WO2013029012A1 - Commande optimisée de convertisseurs d'énergie des vagues à multiples prises de force (pto) - Google Patents

Commande optimisée de convertisseurs d'énergie des vagues à multiples prises de force (pto) Download PDF

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Publication number
WO2013029012A1
WO2013029012A1 PCT/US2012/052357 US2012052357W WO2013029012A1 WO 2013029012 A1 WO2013029012 A1 WO 2013029012A1 US 2012052357 W US2012052357 W US 2012052357W WO 2013029012 A1 WO2013029012 A1 WO 2013029012A1
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WO
WIPO (PCT)
Prior art keywords
oscillating
wave
power
takeoff
energy
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Application number
PCT/US2012/052357
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English (en)
Inventor
P. William Staby
Jeffrey T. SCRUGGS
Steve M. LATTANZIO
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Resolute Marine Energy, Inc.
Duke University
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Application filed by Resolute Marine Energy, Inc., Duke University filed Critical Resolute Marine Energy, Inc.
Publication of WO2013029012A1 publication Critical patent/WO2013029012A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
    • F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient

Definitions

  • a simple form of wave-energy converter is a point absorber, a single-body buoy which exploits the motion of the floating buoy relative to a fixed location, typically the sea floor or a structure submerged at a depth where wave-induced local water motion is negligible.
  • Point absorbing oscillating bodies can have different kinds of power take-off (PTO) mechanisms that convert mechanical energy into electrical energy.
  • PTO mechanisms include direct or indirect drive linear and rotary generators together with surrounding mechanical components.
  • Oscillating bodies provide one of the most versatile and deployable approaches to wave power generation.
  • the complex dynamic coupling between waves and a WEC combined with the oscillatory nature of the available power require the design of feedback control algorithms that are able to optimize PTO power generation.
  • controllers for these WECs presume harmonic waves and are designed according to the same network-theoretic impedance-matching principles used in the design and operation of antenna arrays and waveguides.
  • true sea states are stochastic, with power output correlated to Pierson-Moskowitz or JONS WAP spectra. See O.M.
  • controllers that utilize impedance matching theory are anticausal, meaning they require advance information from a source other than the WEC itself (e.g. sentinel buoys or satellites) about the characteristics of in-coming waves.
  • WEC feedback controllers do not explicitly require future waves to be known (i.e., causal controllers), and which make power generation decisions based only on easy-to-measure feedback signals such as generator velocities.
  • a WEC may consist of only one oscillating substructure
  • a WEC may include multiple power-takeoff subsystems (PTOs) each of which may be controlled.
  • PTOs power-takeoff subsystems
  • the WEC is capable of extracting power from surge, heave, and pitch motions simultaneously.
  • a wave-energy-conversion device includes a first oscillating substructure configured to oscillate in response to motion of water internal to waves propagating on the surface of a body of water, where the first oscillating substructure is attached to a first plurality of power-takeoff subsystems wherein each individual power- takeoff subsystem of the first plurality provides data describing the performance of the individual power-takeoff subsystem to a common controller configured to control, in a coordinated manner, a damping force applied by each power-takeoff subsystem of the first plurality of power-takeoff subsystems to the first oscillating substructure.
  • each PTO subsystem applies a damping force to the wave-driven oscillatory motion of the WEC structure, a buoy for example.
  • Each such damping force comprises and amplitude and a phase.
  • Fig. 1 is a diagram of coordinated control of multiple PTO subsystems.
  • Fig. 2 is a diagram of oscillating substructure displacement by PTO subsystem bias tension.
  • Fig. 3 is a diagram of end-to-end and back-to-back oscillating substructure arrays.
  • Fig. 4 is a diagram of waves incident on an array of oscillating substructures.
  • FIG. 5 is a diagram of a surge -type oscillating substructure.
  • Fig. 6 is a diagram of Non-Orthogonal Waves incident on a surge-type WEC device array.
  • Fig. 7 is a diagram of a common controller.
  • Fig. 8 is a diagram of a buoy oscillating substructure attached to three power- takeoffs.
  • Fig. 9 is a diagram of a cylindrical buoy oscillating substructure attached to three power-takeoffs.
  • Fig 10 is an illustration of frequency domain data for certain transfer functions.
  • Fig 11 is an illustration showing the anticausal and causal optimal power spectra for the buoy of Fig. 9.
  • FIG. 1 illustrates a controlled WEC device 100 including a point absorber buoy as an oscillating structure 101.
  • the oscillating substructure 101 is configured to oscillate in response to motion of water internal to waves propagating on the surface of a body of water.
  • the oscillating substructure 101 of Figure 1 may differ in its geometry and its shape, substantially spherical versus substantially rod-like, for example.
  • the oscillating substructure 101 is attached to a first PTO subsystem 102 and a second PTO subsystem 103 by first 104 and second cables 105.
  • the first 102 and second 103 PTO subsystems apply damping forces to the first 104 and second cables 105.
  • the damping force applied by the PTO subsystems 102 and 103 can vary with time over widely differing time scales; the time scale of weather changes versus the period of waves, for example.
  • PTO subsystems 102 and 103 are controlled by a common controller 106.
  • Common controller 106 is able to use data supplied by PTO subsystems 102 and 103 and different assumptions concerning the real-time or average state of the sea in which the controlled WEC 100 operates.
  • the WEC device 100 of Figure 1 may include any number of PTO subsystems. In some embodiments, the WEC device 100 of Figure 1 includes three PTO subsystems forming a triangle at the bottom of a body of water.
  • the present disclosure is directed to numerous types of oscillating substructures that may be deployed to capture wave energy and convert captured energy to a more convenient form.
  • a "point” absorber is substantially spherical. More generally, it means that the three spatial dimensions of the oscillating substructure are comparable in magnitude.
  • a simple point absorber to which the present disclosure applies is a buoy moored to the sea-bed by three cables forming a tripod with each cable connected to its own PTO subsystem. Such absorbers can capture wave- induced motion of the buoy in any of the three possible directions, up and down with the "heave" of wave motion, and horizontally with the “surge” of wave motion. The natural frequency of the buoy's heave motion is significantly greater than that of its surge motion, and control of the applied damping force by an attached PTO subsystem can extend effective power capture over most of the frequency range between the surge and heave motions.
  • Figure 1 illustrates and embodiment of the present disclosure with a single point absorber 101 in a WEC device 100.
  • FIG 2 illustrates an array of WEC devices including two point absorber oscillating substructures 201 and 202.
  • Other embodiments of the present disclosure include any number of oscillating substructures as shown, for example, in Figures 3 and 4.
  • the oscillating substructures 201 and 202 are connected to PTO subsystems 203 and 204 by cables 205 and 206.
  • a single common controller 106 is configured to control the damping force applied by PTO subsystems 203 and 204.
  • the common controller 106 using data supplied by the individual PTO subsystems 203 and 204 can optimize the entire set of damping forces applied to the array of absorbers and the cables mooring them. For example, the propagation direction of the incident waves can be sensed and the relative phases of the damping forces adjusted to maximize power capture.
  • a configuration of WEC devices in an array and the incidence of waves directed to the array is shown Figure 4.
  • the long-time-scale variation of the damping force applied by PTO subsystems 203 and 204 can be controlled to change the resting location of oscillating substructures 201 and 202 and thereby the distances separating oscillating substructures 201 and 202.
  • Figure 2 shows how the time-averaged damping force can be controlled to change the location of oscillating substructures 201 and 202 on the surface of the water. In the simple case illustrated in Figure 2, there are only two cables (205 and 206) and two PTO subsystems (203 and 204).
  • the resting position of oscillating structure 201 is moved from left to right.
  • the separations of oscillating structures 201 and 202 comprising the array can be controlled to respond to changes in the average direction and frequency of the incident wave, for example.
  • the "time averaged damping force" need not be a constant. It can vary, but on a time scale significantly greater than the period of a typical wave.
  • Certain embodiments of the present disclosure dynamically optimize the distances between oscillating substructures of an array to maximize the resonant oscillatory response of the oscillating substructures, considered as a single oscillating structure, to the motion of water internal to waves propagating with varying frequencies on the surface of a body of water.
  • the distances between oscillating substructures are optimized to optimize the response of the oscillating
  • the distances between oscillating substructures are optimized to optimize the response of the oscillating substructures, considered as a single oscillating structure, to the entire wave field on the surface of a body of water in the vicinity of the array, where the entire wave field includes waves scattered by the oscillating substructure of the array.
  • a hexagonal array of point absorbers as oscillating substructures permits the sharing of sea-bed mooring sites by multiple tripod-cable PTO subsystems, as described by Draper in AU 2008348344 as well as the capture of all three (one heave plus two surge) modes of oscillation.
  • a further type of oscillating substructure is a line-like absorber. More generally, a line absorber is characterized by a shape in which one of the three dimensions of the oscillating substructure is significantly greater than the other two. The oscillating
  • substructure 101 of Figure 1 may be interpreted as a line absorber, where the line absorber is moored by multiple pairs of nominally orthogonal cables (104 and 105) with each cable connected to its own PTO subsystem (102 and 103). Coordinated control of the cables (104 and 105) mooring a line absorber oscillating substructure, just as with a point absorber, can optimize the capture of wave energy over the range of frequencies extending from the surge oscillation of the absorber to its heave oscillation.
  • An array of line-like oscillating substructures may be oriented end-to-end or back-to-back as shown in Figure 3.
  • an end-to-end pattern of line-like oscillating substructures form a chain that is substantially perpendicular to the prevalent propagation direction of waves propagating on the surface of the body of water incident on said chain.
  • a back-to- back pattern of line-like oscillating substructures are arranged to cause waves propagating on the surface of said body of water to encounter all members of the pattern sequentially.
  • a back-to-back array of such oscillating substructures enables both the amplitude and phase of the damping force applied to successive members of the array to reflect and exploit the wavelength of the incident waves and the effect of each line-like absorber on the waves incident on successive members of the array, allowing a wide spectrum of wave frequencies to be absorbed.
  • Yet another oscillating substructure applicable to the present disclosure comprises a surface exposed to the wave motion and is called a surge-type oscillating substructure.
  • FIG. 5 illustrates an embodiment of a surge-type oscillating substructure 500 that includes a platform 501, a paddle 502, and a hinge 503 fully submerged under a body of water 512.
  • One edge of the paddle 502 is attached to the platform 501 by the hinge 503, allowing the paddle 502 to rotate about an axis 506 of the hinge 503 (the direction of rotation being designated by the reference numeral 505) in response to the wave motion.
  • the platform 501 is not significantly displaced by the wave action.
  • the platform 501 can be mounted to the body of water bed 514 by mounting components 516, as illustrated in Figure 5.
  • the shape of a surge-type oscillator is characterized by two of its three dimensions being significantly greater than the third.
  • surge-type WEC devices may be deployed in arrays where the benefits of coordinated control are present.
  • a plurality of surge-type WEC devices may be deployed in two geometrical arrangements, end-to-end or back-to-back. These two configurations are illustrated in Figure 3.
  • an end-to-end pattern of surge-type oscillating substructures form a chain that is substantially perpendicular to the prevalent propagation direction of waves propagating on the surface of the body of water incident on said chain.
  • a back-to-back pattern of surge-type oscillating substructures are arranged to cause waves propagating on the surface of said body of water to encounter all members of the pattern sequentially.
  • coordinated control can be employed to optimize the response of the array to waves incident from oblique angles (waves propagating in directions other than the single direction perpendicular to the arranged WEC devices). That is, if the direction of wave propagation is oblique, the peak of a wave arrives at the surge-type WEC device at a different time at each point along its surface.
  • coordinated control of the phase of the damping torque applied to each surge-type WEC device along the array can optimize the response of the system considered as a single oscillating system.
  • coordinated control allows the damping torque to adapt to the amplitude and frequency of the incident waves.
  • Figure 6 illustrates an end-to-end array configuration of surge-type WEC devices and non- orthogonal (oblique) wave propagation against the array.
  • surge-type WEC devices may be arranged back-to-back as illustrated in Figure 3.
  • Each individual WEC device sits in the shadow of the WEC device in front and, as a result, the amplitude of waves passing through the array will be diminished by each WEC device.
  • power capture by the entire array considered as a single oscillating system, can be optimized by using a common controller to control the amplitude and phase of the damping torque applied by the PTO subsystem in each surge-type WEC device.
  • a power-takeoff (PTO) subsystem converts wave energy to a more convenient and/or useful form of energy, such as electricity.
  • the oscillating substructures discussed above move in response to the force of waves and that of the PTO subsystem; the force applied by the PTO subsystem couples the motion of the substructure to a device that produces the more convenient form of energy, such as an electric generator.
  • the PTO subsystem can take many forms, including fluid pumps, rack-and-pinion systems and linear electric generators.
  • a PTO subsystem comprises a mooring cable on one end of which is attached to an oscillating substructure, a buoy for example.
  • the other end of the cable is wrapped around a drum.
  • the drum is attached to an electric generator, so that motion of the buoy causes rotation of the drum and the generation of electricity.
  • the drum may also be attached to a mechanical spring or other mechanical mechanism that maintains or applies a bias or damping force to the cable.
  • a cable is a flexible material capable of transmitting tensile force, including ropes and chains.
  • sensors monitor the action of each cable attached to a PTO subsystem.
  • the position (the quantity of payout), speed and acceleration of each cable attached PTO subsystem can be captured and transmitted to the common controller.
  • the cable position in combination with the known depth of the water in which an oscillating substructure attached to a PTO subsystem operates to imply knowledge of the position of the oscillating substructure relative to the water surface which may be transmitted to the common controller.
  • the PTO subsystem data supplied to the common controller includes changes in the surface wave field caused by the oscillating substructures themselves, that is, the entire wave field, including the effects of scattering by the WEC array.
  • FIG. 7 illustrates an embodiment of the common controller 106 of the present disclosure.
  • the common controller 106 may include a processor 701 and a memory 702.
  • the processor may be a microcontroller or a microprocessor.
  • the memory may be a RAM, EEPROM, FLASH, or any other suitable volatile or non-volatile storage medium or device.
  • the memory may store instructions which when executed by the processor 701 processes data to cause the common controller 106 to control any number of PTO subsystems.
  • the common controller 106 receives data that may include individual PTO subsystem
  • the common controller 106 controls individual PTO subsystems by outputting the amplitude and phase of the damping force to be applied to individual oscillating substructures by individual PTO subsystems.
  • data from the individual PTO subsystems can include the position, speed and acceleration of each cable.
  • the common controller 106 may be provided with the position of the PTO subsystem mooring site on the sea-bed floor.
  • the variation of the amplitude and phase of the damping force applied by individual PTO subsystems can also be controlled by the common controller on the time scale of the period of individual waves.
  • the amplitude and phase of the damping force applied by individual PTO subsystems can also be controlled by the common controller on the relatively long time scale of variations in the weather or sea state.
  • the amplitude and phase of the damping force applied by individual PTO subsystems can also be controlled by the common controller on the relatively short time scale of a typical incident wave period.
  • the common controller may be provided with a description of the sea state that the common controller can combine with data describing PTO subsystem performance to produce PTO subsystem damping controls that optimize power capture by the system taken as a single system.
  • the description of the sea state provided to the common controller may be in the form of an assumed theoretical model or an empirical model.
  • the common controller can use data provided by the PTO subsystems to specify parameters in the model, thereby obtaining a real-time description of the sea state in which the system is operating.
  • Two theoretical models used in this way are the JONSWAP and Pierson-Moskowitz models.
  • the common controller not require a description of the future dynamics of the system. Controllers possessing this desirable character are called causal controllers. In such embodiments, the common controller maximizes power generation from stochastic waves by a solution to a nonstandard H2 optimal control problem (LQG optimal control problem).
  • LQG optimal control problem nonstandard H2 optimal control problem
  • FIG. 8 illustrates a WEC system, consisting of a floating buoy (as an oscillating substructure) (modeled as a rigid body), which is interfaced with three rotary generators (power-takeoffs) through retractable tethers which spool around pulleys at the generator shafts.
  • a floating buoy as an oscillating substructure
  • three rotary generators power-takeoffs
  • retractable tethers which spool around pulleys at the generator shafts.
  • Each generator is anchored rigidly to the ocean floor, which is assumed to have constant depth. Tension is maintained for the equilibrium position through the use of springs, as shown.
  • the location of the center of mass of the rigid body, relative to the origin, O, of inertial reference frame, is the vector r.
  • Each retractable tether is mounted to the buoy via an ideal pin connection which is fixed on the buoy surface.
  • the vector pointing to the attachment point for tether i, relative to its generator spool is s ; .
  • a model of the interaction of a single tether with the buoy is presented below.
  • the tether attachment location on the body, relative to the center of mass, is b.
  • the tension in the tether is denoted t > 0.
  • K b The particular components of K b will vary with the buoy shape. K b can be determined by linearizing the stiffness about the center of mass of the static buoy at equilibrium.
  • K e is the effective linear back EMF constant associated with the generator and pulley, and we have assumed all generators have the same value of K e . Then from (2), it is known that
  • the sharpness factor ⁇ is constrained to be between 1 and 3.3, the former describing a fully developed sea state and the latter providing a spectrum with a higher quality factor.
  • G a (s) and G ⁇ s) are assumed to be strictly proper. Additionally, G ⁇ s) is assumed to be weakly strictly positive real (WSPR) (B. Brogliato, R. Lozano, B. Maschke and O. Egeland, Dissapative Systems Analysis and Control, 2nd edn, Springer- Verlag, London;2007. (See J.T. Scruggs, "On the Causal Power Generation Limit for a Vibratory Energy Harvester in Broadband Stochastic Response," Journal of Intelligent Material Systems and Structures, vol. 21 , 2010, pp. 1249-1262, for why these assumptions are justified and necessary in energy harvesting applications.)
  • WSPR weakly strictly positive real
  • the objective is to maximize the average (i.e., expected) total power generation, equal to the power extracted minus the losses; i.e., gen — ⁇ Sp (o))do),
  • the objective is to find the feedback law (31) for Y causal, which maximizes or equivalently, which minimizes O
  • the wave amplitude a is taken to be the wave amplitude 5 m in ahead of the buoy in the propagatory direction.
  • Figure 10 shows the frequency domain data for the transfer functions G a ( co) (wave amplitude to voltage at generator 1 (solid), wave amplitude to voltage at generators 2 and 3 (dashed)) and G ; ( co) (generator n current to voltage at generator n (solid), generator n current to voltage at other generators (dashed)), along with the finite dimensional approximations in relation to the cylindrical buoy illustrated in Figure 9.
  • These plots clearly show three modes of resonance. The first mode is predominately surge motion, the second pitch, and the third heave.
  • WECs extract their power mostly from a single resonant mode and are tuned to do so.
  • the buoy design in this paper has two resonant modes, surge and pitch, that have roughly the same amplitude in G a ( co) and G ; ( co) and bracket the frequency range of significant signal content for a reasonable value of mean wave period T ⁇ . This allows for the causal controller to extract much of its power from these two modes simultaneously.
  • the WEC in this example appears to be effective at power generation at all frequencies in between its surge and pitch resonances, provided its generators are sufficiently efficient.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

Selon la présente invention, les ondes de surface sur de vastes étendues d'eau, telles que les océans, représentent une forme concentrée de l'énergie solaire et sont donc attrayantes pour capturer l'énergie. Une capture d'énergie est réalisée par couplage du déplacement des sous-structures oscillantes, telles que des bouées, à des sous-systèmes à prise de force (PTO, Power-TakeOff) commandés par un dispositif de commande commun qui met en œuvre une stratégie de commande de rétroaction. La présente invention optimise la capture d'énergie par l'intermédiaire d'une commande coordonnée des multiples sous-systèmes à prise PTO utilisés dans des dispositifs de convertisseur d'énergie des vagues (WEC, Wave-Energy-Converter), y compris lorsque le mouvement des vagues est stochastique. Sous une commande coordonnée, de multiples sous-systèmes à prise PTO sont utilisés par plusieurs catégories de systèmes de convertisseur WEC, y compris des absorbeurs ponctuels individuels, des absorbeurs linéaires individuels, des absorbeurs de surface individuels et des réseaux de ces derniers.
PCT/US2012/052357 2011-08-25 2012-08-24 Commande optimisée de convertisseurs d'énergie des vagues à multiples prises de force (pto) WO2013029012A1 (fr)

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EP3594488A1 (fr) * 2018-07-12 2020-01-15 Universita' Degli Studi di Torino Dispositif attenuateur d'ondes multi-directionnelles et multi-fréquences entre deux fluides ayant des densités différentes

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Publication number Priority date Publication date Assignee Title
US10309367B2 (en) 2014-06-04 2019-06-04 Mitchell Fait Systems and methods for obtaining energy from surface waves
US10920740B2 (en) 2014-06-04 2021-02-16 Mitchell Fait Systems and methods for obtaining energy from surface waves
EP3594488A1 (fr) * 2018-07-12 2020-01-15 Universita' Degli Studi di Torino Dispositif attenuateur d'ondes multi-directionnelles et multi-fréquences entre deux fluides ayant des densités différentes

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