CalWave's xWave Design for PacWave (Final Technical Report)

This paper presents a practical design of a wave energy converter (WEC). The WEC is based on an innovative mechanical device power take-off (PTO) which can convert wave energy into electric energy by using a floating buoy. By using cable and pulley mechanism, the WEC can work in high efficiency by capturing wave energy in both surge and heave mode and converting the bidirectional motion of ocean waves into one-way rotation of an electric generator. First, the configuration is presented to describe working principle of the system. Then, the hydrodynamic forces are analyzed in the time domain. Moreover, the coupled mechanical and hydrodynamic model are simulated in Matlab/Simulink to investigate the performance of the proposed design. Finally, simulation results indicate that the proposed WEC can absorb wave energy in high efficiency and can be applied in the realistic condition.

Advanced wave energy conversion technologies for sustainable and smart sea: A comprehensive review

The motion of some geometries of a buoy in a two-body wave energy converter (WEC) system is studied under regular wave excitations. The buoy is coupled to a heave damping plate where the coupling system models a simplified power takeoff (PTO) system. A frequency-domain analysis is conducted on the two-body model to predict the wave-induced motion behavior of the bodies considering the mutual effects of two bodies and the PTO system. The designed buoys are axisymmetric and have an identical water-plane area and submerged volume. The model was analyzed in identical conditions for different buoys so that the effect of the buoy shape on its dynamic properties and the hydrodynamic coefficients, as well as the absorption efficiency of the two-body WEC model, could be evaluated. The impact of the buoy shape and its hydrodynamic coefficients on the optimal and suboptimal design of the PTO system is studied. The results indicate that a suitable geometry for the buoy can have beneficial effects on the improved efficiency of the two-body WEC model, increasing the relative displacement between the two bodies and, also, allowing an optimal design of the PTO system. Furthermore, the buoy shape can reduce the difference between the damping coefficients of the PTO system and the buoy in order to create the resonance condition in the WEC system.

While the field of wave energy has been the subject of numerical simulation, scale model testing, and precommercial project testing for decades, wave energy technologies remain in the early stages of development and must continue to prove themselves as a promising modern renewable energy field. A wave energy converter (WEC) concept currently being explored is the variable-geometry WEC (VGWEC), which aims to add an extra control option to WEC design. VGWECs attempt to incorporate controllable geometric features to adjust the floating body hydrodynamics to favor either power absorption, load shedding, or other operational goals. These variable geometry components have been proposed to be controlled on a sea-state-to-sea-state or wave-to-wave time scale depending on the force (or torque) and bandwidth limitations of the actuators required to manipulate just the controllable geometric hull features. Having control over both the WEC geometry components and the power takeoff (PTO) offers the potential to improve overall system performance and reliability if a cost-effective solution can be found for a given WEC architecture. This paper will present the recent developments and results of a VGWEC concept that incorporates variable-geometry modules into a two-body WEC. In the proposed VGWEC concept, the variable-geometry modules consist of air-inflatable bags in the surface float and a water inflatable ring in the subsurface body. The surface float is tethered directly to the subsurface body through tether lines, each connected to a separate PTO. Adjusting the geometry of both the surface and subsurface bodies along with the PTO coefficients can maximize power in design sea states while reducing motion response and PTO forces when transitioning to sea states where rated power is reached and load shedding is prioritized. The ability to transition between operating condition is expected to increase the sea state operational map and power capacity.

Ocean energy technologies are in their developmental stages, like other renewable energy sources. To be useable in the energy market, most components of wave energy devices require further improvement. Additionally, wave resource characteristics must be evaluated and estimated correctly to assess the wave energy potential in various coastal areas. Multiple algorithms integrated with numerical models have recently been developed and utilized to estimate, predict, and forecast wave characteristics and wave energy resources. Each algorithm is vital in designing wave energy converters (WECs) to harvest more energy. Although several algorithms based on optimization approaches have been developed for efficiently designing WECs, they are unreliable and suffer from high computational costs. To this end, novel algorithms incorporating machine learning and deep learning have been presented to forecast wave energy resources and optimize WEC design. This review aims to classify and discuss the key characteristics of machine learning and deep learning algorithms that apply to wave energy forecast and optimal configuration of WECs. Consequently, in terms of convergence rate, combining optimization methods, machine learning, and deep learning algorithms can improve the WECs configuration and wave characteristic forecasting and optimization. In addition, the high capability of learning algorithms for forecasting wave resource and energy characteristics was emphasized. Moreover, a review of power take-off (PTO) coefficients and the control of WECs demonstrated the indispensable ability of learning algorithms to optimize PTO parameters and the design of WECs.

To offer point absorber wave energy converters (WECs) as a bankable product on the marine renewable energy market, multiple WECs will be installed together in an array configuration. The wave energy community (research and industrial) has identified the urgent need for available realistic and reliable data on WEC array tests in order to perform a better WEC array optimization approach and in order to validate recently developed (non-linear) numerical models. The ‘WECfarm’ project is initiated to cover this scientific gap on necessary experimental data. The ‘WECfarm’ experimental setup consists of an array of five generic heaving point-absorber WECs. The WECs are equipped with a permanent magnet synchronous motor (PMSM), addressing the need for WEC array tests with an accurate and actively controllable power take-off (PTO). The WEC array control and data acquisition are realized with a Speedgoat Performance real-time target machine, offering the possibility to implement advanced WEC array control strategies in the MATLAB-Simulink environment. The presented article describes the experimental setup, the performed tests and the results of the test campaign using a single, isolated ‘WECfarm’ WEC in April 2021 at the wave basin of Aalborg University (AAU), Denmark. A Coulomb and viscous friction model is determined to partly compensate for the drivetrain (motor, gearbox, rack and pinion) friction. A system identification (SID) approach is adopted considering the WEC system to be composed of two single input single output (SISO) models, the radiation and the excitation model. Radiation tests yield the intrinsic impedance. Excitation tests yield the excitation frequency response function. Adopting an impedance matching approach, the control parameters for the resistive and reactive controller are determined from the complex conjugate of the intrinsic impedance. Both controllers are tested for a selection of regular wave conditions. The performed experimental test campaign using an isolated ‘WECfarm’ WEC allows a full evaluation of the WEC design prior to extending the setup to five WECs. Within the ‘WECfarm’ project, an experimental campaign with a five-WEC array in the Coastal and Ocean Basin (COB) in Ostend, Belgium, is under preparation.

Design of a mini prototype wave energy converter (WEC) system is considered in this paper. The prototype is based on permanent magnet linear generator (PMLG) with planar structure. The main objective of this work is to create a simple and low cost prototype of WEC system for study and teaching purposes. In the design procedure, optimization of the detailed parameters to obtain the output power with the barrier of physical dimensions is considered. The PMLG is combined with a linear actuator based on DC motor, sensors and data acquisition devices to represent a WEC system. The experimental test is performed to investigate the efficiency of the designed PMLG.

A wave energy converter must be designed to survive and function efficiently, often in highly energetic ocean environments. This represents a challenging engineering problem, comprising systematic failure mode analysis, environmental characterization, modeling, experimental testing, fatigue and extreme response analysis. While, when compared with other ocean systems such as ships and offshore platforms, there is relatively little experience in wave energy converter design, a great deal of recent work has been done within these various areas. This paper summarizes the general stages and workflow for wave energy converter design, relying on supporting articles to provide insight. By surveying published work on wave energy converter survival and design response analyses, this paper seeks to provide the reader with an understanding of the different components of this process and the range of methodologies that can be brought to bear. In this way, the reader is provided with a large set of tools to perform design response analyses on wave energy converters.

Comprehensive wave-to-wire model and control strategy design for wave energy conversion system

In a Wave Energy Converter (WEC), the Power Take-off (PTO) mechanism does the energy conversion through a series of mechanical and electrical systems. The PTO system plays a major role in defining the WEC system's structural dynamics. Since the PTO system directly affects the efficiency of power conversion, it has a significant role to play in the annual energy production of the WEC system. This emphasizes the importance of selecting an appropriate PTO system for any WEC based on the working conditions and other related parameters. In this chapter, different types of PTO systems developed over the past few decades are discussed along with their corresponding advantages and shortcomings. On reading this chapter, the reader will get acquainted with different types of PTO mechanisms in existence and also gain an insight on when to use what type of PTO.

One of the primary challenges for wave energy converter (WEC) systems is the fluctuating nature of wave resources, which require the WEC components to be designed to handle loads (i.e., torques, forces, and powers) that are many times greater than the average load. This approach requires a much greater power take-off (PTO) capacity than the average power output and indicates a higher cost for the PTO. Moreover, additional design requirements, such as battery storage, are needed, particularly for practical electrical grid connection, and can be a problem for sensitive equipment (e.g., radar, computing devices, and sensors). Therefore, it is essential to investigate potential methodologies to reduce the overall power fluctuation while trying to optimize the power output from WECs. In this study, a detailed hydraulic PTO model was developed and coupled with a time-domain hydrodynamics model (WEC-Sim) to evaluate the PTO efficiency for WECs and the trade-off between power output and fluctuation using different power smoothing methods, including energy storage, pressure relief mechanism, and a power-based setpoint control method. The study also revealed that the maximum power fluctuation for WECs can be significantly reduced by one order of magnitude when these power smoothing methods are applied.

Ocean energy systems (OESs) convert the kinetic, potential, and thermal energy from oceans and seas to electricity. These systems are broadly classified into tidal, wave, thermal, and current marine systems. If fully utilized, the OESs can supply the planet with the required electricity demand as they are capable of generating approximately 2 TW of energy. The wave energy converter (WEC) systems capture the kinetic and potential energy in the waves using suitable mechanical energy capturers such as turbines and paddles. The energy density in the ocean waves is in the range of tens of kilowatts per square meter, which makes them a very attractive energy source due to the high predictability and low variability when compared with other renewable sources. Because the final objective of any renewable energy source (RES), including the WECs, is to produce electricity, the energy capturer of the WEC systems is coupled with an electrical generator, which is controlled then by power electronic converters to generate the electrical power and inject the output current into the utility AC grid. The power electronic converters used in other RESs such as photovoltaics and wind systems have been progressing significantly in the last decade, which improved the energy harvesting process, which can benefit the WECs. In this context, this paper reviews the main power converter architectures used in the present WEC systems to aid in the development of these systems and provide a useful background for researchers in this area.

This study presents an analysis of a wave energy converter (WEC) system consisting of a buoy, a mooring system and a power cable connected to a hub. The investigated WEC system is currently under full-scale testing near Runde in Norway. The purpose of the study was to investigate the characteristics of the entire system, primarily with regard to energy performance and the fatigue life of the mooring lines and power cable, considering the effects of marine biofouling and its growth on the system’s components. The energy performance of the system and the fatigue life of the mooring lines and the power cable were systematically studied via parameter variation analysis, considering different mooring configurations, biofouling conditions, and environmental loads (current and sea state conditions), among other factors. Hydrodynamic and structural response simulations were conducted in a coupled response analysis using the DNV-GL software SESAM. Energy performance analyses and stress-based rainflow counting fatigue calculations were performed separately using an in-house code. The results show that, for a WEC system which has been deployed for 25 years, biofouling can reduce the total power absorption by up to 10% and decrease the fatigue life of the mooring lines by approximately 20%.

The Lancaster in-house code is a time-domain analysis code, developed especially for the TALOS wave energy converter, a novel wave energy conversion technology. The TALOS wave energy converter is a point absorber-like wave energy converter, but with a unique power take-off (PTO) system. The whole PTO system is fully enclosed within the structure, hence no moving parts are exposed to the harsh marine environments.
 The PTO of the TALOS WEC consists of a mass ball within the structure, with a number of springs and dampers (for instance, direct drives or hydraulic systems) connecting between the mass ball and the structure. Such an arrangement of the PTOs would make the PTO essentially non-linear, regardless whether the actual PTO dampers are linear or nonlinear as well as the linear springs. Therefore, a time domain analysis must be established for the TALOS WEC. Towards the goal, an in-house time-domain model has been developed at Lancaster University, and now it is to be validated via the delicated numerical models built using well-established commercial software (and in the future via experimental data). Within this framework, the present paper presents an effort for validation using the DNV SESAM commercial hydrodynamic and structural analysis software. 
 To build a numerical model for TALOS WEC, the Lancaster in-house time domain code is based on the hybrid frequency-time domain approach. That is, the basic hydrodynamic parameters are analysed using the panel methods (WAMIT, HAMS, NEMOH), and then the relevant parameters are transformed for the Cummins’ time-domain equation, such as the added mass at infinite frequency, and the memory effect (the convolution terms). This work is an extension of the comparison between the in-house code and the DNV SESAM software, and the comparisons would include the relevant hydrodynamic analyses, the time-domain analyses with and without the TALOS PTO system, with the aims towards developing the validated tools of both the in-house code and the commercial software.

The quest for sustainable energy solutions has intensified interest in marine renewables, particularly wave energy. This study addresses the crucial need for an objective assessment of Wave Energy Converter (WEC) technologies, which are instrumental in harnessing ocean waves for electricity generation. To benchmark WEC technologies, we employed an integrated approach combining the MEthod based on the Removal Effects of Criteria (MEREC) and the Spherical Fuzzy Combine Compromise Solution (SF-CoCoSo). MEREC provided a systematic way to determine the importance of various benchmarking criteria, while SF-CoCoSo facilitated the synthesis of complex decision-making data into a coherent evaluation score for each technology. The results of the study offer a definitive ranking of WEC technologies, with findings emphasizing the importance of grid connectivity and adaptability to various wave conditions as pivotal to the technologies' success. While the study makes significant strides in the evaluation of WECs, it also recognizes limitations, including the potential for evolving market dynamics to influence criteria weightings and the assumption that the MCDM methods capture all decision-making complexities. Future work should expand the evaluative criteria and explore additional MCDM methods to validate and refine the benchmarking process further.