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Direct Wave Energy Coverter
Direct Wave Energy Coverter
Abstract— This paper analyzes power generation from sea made very complex and include often all parts. A model like
waves by using power conditioning system and linear permanent that would take a long time to simulate and its complexity
magnet generator. A buoy is placed on the ocean surface and could increase the possibility for errors. Instead, a simpler
connected to the linear generator. The wave energy is carried out model is used in this paper, where the generator is represented
from the movement of a buoy. An electrical conversion system is by its electrical components. The model has been constructed
needed between the generator and the grid. For an analysis of the in MATLAB-Simulink, which is a common used simulation
power system, the modeling of the linear generator and converter program for electrical systems. The purpose of the study is to
system was proceeded, under the irregular wave condition. This investigate Power Conditioning System(PCS) and to see how
paper aims at studying the electrical part of the wave energy
the power is produced.
converter and study what impact the electrical system will have
on the generator.
II. MODELING AND SYSTEM CONFIGURATION
Keywords—Wave energy converte (WEC), Power conditioning
system (PCS), Linear generator, Power generation A. Dynamic Model of WEC
Figure 1 shows the wave generation model. The forces
I. INTRODUCTION acting on the wave generation system were analyzed in [2] and
For the purpose of saving resources and preventing global [3], and detail motion equation of the wave generation system
warming, the use of renewable energy is becoming more wide was also derived. Based on the motion equation, a simplified
spread. New approaches, for replacing of method for power motion equation was given in [1], which is suitable for power
generation using fossil fuels, are being conducted actively. system analysis. The simplified motion equation is given by
Among various energy resources, offshore energy development d 2 y (t ) dy (t ) dy (t )
is still progressing slowly. Sea wave energy of marine energy Fwave = ( M + ma ) +b + Ky (t ) + c (1)
dt 2 dt dt
can be easily seen and utilized widely. The sea wave power
generation system is utilized with offshore wind generation d 2 y (t ) dy (t )
= ( M + ma ) + (b + c) + Ky (t )
system because the place for the development of sea wave dt 2 dt
generation is usually consistent with the location of offshore where y (t ) is the displacement of the translator, M is the mass
wind power system. It is possible to develop a small scale and
the sea wave generation system can be used as a breakwater. of the translator, ma is the added mass, b is the radiation
damping coefficient, K is the spring constant, cdy (t ) / dt is the
In this paper, we applied the linear permanent magnet
generator (LPMG) for the sea wave generation. The wave generator electromagnetic force, and Fwave is the sum of the
energy is carried out from the movement of a buoy. The buoy forces.
is connected to the moving part of the generator. When the
buoy moves with the waves, the permanent magnetized
translator gets a linear motion in the generator and a voltage is
induced in the stator winding. Since the motion of the translator
is correlated with the wave motion, the voltage produced by the
wave energy converter has an irregular amplitude and
frequency and has to be converted before it connected to the
grid. For an analysis of the power system, the modeling of the
linear generator and converter system was proceeded. This
paper aims at studying the electrical part of the wave energy
converter and study what impact the electrical system will have
on the generator. Models for studying wave power are often Fig. 1. Wave generation model
dψ d
υ d = − Rid − + ωψ q
dt
Fig. 2. Equivalent circuit of linear permanent magnet generator and
converter
dψ q
υ q = − Riq − − ωψ d
dt
Figure 2 shows the equivalent circuit of a linear permanent (3)
ψ d = Ld id −ψ PM
magnet generator (LPMG) and a converter. The LPMG is
represented by a back EMF, inductances and resistances. The ψ q = Lq i q
voltage sources represent converter. It is well-known that the
3
dynamic analysis of a permanent magnet synchronous P = ωψ PM iq
generator is normally established in the dq reference frame. 2
But, the models shown in figure 2 are represented in abc frame. where υd and υq are the d and q axis stator voltage, respectively,
So, the model of the LPMG in abc reference frame should be id and iq are the d axis and q axis stator current, ω is the
transformed into dq reference frame using dq transformation. angular speed of the stator variables, ψPM is the flux from
Figure 3 shows the transformation between abc frame and permanent magnet, P is the active power.
dq reference frame. The voltage equation shown in (3) is appropriate for a
rotating permanent machine, not a linear permanent machine.
The rotor of the rotating permanent magnet generator rotates in
the generator, while the rotor, called translator, of the linear
permanent magnet generator reciprocates. Due to motion’s
difference, the speed term should be considered. When the
rotor of the linear permanent magnet generator moves in one
direction, ω can be given by
π (4)
ω = υt
τp
where vt is the linear speed of the linear generator, τp is the
pole pitch. Using eqation (4), the voltage equation of the
LMPG in the reference frame is derived [6],[7]
id* = 0
F (7)
iq* = −
3 π
ψ PM Fig. 5. Generator side current controller
2τp
where * represents the command value of the current Figure 5 shows generator side current controller.
controller. Commonly, two proportional –integral (PI) controllers are used
to control the currents. The outputs of current controller are
C. Generator Side converter Control voltage references, which are removed decoupling term.
Feedback currents are measured by phase current sensor and
Figure 4 shows the control block diagram for the generator transformed to dq reference frame using the position of
side converter’s controller. The generator side converter translators. The d axis current command i*d and the q axis
controller aims to extract the maximum power from the wave current command i*q are obtained as shown in (7). Especially,
force. Because of wave force, a buoy moves and the translator the q axis current plays a very important role in extracting the
of generator reciprocates. The position and speed of translator maximum power from wave. By controlling the d and q axis
is calculated from measured position sensor values. And then, current in reference frame, the proper power generation from
the generating force command is estimated from the calculated wave can be performed.
position values. The current command is determined by force
command and the current controller generates the voltage To extract maximum power from wave, the damping force
reference. The PWM duties are determined normally by the from the generator should be controlled equaling to that of the
space vector PWM (SVM) method from the voltage references wave. But, for this control, the appropriate model of parameters
v*d and v*q in the dq reference frame. The gate driver controls in (1) should be considered and updated using algorithm in [9]
switches of IGBTs by gating signals from PWM duties. and [10].