Model Predictive Control of Buoy Type Wave Energy Converter

The paper introduces the Wavestar wave energy converter and presents the implementation of model predictive controller that maximizes the power generation. The ocean wave power is extracted using a hydraulic electric generator which is connected to an oscillating buoy. The power generator is an additive device attached to the buoy which may include damping, stiffness or similar terms hence will affect the dynamic motion of the buoy. Therefore such a device can be seen as a closed-loop controller. The objective of the wave energy converter is to harvest as much energy from sea as possible. The straight forward solution to this maximization problem is achieved by maximizing the instantaneous range of motion of the buoy. The buoy as a single degree of freedom oscillator will undergo its maximum movements when it is in resonance with the sea state. Hence the best solution to the problem is achieved by forcing this condition. In the paper the theoretical framework for this principal is shown. The optimal controller requires information of the sea state for infinite horizon which is not applicable. Model Predictive Controllers (MPC) can have finite horizon which crosses out this requirement. This approach is then taken into account and an MPC controller is designed for a model WEC and implemented on a numerical example. Further, the power outtake of this controller is compared to the optimal controller as an indicator of the performance of the designed controller.