This paper proposes an optimisation strategy for the layout design of wave energy converter (WEC) arrays. Optimal layouts are sought so as to maximise the absorbed power given a minimum q-factor, the minimum distance between WECs, and an area of deployment. To guarantee an efficient optimisation, a four-parameter layout description is proposed. Three different optimisation algorithms are further compared in terms of performance and computational cost. These are the covariance matrix adaptation evolution strategy (CMA), a genetic algorithm (GA) and the glowworm swarm optimisation (GSO) algorithm. The results show slightly higher performances for the latter two algorithms; however, the first turns out to be significantly less computationally demanding.

The increasing desire for using renewable energy sources throughout the world has resulted in a considerable amount of research into and development of concepts for wave energy converters. By now, many different concepts exist, but still, the wave energy sector is not at a stage that is considered commercial yet, primarily due to the relatively high cost of energy. A considerable amount of the wave energy converters are floating structures, which consequently need mooring systems in order to ensure station keeping. Despite being a well-known concept, mooring in wave energy application has proven to be expensive and has a high rate of failure. Therefore, there is a need for further improvement, investigation into new concepts and sophistication of design procedures. This study uses four Danish wave energy converters, all considered as large floating structures, to investigate a methodology in order to find an inexpensive and reliable mooring solution for each device. The study uses a surrogate-based optimization routine in order to find a feasible solution in only a limited number of evaluations and a constructed cost database for determination of the mooring cost. Based on the outcome, the mooring parameters influencing the cost are identified and the optimum solution determined.

This study addresses the experimental validation of a linear time-invariant (LTI) energy-maximizing control strategy for wave energy converters (WECs), applied to a 1/20 scale Wavestar WEC. To fulfill this objective, system identification routines are utilized to compute a mathematical (parametric) model of the input–output dynamics of the device, suitable for control design and implementation. With this parametric model, the so-called LiTe-Con energy-maximizing strategy, recently published in the literature, is designed, synthesized, and tested under irregular wave excitation in the wave basin at Aalborg University. Given that the LiTe-Con requires instantaneous knowledge of the wave excitation effects, estimates are provided by means of an unknown-input Kalman filter, designed in close synergy with the so-called internal model principle. For the experimental assessment, both controller and estimator are directly implemented in a real-time architecture. The performance of the LiTe-Con is evaluated in terms of energy-absorption, showing consistent results with respect to those obtained in numerical simulation, hence validating the LiTe-Con controller in a realistic real-time scenario.

This paper uses experimental data to validate a wave energy converter (WEC) array hydrodynamics tool developed within the context of linearized potential flow theory. To this end, wave forces and power absorption by an array of five-point absorber WECs in monochromatic and panchromatic waves were measured from a set of deep-water wave basin experimental tests. Unlike the few other examples of WEC array experimental campaigns, the power take-off (PTO) system of each WEC was simulated by means of advanced equipment capable of accurately reproducing linear control strategies and, thereby, reducing the uncertainty in the physical model. Experimental measurements are then compared with numerical predictions showing reasonable agreement; the measured trends are, in the same way, well captured by the numerical predictions. Further analysis demonstrates that the developed tool can predict, on the safe side, wave forces and power absorption with less than 17.5% and 23.0% error, respectively, for more than 68% of the predictions.

A wave-energy converter has been studied through the combination of laboratory experiments and numerical simulations. The converter model is a semi-submerged axi-symmetric buoy with a circular cross section with a diameter of 26 cm at the water plane. The buoy is pitching about a fixed external axis oriented such that the buoy works primarily in heave. The laboratory model is equipped with a spring mechanism referred to as WaveSpring, which works to shift the resonance period and increase the response bandwidth of the system. A controlled electric actuator was connected and programmed to provide a velocity-proportional force for power extraction. The buoy mass was varied at two levels and the experimental setup was exposed to a selection of regular and irregular waves. The power take-off (PTO) damping was set as a function of sea state. A mathematical model for global motion response was developed based on linear hydrodynamic theory and rigid-body dynamics. Comparison of laboratory measurements and numerical simulation results shows that the dominant physical effects have been well captured by the mathematical model. Overall, the study gives an experimental verification that a negative spring mechanism mounted in parallel with the power take-off machinery of a wave energy converter may be used to increase the average converted power.

In order to reduce the cost of electricity produced by wave energy converters (WECs), the benefit of selling electricity as well as the investment costs of the structure has to be considered. This paper presents a methodology for assessing the control strategy for a WEC with respect to both energy output and structural fatigue loads. Different active and passive control strategies are implemented (proportional (P) controller, proportional-integral (PI) controller, proportional-integral-derivative with memory compensation (PID) controller, model predictive control (MPC) and maximum energy controller (MEC)), and load time-series resulting from numerical simulations are used to design structural parts based on fatigue analysis using rain-flow counting, Stress-Number (SN) curves and Miner’s rule. The objective of the methodology is to obtain a cost-effective WEC with a more comprehensive analysis of a WEC based on a combination of well known control strategies and standardised fatigue methods. The presented method is then applied to a particular case study, the Wavestar WEC, for a specific location in the North Sea. Results, which are based on numerical simulations, show the importance of balancing the gained power against structural fatigue. Based on a simple cost model, the PI controller is shown as a viable solution.