To further maximize power absorption in both regular and irregular ocean wave environments, nonlinear-model-predictive control (NMPC) was applied to a model-scale point absorber developed at the University of California Berkeley, Berkeley, CA, USA. The NMPC strategy requires a power-takeoff (PTO) unit that could be turned on and off, as the generator would be inactive for up to 60% of the wave period. To confirm the effectiveness of this NMPC strategy, an in-house-designed permanent magnet linear generator (PMLG) was chosen as the PTO. The time-varying performance of the PMLG was first characterized by dry-bench tests, using mechanical relays to control the electromagnetic conversion process. The on/off sequencing of the PMLG was tested under regular and irregular wave excitation to validate NMPC simulations using control inputs obtained from running the choice optimizer offline. Experimental results indicate that successful implementation was achieved and absorbed power using NMPC was up to 50% greater than the passive system, which utilized no controller. Previous investigations into MPC applied to wave energy converters have lacked the experimental results to confirm the reported gains in power absorption. However, after considering the PMLG mechanical-to-electrical conversion efficiency, the electrical power output was not consistently maximized. To improve output power, a mathematical relation between the efficiency and damping magnitude of the PMLG was inserted in the system model to maximize the electrical power output through continued use of NMPC which helps separate this work from previous investigators. Of significance, results from latter simulations provided a damping time series that was active over a larger portion of the wave period requiring the actuation of the applied electrical load, rather than on/off control.

WEC-Sim (Wave Energy Converter Simulator) is an open-source code for simulating wave energy converters, which has been actively developed and applied to simulate a wide variety of device archetypes, and has become a popular tool since its release. This paper reviewed the development efforts and the usage of WEC-Sim. The publications considered in this study have been broken down into six topic areas, namely feature development, experimental validation, device modeling, control modeling, PTO and grid modeling, and novel applications, which even includes some non-wave energy applications. This review paper has also attempted to recognize the contributions of the broader WEC-Sim development effort, meaning not only the internal WEC-Sim development team but also the external efforts from the academia researchers and technology developers around the world. The growing trend of external applications of WEC-Sim has demonstrated the broader acceptance of the open-source code, and how WEC-Sim has been used in a certain topic area also highlights the potential future development needs.

This paper evaluates the technical feasibility and performance characteristics of an ocean-wave energy to electrical energy conversion device that is based on a moving linear generator. The UC-Berkeley design consists of a cylindrical floater, acting as a rotor, which drives a stator consisting of two banks of wound coils. The performance of such a device in waves depends on the hydrodynamics of the floater, the motion of which is strongly coupled to the electromagnetic properties of the generator. Mathematical models are developed to reveal the critical hurdles that can affect the efficiency of the design. A working physical unit is also constructed. The linear generator is first tested in a dry environment to quantify its performance. The complete physical floater and generator system is then tested in a wave tank with a computer-controlled wavemaker. Measurements are compared with theoretical predictions to allow an assessment of the viability of the design and the future directions for improvements.

This paper evaluates the theoretical application of nonlinear model predictive control (NMPC) to a model-scale point absorber for wave energy conversion. The NMPC strategy will be evaluated against a passive system, which utilizes no controller, using a performance metric based on the absorbed energy. The NMPC strategy was setup as a nonlinear optimization problem utilizing the interior point optimizer (IPOPT) package to obtain a time-varying optimal generator damping from the power-take-off (PTO) unit. This formulation is different from previous investigations in model predictive control, as the current methodology only allows the PTO unit to behave as a generator, thereby unable to return energy to the waves. Each strategy was simulated in the time domain for regular and irregular waves, the latter taken from a modified Pierson–Moskowitz spectrum. In regular waves, the performance advantages over a passive system appear at frequencies near resonance while at the lower and higher frequencies they become nearly equivalent. For irregular waves, the NMPC strategy leads to greater energy absorption than the passive system, though strongly dependent on the prediction horizon. It was found that the ideal NMPC strategy required a generator that could be turned on and off instantaneously, leading to sequences where the generator can be inactive for up to 50% of the wave period.