD aN
p(t )

Qexc B i C V0
2 ca a

X0

Fd
2

(m A) i ( B C )

gS

Re P ei

power output :

(t )

Pt (t )
aN D 3 5

fP

p(t ) N 2D2 a

f w ( ),

fP ( )

OWC Dynamics
Time domain: Linear or non-linear turbine
V0 dp(t ) 2 ca dt a m( t )
a t

m(t )
a

q (t )

g r (t

) p( ) d

qexc (t )
ND 3 f w a p
aN 2

turbine flow vs pressure curve m

D2

memory function g r (t )

2
0

B( )cos t d

To be integrated numerically for p(t)

power output :

(t )

Pt (t )
aN 3

D5

fP

p(t )
aN 2

f w ( ),

fP ( )

D2

OWC Dynamics
Numerical application
Z X Y

Pico OWC

AQUADYN Brito-Melo et al. 2001

Memory function

(rad/s)

OWC Dynamics
Numerical application
p(t) Pt (t)

Air pressure in chamber

Power

Results from time-domain modelling of impulse turbine over Turbine D = 1.5 m, N = 115 rad/s (1100 rpm) Sea state Hs = 3 m, Te = 11 s Average power output from turbine 97.2 kW

t = 120 s

OWC Dynamics
Stochastic modelling
Irregular waves Linear air-turbine
Much less time-consuming than time-domain analysis Appropriate for optimization studies

A.F. de O. Falco, R.J.A. Rodrigues, Stochastic modelling of OWC wave power performance, Applied Ocean Research, Vol. 24, pp. 59-71, 2002. A.F. de O. Falco, Control of an oscillating water column wave power plant for maximum energy production, Applied Ocean Research, Vol. 24, pp. 73-82, 2002. A.F. de O. Falco, "Stochastic modelling in wave power-equipment optimization: maximum energy production versus maximum profit". Ocean Engineering, Vol. 31, pp. 1407-1421, 2004.

OWC Dynamics
Stochastic modelling Wave climate represented by a set of sea states
For each sea state: Hs, Te, freq. of occurrence . Incident wave is random, Gaussian, with known frequency spectrum.

WAVES
Random, Gaussian

OWC
Linear system. Known hydrodynamic coefficients

AIR PRESSURE
Random, Gaussian rms: p

TURBINE
Known performance curves

ELECTRICAL POWER OUTPUT

Time-averaged

GENERATOR
Electrical efficiency

TURBINE SHAFT POWER

Time-averaged

Gaussian process (e.g. surface elevation ) Probability density function (pdf) :

f( ) 1 2
2

exp

S ( )d

= variance

spectral density = standard deviation

OWC Dynamics
Stochastic model: Linear turbine (Wells turbine)
Random Gaussian waves Pierson-Moskowitz spectrum S ( )
2 263H s Te 4 5

exp( 1054Te

).

For linear system, p(t ) is random Gaussian, with variance

2 p

2 S ( ) ( ) ( ) d
0

where
2 2 p

KD aN

V0
2 a ca

and pdf

f ( p)

1 2
p

exp

p 2

Qexc ( )

( ) Aw

excitation wave coeff. ampl.

Pt

f ( p ) Pt ( p ) dp

2 a N 3D5 exp 2 p 0

p2 2
2 p

fP

p
aN 2

dp

Time-averaged turbine power output :

In dimensionless form :

dimensionless pressure variance dimensionless timeaveraged power

Wells turbine

( )
with relief valve

)
without relief valve

Time-averaged turbine power output :

In dimensionless form :

dimensionless pressure variance

dimensionless averaged power

How to control the rotational speed N for maximum

= 0 for maximum energy production

= 0 for maximum energy production

For given turbine is function of

For given OWC, turbine and sea state, is function of N

We obtain optimal N and maximum Pt .

Control algorithm: Set electrical power Pe

Pt

function ( N )

Example: Pico OWC plant with 2.3m Wells turbine

Local wave climate represented by 44 sea states (44 circles)

Pe

1.583 10 5 N 3.16

Maximum rotational speed may be constrained by: Centrifugal stresses in turbine and electrical generator
Mach number effects (shock waves)

Pe

1.583 10 5 N 3.16

1500 rpm

OWC Dynamics
Application of stochastic model
Wells turbine size range 1.6m < D < 3.8m
800 700 600 500 400 300 200 1.5 2 2.5
300

Annual averaged net power (kW)

250

Rated power (kW)

wave climate 3
200 150 100 50 0

wave climate 2

wave climate 1

D (m)

3.5

1.5

2.5

3.5

D (m)

Plant rated power (for Hs = 5m, Te=14s)

Annual averaged net power (electrical)

This presentation can be downloaded from: http://hidrox.ist.utl.pt/doc_fct/Lancaster_pres.ppt

THANK YOU FOR YOUR ATTENTION

J.M.W.Turner 1775 - 1851