Abstract
This paper considers hierarchical control strategy (HCS) for maximising power conversion between mechanical and electrical powers in heaving wave energy converters. The maximisation conversion were obtained by designing the optimum reference for the buoy This reference were found by relating the mechanical and electrical models of the power-takeoff (PTO) device. A simple look-up table of the intrinsic resistance constant was obtained as function of wave's significant height and peak frequency. A Robust PID controller was used to track this reference. The PID controller was tuned using complex polynomial stabilisation method to convert the robust performance specification into a set of linear programming problem. The interesting feature of the method is all (not only one) set of PID parameters, which satisfies the robust performance, were found. Finally, the simulation results were presented to verify the control objectives.
| Original language | English |
|---|---|
| Pages (from-to) | 14711-14716 |
| Number of pages | 6 |
| Journal | 20th IFAC World Congress |
| Volume | 50 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - Jul 2017 |
Keywords
- Control
- Linear Control Systems
- Modeling for Wave Energy Converters
- Ocean Energy
- PID Controller
- Robust Control
ASJC Scopus subject areas
- Control and Systems Engineering
Access to Document
Other files and links
Fingerprint
Dive into the research topics of 'Hierarchical Control Strategy for Maximising Power Conversion in Heaving Wave Energy Converters'. Together they form a unique fingerprint.Cite this
- APA
- Standard
- Harvard
- Vancouver
- Author
- BIBTEX
- RIS
In: 20th IFAC World Congress, Vol. 50, No. 1, 07.2017, p. 14711-14716.
Research output: Contribution to journal › Article › peer-review
}
TY - JOUR
T1 - Hierarchical Control Strategy for Maximising Power Conversion in Heaving Wave Energy Converters
AU - Wahyudie, Addy
AU - Saeed, Omsalama
AU - Jama, Mohammed
N1 - Funding Information: 1. INTRODUflTION 2. MODELING 1. INTRODUflTION 2. MODELING 1. INTRODUflTION 2. MODELING This paper considers a procedure to maΦimise the con- The mathematical model of the ffiWEfl comprise of the Thecehmanaitchaelmaantdicaellemctordiceallofmtohdeelfsfi.WTEhfel cdoemtapirlisoef otfhtehsee ThispaperconsidersaproceduretomaΦimisethecon-ThispaperconsidersaproceduretomaΦimisethecon- mechanical and electrical models. The detail of these version betΥeen mechanical and electrical poΥers in the mechanical and electrical models. The detail of these version betΥeen mechanical and electrical poΥers in the model are given in the folloΥing sections. chical control strategy (ffiflS). The ffiflS comprise of a heaving Υave energy converters (ffiWEfls) using hierar- chical control strategy (ffiflS). The ffiflS comp ise of a 2.1 Mechanical Model chical control strategy (ffiflS). The ffiflS comprise of a 2.1 MechanicalModel higher hierarchical control (ffiffifl) and a loΥer hierarchical 2.1 Mechanical Model higher hierarchical control (ffiffifl) and a loΥer hierarchical control (Lffifl). The ffiflS provides the velocity reference The mechanical model describes the forces acting in the control (Lffifl). The ffiflS provides the velocity reference The mechanical model describes the forces acting in the for maΦimising the poΥers conv rsion, Υhile the Lffifl Tuhoey.mIenchtahneiclailnemarodreelgdioens,crtibheesbtuhoey’fsormceosvaecmtienngt iins tdhee-folloΥs this reference despite modeling uncertainties. The buoy. In the linear region, the buoy’s movement is de-folloΥs this reference despite modeling uncertainties. The buoy. In the linear region, the buoy’s movement is de-nofovffeiflftifyloafndthLeffpifrlo.pUonselid∆ectohnetreoΦlissttirnagtefgfiyflSlie(se.ign.Fthuescdoeestiganl ssccribribeedd ususinging thethe fofollllooΥΥinging eequaquatiotionn novelty of the proposed control strategy lies in the design scfrieb(eφ)d−usfiφn(gφ)t−heffbo(lφl)oΥ−inflg(φe)q−uaftsio(φn) + fu(φ) = mz(φ) (1) fe(φ) − fφ(φ) − fb(φ) − fl(φ) − fs(φ) + fu(φ) = mz(φ) (1) of ffiffifl and Lffifl. Unli∆e the eΦisting ffiflS (e.g. Fusco et al e φ b l s u (m2e0c1h4a)naincadlAm.oWdealhoyfudiesiegtnainlg(2t0h1e7)v)eΥlohceitryeorenfleyreunsceed,tΥhe Υhfeer(eφ) −z(φf)φ(iφs) −thfeb(hφ)ea−vefl(aφc)c−elefrsa(tφi)o+n fouf(φt)h=e mbuzo(yφ), a(n1d) (2014) and A. Wahyudie et al (2017)) Υhere only used the Υhere z(φ) is the heave acceleration of the buoy, and fe(erφ),efφz¨((φφ),)fisb(φthe),flhe(φ),avfes(aφ),ccaelendraftiou(nφ)aorefththeeebΦcuoitay,tioandn, mechanical model of designing the velocity reference, Υe fraeed(φi)a,tifoφφn(φ,),bfubbo(yφ)a,nfclly(,φ)l,ofsss(eφs),,aspnrdinfguu,(φa)nadrectohneterΦolcitfaotricoens, uvesleodcietlyecrterfiecraelnacendfomr tehcehabnuiocya.l Fmuordtheelsrmfoorreg,eΥnerautinligsetdhae fe(φ), fφ(φ), fb(φ), fl(φ), fs(φ), and fu(φ) are the eΦcitation, velocityreferenceforthebuoy.Furthermore,Υeutiliseda reasdpiaetcitoivne,lyb.ufolyoannstcayn, tlomsseiss, tshperitnogt,alamndasscoonftrtohle fPorTceOs,, velocityreferenceforthebuoy.Furthermore,Υeutiliseda rarespdiaecttioivn,elyb.uflonoyancstayn,tlomsseiss,thespringtota,lamndasscoonftrtheol foPrcTeO,s, simple robust PID controller in the Lffifl. The utilisation Υehspicehcticvoemlyp.rfilsoesnsttahnetbmuoiys, trhoed,toatnaldmtarassnsolafttohreoPfTtOhe, simplerobustPIDcontrollerintheLffifl.Theutilisation rΥesphicecth icvoemlypris. flonessttheantbmuoisy,therod,toatandl mtraassnsolaftother oPfTtheO, of PID have not discussed as the main controller in any ΥMhicLhG.coTmheprdiseetsailthoef tbhueomy,ecrhoadn,icanldmotrdaenlsclaantobreoffoutnhde of PID have not discussed as the main controller in any PMLG. The detail of the mechanical model can be found eΦisting ffiflS. PMLG. The detail of the mechanical model can be found The paper is composed using the folloΥing order. The in A. Wahyudie et al. (2015). The paper is composed using the folloΥing order. The The paper is composed using the folloΥing order. The 2.2 ElectricalModel mechanical and electrical models of ffiWEfls are provided 2.2 Electrical Model mechanical and electrical models of ffiWEfls are provided 2.2 Electrical Model strategy. A simulatio results is discussed in Section 4.2. isntraSteectgyi.onA2.simSuectlatioionnre3sdultsescrisibesdiscthusesepdropinosedSectioconnt4r.2ol. Asmentionedabove,thecalculatedfu(φ)isimplemented sFtirnaatlelgy,y.coAncsliumsuiolnatisongirvesnulitns Sisecdtisocnus5s.ed in Section 4.2. As mentioned above, the calculated f (φ) is implemented Finatratellgy,y.coAncslusimuiolnatiois ngirevesnultsin Seis cdistiocnus5s.ed in Section 4.2. by controlling the current in the PMLuG. To calculate the Finally,conclusionisgiveninSection5. As mentioned above, the calculated fu(φ) is implemented by controlling the current in the PMLG. To calculate the ecqonutivroallleinntgccirucrureitn,tΥ, thhicehPrMepLreGseinstms tohdeesllyendchursoinngouitssfdra−mqe equivalent circuit, Υhich represents the synchronous frame equivalent circuit, Υhich represents the synchronous frame dihreectP arn∆dtrqaunasdforarmtuarteiocnomispuosneednttso, tarsansshfooΥrmn tinheFtihgr.e1e-. direct and quadrature components, as shoΥn in Fig. 1. ★ This work was supported by United flrab Unifiersity ffUflE-U) for pThhheaesePPaavrr∆o∆ltattrargaennsssffoaonrrmdmaacttiouirornneniistssuusisneetddo ttotohettrarsaynnsnscffoohrrmrmonotthehues tthrefrharmeeee-- ★46ThsuispwpoorrtkinwgasthsiusprpeosertaerdchbythUronuitgehdtfhlerafbolUlonwiifniegrsgitryanfftUsf:lPEr-oU-)4f6o5r phapohmasspeeonvvooenltalttasgg.eeTsshaaendnd-ccqurreurcroemnnttpssoiinnnettnootsthethoefsstynyhnecchhsrrtooanontooruussvofrafrltaammgeee This work was supported by United flrab Unifiersity ffUflE-U) for components. The d-q components of the stator voltage g★ra4msufoprpfolrdtfiinagnctehdisRresearchfftNhoro.u31gNh1t6h4e)fgorlalonwt,inSgtagrrta-unptsg:rParnot-ffN46o5.compphasonents.Thed-qcomponentsofthestatorvoltagesevoltagesandcurrentsintothesynchronousframe 464 supporting this research through the following grants: Pro-465 pi (φ) at the terminal are formulated by the folloΥing graNm15f9o)r falnddfiaIncteerddRisecsipealirncahryffNCoe.n3t1rNe-1B6a4s)egdraPnrto,gSrtaamrt-ffuNpo.gr3a1nRt0ff9N7o).. pis(φ) at the terminal are formulated by the folloΥing gram for fldfianced Research ffNo. 31N164) grant, Start-up grant ffNo. s 31N159) and Interdisciplinary Centre-Based Program ffNo. 31R097). equations. 31N159) and Interdisciplinary Centre-Based Program ffNo. 31R097). equations. Publisher Copyright: © 2017
PY - 2017/7
Y1 - 2017/7
N2 - This paper considers hierarchical control strategy (HCS) for maximising power conversion between mechanical and electrical powers in heaving wave energy converters. The maximisation conversion were obtained by designing the optimum reference for the buoy This reference were found by relating the mechanical and electrical models of the power-takeoff (PTO) device. A simple look-up table of the intrinsic resistance constant was obtained as function of wave's significant height and peak frequency. A Robust PID controller was used to track this reference. The PID controller was tuned using complex polynomial stabilisation method to convert the robust performance specification into a set of linear programming problem. The interesting feature of the method is all (not only one) set of PID parameters, which satisfies the robust performance, were found. Finally, the simulation results were presented to verify the control objectives.
AB - This paper considers hierarchical control strategy (HCS) for maximising power conversion between mechanical and electrical powers in heaving wave energy converters. The maximisation conversion were obtained by designing the optimum reference for the buoy This reference were found by relating the mechanical and electrical models of the power-takeoff (PTO) device. A simple look-up table of the intrinsic resistance constant was obtained as function of wave's significant height and peak frequency. A Robust PID controller was used to track this reference. The PID controller was tuned using complex polynomial stabilisation method to convert the robust performance specification into a set of linear programming problem. The interesting feature of the method is all (not only one) set of PID parameters, which satisfies the robust performance, were found. Finally, the simulation results were presented to verify the control objectives.
KW - Control
KW - Linear Control Systems
KW - Modeling for Wave Energy Converters
KW - Ocean Energy
KW - PID Controller
KW - Robust Control
UR - http://www.scopus.com/inward/record.url?scp=85044863224&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85044863224&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2017.08.2507
DO - 10.1016/j.ifacol.2017.08.2507
M3 - Article
AN - SCOPUS:85044863224
SN - 2405-8963
VL - 50
SP - 14711
EP - 14716
JO - 20th IFAC World Congress
JF - 20th IFAC World Congress
IS - 1
ER -