Controller for a wave energy converter
A wave energy converter (WEC) is described, the WEC including a power take off (PTO) that converts relative motion of bodies of the WEC into electrical energy. A controller controls operation of the PTO, causing the PTO to act as a motor to widen a wave frequency spectrum that is usable to generate electrical energy.
1. A wave energy converter (WEC) intended to be deployed in a body of water and subjected to wave motion of varying amplitude and frequency, the WEC having a resonant frequency associated therewith, the WEC comprising:
a float;
a spar, wherein waves impacting the float cause relative motion between the float and the spar,
a power take off (PTO) that is configured to convert the relative motion between the float and the spar to electrical energy; and
a controller that reactively controls operation of the PTO based upon a sensed condition pertaining to the WEC and a nonlinear model of the WEC,
wherein the controller causes the PTO to exert a force on at least one of the float or the spar, and
wherein the nonlinear model comprises a Hamiltonian model of the WEC, the Hamiltonian model comprising nonlinear terms.
2. The WEC of claim 1 being a point source WEC.
3. The WEC of claim 1 , further comprising:
a sensor that outputs a signal that is indicative of position of at least one of the float or the spar, the position being the sensed condition.
4. The WEC of claim 1 , wherein the force exerted on the at least one of the float or the spar is in a direction of a force exerted on the WEC by an impinging wave.
5. The WEC of claim 1 , wherein the force exerted on the at least one of the float or the spar is in an opposite direction of a force exerted on the WEC by an impinging wave.
6. The WEC of claim 1 , further comprising a predictor that is configured to compute an estimate of a parameter of a wave that is to impact the WEC, the controller causes the PTO to exert the force based upon the estimate of the parameter of the wave.
7. The WEC of claim 6 , wherein the parameter of the wave is one of velocity of the wave, amplitude of the wave, direction of the wave, or time that the wave is to impact the WEC.
8. The WEC of claim 6 , wherein the parameter of the wave is a predicted excitation force of the wave when the wave impacts the WEC.
9. The WEC of claim 1 , the PTO comprising at least one of a rack and pinion system, a hydraulic system, a flywheel, a ball screw, a water turbine, an air turbine, a linear generator, or a rotary generator.
10. The WEC of claim 1 , the controller being a PID controller.
11. The WEC of claim 1 , further comprising an energy storage system that stores electrical energy, wherein the PTO retrieves electrical energy stored in the energy storage system when exerting the force on the at least one of the float or the spar.
12. The WEC of claim 1 , the controller using adaptive control to control operation of the PTO.
13. A method, comprising:
receiving a signal that is indicative of an excitation force of a wave that is to impact a wave energy converter (WEC);
estimating the excitation force based upon the signal; and
controlling operation of a power take off (PTO) of the WEC,
wherein the operation of the PTO is at least partially determined by the estimation of the excitation force, and
wherein controlling operation of the PTO comprises causing the PTO to act as a motor, and
wherein the controlling of the operation of the PTO comprises implementing a nonlinear model of the WEC, the nonlinear model being a Hamiltonian model of the WEC.
14. The method of claim 13 , the WEC having a resonant frequency associated therewith, wherein the controlling of the operation of the PTO is based upon the resonant frequency.
15. The method of claim 13 , further comprising receiving a sensor signal that is indicative of a position of the WEC relative to a wave, wherein the controlling of the operation of the PTO is based upon the sensor signal.
16. The method of claim 13 , wherein the WEC is a point source WEC.
17. The method of claim 13 , wherein the nonlinear model of the WEC includes operating constraints of the PTO.
18. The method of claim 13 , wherein a controller is configured to perform the controlling of the operation of the PTO by way of adaptive control.
19. A wave energy converter (WEC), comprising:
a power take off (PTO) that is configured to generate electrical energy responsive to waves impacting the WEC, the WEC structurally designed to have a particular resonant frequency associated therewith; and
a controller circuit, the controller circuit selectively causing the PTO to act as a motor,
wherein the controller circuit receives at least one sensor signal, and
wherein the controller circuit implements a nonlinear model of the WEC, the nonlinear model being a Hamiltonian model of the WEC.
20. The WEC of claim 19 , the controller circuit selectively causes the PTO to exert a force in a direction that opposes a force exerted on the WEC by an impacting wave.