Journal
RENEWABLE ENERGY
Volume 203, Issue -, Pages 194-204Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.renene.2022.12.054
Keywords
Wave energy converter; Computational fluid dynamics (CFD); Numerical wave tank (NWT); Empirical transfer function estimate (ETFE); Uncertainty bound; Robust control
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This paper describes a procedure to accurately produce a nominal linear empirical transfer function model and estimate the uncertainty bounds in that linear model using CFD-based numerical tank experiments. A robust control case study is provided to demonstrate the efficacy of the modeling and control philosophy.
Under control action, wave energy devices typically display nonlinear hydrodynamic behaviour, making the design of energy maximising control somewhat onerous. One solution to approach the optimal performance for nonlinear control problem under model mismatches is to employ a linear control strategy, which can be robust to linear model mismatches. However, accurate characterisation of the uncertainty in the linear model is vital, if the controller is to adequately capture the full extent of the uncertainty, while not being overly conservative due to overestimation of the uncertainty. This paper describes a procedure, employing CFD-based numerical tank experiments, to accurately produce a nominal linear empirical transfer function model, along with an accurate estimate of the uncertainty bounds in that linear model, due to hydrodynamic uncertainty. A robust control case study is provided, illustrating the nominal model estimation process, and its corresponding uncertainty set, including the complete procedure, required to generate the robust controller. Robust control results, on the fully nonlinear CFD model, are provided to demonstrate the efficacy of the modelling and control philosophy.
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