Journal
IFAC PAPERSONLINE
Volume 53, Issue 2, Pages 12307-12312Publisher
ELSEVIER
DOI: 10.1016/j.ifacol.2020.12.1185
Keywords
Wave energy; linear control; self-tuning control; spectral analysis; feedback control
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Funding
- U.S. Department of Energy's National Nuclear Security Administration [DE-NA0003525]
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A self-tuning proportional-integral control law prescribing motor torques was tested in experiment on a three degree-of-freedom wave energy converter. The control objective was to maximize electrical power. The control law relied upon an identified model of device intrinsic impedance to generate a frequency-domain estimate of the wave-induced excitation force and measurements of device velocities. The control law was tested in irregular sea-states that evolved over hours (a rapid, but realistic time-scale) and that changed instantly (an unrealistic scenario to evaluate controller response). For both cases, the controller converges to gains that closely approximate the post-calculated optimal gains for all degrees of freedom. Convergence to nearoptimal gains occurred reliably over a sufficiently short time for realistic sea states. In addition, electrical power was found to be relatively insensitive to gain tuning over a broad range of gains, implying that an imperfectly tuned controller does not result in a large penalty to electrical power capture. An extension of this control law that allows for adaptation to a changing device impedance model over time is proposed for long-term deployments, as well as an approach to explicitly handle constraints within this architecture. Copyright (C) 2020 The Authors.
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