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Reactive control of a wave energy converter using artificial neural networks 基于人工神经网络的波能变换器无功控制
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.08.001
E. Anderlini , D.I.M. Forehand , E. Bannon , M. Abusara

A model-free algorithm is developed for the reactive control of a wave energy converter. Artificial neural networks are used to map the significant wave height, wave energy period, and the power take-off damping and stiffness coefficients to the mean absorbed power and maximum displacement. These values are computed during a time horizon spanning multiple wave cycles, with data being collected throughout the lifetime of the device so as to train the networks off-line every 20 time horizons. Initially, random values are selected for the controller coefficients to achieve sufficient exploration. Afterwards, a Multistart optimization is employed, which uses the neural networks within the cost function. The aim of the optimization is to maximise energy absorption, whilst limiting the displacement to prevent failures. Numerical simulations of a heaving point absorber are used to analyse the behaviour of the algorithm in regular and irregular waves. Once training has occurred, the algorithm presents a similar power absorption to state-of-the-art reactive control. Furthermore, not only does dispensing with the model of the point-absorber dynamics remove its associated inaccuracies, but it also enables the controller to adapt to variations in the machine response caused by ageing.

提出了一种波能变换器无功控制的无模型算法。利用人工神经网络将有效波高、波能周期、动力输出阻尼和刚度系数映射到平均吸收功率和最大位移。这些值是在跨越多个波周期的时间范围内计算的,数据在设备的整个生命周期内收集,以便每20个时间范围脱机训练网络。最初,控制器系数选择随机值,以实现充分的探索。然后,利用代价函数内的神经网络进行多起点优化。优化的目的是最大限度地吸收能量,同时限制位移以防止故障。利用升沉点减振器的数值模拟,分析了该算法在规则波和不规则波中的性能。一旦训练完成,该算法呈现出与最先进的无功控制相似的功率吸收。此外,不仅免除了点吸收器动力学模型消除了其相关的不准确性,而且还使控制器能够适应由老化引起的机器响应的变化。
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引用次数: 51
Model Predictive Control of parametric excited pitch-surge modes in wave energy converters 波浪能变换器参数激振俯仰浪涌模式的模型预测控制
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.05.002
Shangyan Zou , Ossama Abdelkhalik , Rush Robinett , Umesh Korde , Giorgio Bacelli , David Wilson , Ryan Coe

For a heave-pitch-surge three-degrees-of-freedom wave energy converter, the heave mode is usually decoupled from the pitch-surge modes for small motions. The pitch-surge modes are usually coupled and are parametrically excited by the heave mode, depending on the buoy geometry. In this paper, a Model Predictive Control is applied to the parametric excited pitch-surge motion, while the heave motion is optimized independently. The optimality conditions are derived, and a gradient-based numerical optimization algorithm is used to search for the optimal control. Numerical tests are conducted for regular and Bretschneider waves. The results demonstrate that the proposed control can be implemented to harvest more than three times the energy that can be harvested using a heave-only wave energy converter. The energy harvested using a parametrically excited model is higher than that is harvested when using a linear model.

对于三自由度波浪能变换器来说,对于小运动,波浪模态通常与波浪模态解耦。根据浮标的几何形状,纵摇模式通常是耦合的,并且由升沉模式参数化地激发。本文采用模型预测控制方法对参数激振纵摇运动进行控制,对升沉运动进行独立优化。推导了最优性条件,并采用基于梯度的数值优化算法搜索最优控制。对规则波和布列施耐德波进行了数值试验。结果表明,所提出的控制可以实现捕获的能量是仅使用升沉波能量转换器所能捕获的能量的三倍以上。使用参数激励模型所获得的能量高于使用线性模型所获得的能量。
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引用次数: 22
Impact of a multi-star winding on the reliability of a permanent magnet generator for marine current turbine 多星绕组对船用水轮机永磁发电机可靠性的影响
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.09.006
Christophe Olmi, Franck Scuiller, Jean-Frédéric Charpentier

For Marine current turbine (MCT), low speed Surface-mounted Permanent Magnet generator is a solution to satisfy the efficiency and fault tolerant requirements. This is supposed to be true if the winding is made with several non-shifted three-phase stars that could be supplied with standard modular voltage source inverters. This paper investigates the impact of the star number on the MCT energy yield if the system is conceived to operate with disconnected inverters. For this purpose, a method to calculate the extracted power according to the tidal speed for a given star number and a given activated star number is detailed. A rainflow counting method is used to account the stress due to the tidal speed change on the star converter: the impact of the star number on the resilience capability of the MCT is then quantified. By assuming a ten-year period without converter repair, according to the introduced probabilistic approach, the star number increase improves the reliability and three-star configuration appears as a trade-off.

对于船用水轮机(MCT)来说,低速表面贴装永磁发电机是满足效率和容错要求的一种解决方案。这应该是正确的,如果绕组是由几个非移位三相星,可以提供标准的模块化电压源逆变器。本文研究了如果系统被设想为与不连接的逆变器一起运行,星数对MCT能量产生的影响。为此,详细介绍了给定星数和给定激活星数下,根据潮汐速度计算提取功率的方法。采用雨流计数法计算潮汐速度变化对星形变换器的应力,从而量化星形数对MCT恢复能力的影响。根据引入的概率方法,假设十年不修理变流器,星数的增加提高了可靠性,而三星结构则是一种权衡。
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引用次数: 2
Actuator line simulation of a tidal turbine in straight and yawed flows 潮汐能水轮机在直流和偏航条件下的作动器线仿真
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.08.003
F. Baratchi, T.L. Jeans, A.G. Gerber

In this numerical study a tidal turbine in straight and yawed flows is simulated using the actuator line (AL) method coupled with Large Eddy Simulation (LES) of turbulence for the turbine previously studied experimentally by Bahaj et al. (2007). Importantly, the AL model is fully coupled to an existing GPU based computational fluid dynamic solver, enabling high resolution simulations in reasonable time frames using desktop size server systems. Simulation results using the blade element actuator disk (BEAD) method are also presented to support the results from the AL method and highlight its advantages over the BEAD method. Results obtained from this study show that the AL method is capable of capturing wake unsteadiness and the tip and root vortices resulting from the turbine blades. Predicted power and thrust coefficients agree well with experimental data, being within 0.77% and 1.91%, respectively, at the design tip speed ratio. However, the absence of hub geometry in this method affects the downstream wake pattern along its centerline.

在本数值研究中,采用执行器线(AL)方法结合Bahaj等人(2007)先前实验研究的涡轮湍流大涡模拟(LES)方法,模拟了直流和偏航中的潮汐涡轮机。重要的是,人工智能模型与现有的基于GPU的计算流体动力学求解器完全耦合,使用桌面大小的服务器系统在合理的时间框架内实现高分辨率模拟。采用叶片单元作动盘法(blade element actuator disk, BEAD)的仿真结果支持了AL方法的结果,并突出了其相对于BEAD方法的优势。研究结果表明,该方法能够捕获尾迹非定常以及由涡轮叶片引起的叶尖和根部涡。在设计叶尖速比下,预测的功率和推力系数与实验数据吻合较好,分别在0.77%和1.91%以内。然而,在这种方法中,轮毂几何形状的缺失影响了沿其中心线的下游尾迹。
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引用次数: 15
An enhanced and validated performance and cavitation prediction model for horizontal axis tidal turbines 一个增强和验证的水平轴潮汐涡轮机性能和空化预测模型
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.07.003
N. Kaufmann , T.H. Carolus , R. Starzmann

Tidal energy represents a promising resource for the future energy mix. For harnessing tidal currents free stream horizontal axis turbines have been investigated for some years. The acting physics is very similar to the one of horizontal axis wind turbines, with the additional phenomenon of cavitation, which causes performance reduction, flow induced noise and severe damages to the turbine blade and downstream structures.

The paper presents an enhanced semi-analytical model that allows the prediction of the performance characteristics including cavitation inception of horizontal axis tidal turbines. A central component is the well-known blade element momentum theory which is refined by various submodels for hydrofoil section lift and drag as a function Reynolds number and angle of attack, turbine thrust coefficient, blade hub and tip losses and cavitation. Moreover, the model is validated by comparison with comprehensive experimental data from two different turbines.

Predicted power and thrust coefficient characteristics were found to agree well with the experimental results for a wide operational range and different inflow velocities. Discrepancies were observed only at low tip speed ratios where major parts of the blades operate under stall conditions. The predicted critical cavitation number is somewhat larger than the measured, i.e. the prediction is conservative. As an overall conclusion the semi-analytical model developed seems to be so fast, accurate and robust that it can be integrated in a future workflow for optimizing tidal turbines.

潮汐能代表了未来能源组合中一种很有前途的资源。为了控制潮流,人们研究了自由流水平轴水轮机多年。其作用物理与水平轴风力机非常相似,附加了空化现象,导致性能降低、流致噪声和对涡轮叶片及下游结构的严重破坏。本文提出了一种改进的半解析模型,可以预测水平轴潮汐涡轮机的性能特征,包括空化的开始。一个核心部分是众所周知的桨叶单元动量理论,该理论由水翼截面升力和阻力作为雷诺数和攻角、涡轮推力系数、叶片轮毂和叶尖损失和空化的函数的各种子模型加以细化。并与两台不同型号风机的综合试验数据进行了对比验证。在较宽的工作范围和不同的进流速度下,预测的功率和推力系数特性与实验结果吻合较好。差异仅在低叶尖速比下观察到,其中叶片的主要部分在失速条件下运行。预测的临界空化数略大于实测值,即预测是保守的。总的来说,所开发的半解析模型似乎是如此快速、准确和稳健,以至于它可以集成到未来优化潮汐涡轮机的工作流程中。
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引用次数: 18
Methodology for estimating the French tidal current energy resource 估算法国潮流能源的方法
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.07.011
Rose Campbell, André Martinez, Camille Letetrel, Alexandre Rio

This paper presents a method to compute the total tidal energy resource available in French Atlantic and Channel waters. An analysis of outputs from MARS2D hydrodynamic model allowed us to identify 20 potential sites for extraction of tidal energy. These sites are presented in the form of an atlas. Four promising sites with annual average currents exceeding 2 m/s, were identified in the English Channel (Raz Blanchard, Raz Barfleur, Paimpol-Bréhat) and at the westernmost part of Brittany (Fromveur Passage).

By defining characteristics of a turbine array (spacing and power coefficient), we compute the total extractable power for three cases: high, medium and low theoretical performance. Considering the sites with average currents exceeding 1.5 m/s, the total extractable power ranges from 1.46 to 9.71 GW for the low and high performance cases. For all 20 sites, where average currents exceed 0.5 m/s, the total extractable power ranges from 2.49 to 16.58 GW for the low and high performance cases.

Finally, we focus on the most promising site: the Raz Blanchard (Alderney Race) located in the Manche department (English Channel). The variability of the current intensities and directions are presented. Within this high tidal potential site, we define a zone (12 km2) wherein the current speeds are consistently high (exceeds 2.5 m/s for at least 40% of the year studied) and most often following the NNE/SSW axis.

本文提出了一种计算法属大西洋和海峡水域可用潮汐能总量的方法。通过对MARS2D水动力模型输出的分析,我们确定了20个潜在的潮汐能提取地点。这些地点以地图集的形式呈现。在英吉利海峡(Raz Blanchard, Raz Barfleur, paimpol - brsamhat)和布列塔尼最西部(Fromveur通道)确定了四个年平均洋流超过2米/秒的有希望的地点。通过定义涡轮阵列的特性(间距和功率系数),我们计算了三种情况下的总可提取功率:高、中、低理论性能。考虑到平均电流超过1.5 m/s的站点,低性能和高性能情况下的总可提取功率范围为1.46 ~ 9.71 GW。对于所有20个站点,平均电流超过0.5 m/s,在低性能和高性能情况下,总可提取功率范围为2.49至16.58 GW。最后,我们将重点放在最有希望的地点:位于Manche部门(英吉利海峡)的Raz Blanchard (Alderney Race)。给出了电流强度和方向的可变性。在这个高潮势的地点,我们定义了一个区域(12平方公里),其中水流速度一直很高(在研究的一年中至少有40%的时间超过2.5米/秒),并且最经常沿着NNE/SSW轴。
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引用次数: 17
On the numerical modeling and optimization of a bottom-referenced heave-buoy array of wave energy converters 基于底部的波浪能转换器升沉浮标阵列的数值模拟与优化
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.05.004
F. Fàbregas Flavià, A. Babarit, A.H. Clément

Compact arrays of small wave absorbers have been proposed as an advantageous solution for the extraction of wave energy when compared to a big isolated point absorber. Numerous challenges are associated with the numerical modeling of such devices, notably the computation of the hydrodynamic interactions among the large number of floats of which they are composed. Efficient calculation of the first-order linear hydrodynamic coefficients requires dedicated numerical tools, as their direct computation using standard boundary element method (BEM) solvers is precluded. In this paper, the Direct Matrix Method interaction theory by Kagemoto and Yue (1986) is used as an acceleration technique to evaluate the performance of a generic wave energy converter (WEC) inspired by the Wavestar SC-concept and to perform layout optimization. We show that there exists an optimum number of floats for a given device footprint. Exceeding this number results in a “saturation” of the power increase, which is undesirable for the economic viability of the device. As in previous studies on multiple absorber WECs, significant differences were observed in energy production among floats, due to hydrodynamic interactions.

与大型孤立点吸收器相比,紧凑的小波吸收器阵列已被提出作为波能提取的有利解决方案。这些装置的数值模拟面临许多挑战,特别是组成它们的大量浮子之间的水动力相互作用的计算。一阶线性水动力系数的有效计算需要专用的数值工具,因为它们无法使用标准边界元法(BEM)求解器直接计算。本文采用Kagemoto和Yue(1986)的直接矩阵法相互作用理论作为一种加速技术来评估受Wavestar sc概念启发的通用波能转换器(WEC)的性能并进行布局优化。我们证明,对于给定的设备占用空间,存在一个最佳的浮点数。超过这个数字会导致功率增加的“饱和”,这对于设备的经济可行性是不希望的。与之前对多吸收器WECs的研究一样,由于流体动力相互作用,在浮子之间的能量产生存在显著差异。
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引用次数: 20
A surrogate-model assisted approach for optimising the size of tidal turbine arrays 潮汐涡轮机阵列尺寸优化的代理模型辅助方法
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.05.001
D.M. Culley , S.W. Funke , S.C. Kramer , M.D. Piggott

The new and costly nature of tidal stream energy extraction technologies can lead to narrow margins of success for a project. The design process is thus a delicate balancing act – to maximise the energy extracted, while minimising cost and risk. Scenario specific factors, such as site characteristics, technological constraints and practical engineering considerations greatly impact upon both the appropriate number of turbines to include within a tidal current turbine array (array size), and the individual locations of those turbines (turbine micro-siting). Both have been shown to significantly impact upon the energy yield and profitability of an array.

The micro-siting arrangement for a given number of turbines can significantly influence the power extraction of a tidal farm. Until the layout has been optimised (a process which may incorporate turbine parameters, local bathymetry and a host of other practical, physical, legal, financial or environmental constraints) an accurate forecast of the yield of that array cannot be determined. This process can be thought of as ‘tuning’ an array to the proposed site to maximise desirable outcomes and mitigate undesirable effects.

The influence of micro-siting on the farm performance means that determining the optimal array size needs to be coupled to the micro-siting process. In particular, the micro-siting needs to be repeated for any new trial array size in order to be able to compare the performance of the different farm sizes. Considering the large number of design variables in the micro-siting problem (which includes at least the positions of each turbine) it becomes clear that algorithmic optimisation is a key tool to rigorously determine the optimal array size and layout.

This paper proposes a nested optimisation approach for solving the array size and layout problem. The core of this approach consists of two nested optimisation procedures. The ‘outer’ optimisation determines the array size. At each ‘outer’ iteration the power extracted by N turbines is found via a separate optimisation of their micro-siting on the proposed site. The ‘inner’ optimisation is treated as a computationally expensive black-box solver, mapping array size to power (and additionally returning the optimal micro-siting design). This forms the basis of a practical approach to the array sizing problem based on Bayesian optimisation, in which a surrogate model is built and used to maximise the utility of each evaluation made by the solver.

This paper introduces and reports on the implementation of this novel surrogate-assisted array design approach which, coupled with a simple financial model is demonstrated through optimisation of array size for two test scenarios to maximise the financial return on the array for the developer.

潮汐流能源提取技术的新特性和昂贵的特性可能导致项目成功的边际狭窄。因此,设计过程是一个微妙的平衡行为-最大限度地提取能源,同时最小化成本和风险。场景特定因素,如场地特征、技术限制和实际工程考虑,对潮汐流涡轮机阵列中涡轮机的适当数量(阵列尺寸)和这些涡轮机的个别位置(涡轮机微选址)都有很大影响。两者都被证明对阵列的能量产量和盈利能力有显著影响。给定数量的涡轮机的微选址安排可以显著影响潮汐能发电厂的功率提取。在布局优化之前(这一过程可能包括涡轮机参数、当地水深测量以及许多其他实际、物理、法律、财务或环境限制),无法准确预测该阵列的产量。这个过程可以被认为是“调整”一个阵列到拟议的地点,以最大限度地提高理想的结果和减轻不良影响。微定位对农场性能的影响意味着确定最佳阵列尺寸需要与微定位过程相结合。特别是,为了能够比较不同农场规模的性能,任何新的试验阵列规模都需要重复进行微定位。考虑到微选址问题中的大量设计变量(至少包括每个涡轮机的位置),很明显,算法优化是严格确定最佳阵列大小和布局的关键工具。本文提出了一种嵌套优化方法来解决阵列大小和布局问题。该方法的核心由两个嵌套的优化过程组成。外部优化决定了数组的大小。在每次“外部”迭代中,N台涡轮机提取的功率是通过在拟议场地上对其微定位进行单独优化而获得的。“内部”优化被视为计算上昂贵的黑盒求解器,将阵列大小映射到功率(并额外返回最佳微站点设计)。这构成了基于贝叶斯优化的阵列大小问题的实用方法的基础,其中构建代理模型并用于最大化求解器所做的每次评估的效用。本文介绍并报告了这种新颖的代理辅助阵列设计方法的实现,该方法与一个简单的财务模型相结合,通过优化两个测试场景的阵列大小来演示,以最大限度地提高开发人员对阵列的财务回报。
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引用次数: 9
Hydrodynamic analysis of a heaving wave energy converter 升沉波能量转换器的水动力分析
Pub Date : 2017-09-01 DOI: 10.1016/j.ijome.2017.08.007
Gonzalo Tampier , Laura Grueter

In the present paper, the development of a model scale Wave Energy Converter (WEC) and an experimental WEC test rig are presented, and results of numerical simulations and experimental measurements are shown. The presented point absorber WEC is coupled to a generic power take-off (PTO) and is restricted to pure heave motion in regular waves. Experiments were carried out at the Universidad Austral de Chile (UACh) Wave Tank and results from responses and efficiencies were compared with data from the BEM (boundary element method) code WAMIT. Numerical and experimental results showed good agreement. Finally, results were extrapolated and superposed with typical wave energy spectra found in different Chilean regions, providing a first performance estimation for a wave energy converter in Chile. Results are discussed and compared with an existing technology and give an insight of the potential for wave energy technologies in Chile. Further investigation is proposed for an analysis in irregular waves and the use of a more advanced PTO (power take-off) in the future.

本文介绍了模型尺度波浪能转换器(WEC)的研制和实验试验装置的研制,并给出了数值模拟和实验测量结果。所提出的点吸收器WEC与一般的动力起飞(PTO)耦合,并且仅限于规则波中的纯升沉运动。在智利南方大学(UACh)波浪槽中进行了实验,并将响应和效率的结果与边界元法(BEM)代码WAMIT的数据进行了比较。数值与实验结果吻合较好。最后,将结果与智利不同地区的典型波能谱进行外推和叠加,为智利的波能转换器提供了第一次性能估计。结果进行了讨论,并与现有技术进行了比较,并对智利波浪能技术的潜力进行了深入了解。提出了进一步的研究,以分析在不规则波和使用更先进的PTO(功率输出)在未来。
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引用次数: 29
Confronting the financing impasse: Risk management through internationally staged investments in tidal energy development 面对融资僵局:通过潮汐能开发的国际分阶段投资进行风险管理
Pub Date : 2017-06-01 DOI: 10.1016/j.ijome.2017.03.002
Shelley L. MacDougall

Progress toward commercial deployment of in-stream tidal energy devices and commercial arrays has frequently met with delays, particularly in the UK and Canada. While some delays are due to the manifestation of the uncertainties inherent in new technology development, this study seeks to better understand the strategic timing decisions of tidal energy conversion companies in developing a globally-distributed renewable resource. The study consists of semi-structured interviews with executives and senior managers of organizations in the international tidal energy industry. Themes emerging from the interviews find companies manage risk by timing their investments across an international portfolio of seabed leases, consistent with the exercise of real options.

流内潮汐能装置和商业阵列的商业部署进展经常遇到延迟,特别是在英国和加拿大。虽然有些延迟是由于新技术开发中固有的不确定性的表现,但本研究旨在更好地理解潮汐能转换公司在开发全球分布的可再生资源时的战略时机决策。该研究包括对国际潮汐能行业组织的高管和高级管理人员的半结构化访谈。采访中浮现出的主题是,企业通过在海底租赁的国际投资组合中选择投资时机来管理风险,这与实物期权的行使相一致。
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引用次数: 8
期刊
International Journal of Marine Energy
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