NEW DEVELOPMENTS AND CAPABILITIES WITHIN WEC-SIM
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As wave energy converters (WECs) become more advanced and cost-efficient, so too must their mooring systems. A key question in the development plans for WECs is the cost of the mooring system, particularly for large wave farms. WEC devices deployed in a WEC farm array, where each device can be connected by shared mooring lines in various array layouts, have potential to reduce mooring system costs significantly. This paper presents the modeling and designing of mooring systems for large WEC arrays and the calculation of the cost of each mooring system to determine the change in cost as the number of WECs in a farm increases. A baseline mooring system for a single floating oscillating water column (OWC) WEC was developed for this analysis. The mooring system utilizes four anchored mooring lines connected to a square assembly of wire rope mooring lines, supported by four floating buoys, and attached to the floating WEC by four polyester rope mooring lines. This assembly, referred to as a floating cell, can be tiled to form various rectangular WEC arrays. The objective of this analysis is to determine how the mooring system cost changes as more WECs are added to an array layout, each with their own interconnected floating cell. To do this, complete mooring systems need to be designed for each WEC array layout. To narrow down the design space of a WEC array mooring system, a couple assumptions were made. It was assumed that the floating cell parameters of the baseline design were to stay constant across all floating cells in the WEC array. It was also assumed that the anchored mooring lines would be of the baseline configuration, a predominantly chain mooring line with a short section of polyester rope near the fairlead, and a drag-embedment anchor. These anchored lines were assumed to extend from the outer edges of the WEC array, inline with the headings of the wire rope mooring lines of the floating cells, or diagonal if extending from a corner of the WEC array. Full mooring systems were designed for 2xN and NxN WEC array layouts and efficiently simulated in the mooring dynamics simulation tool, MoorDyn, to ensure all dynamic constraints were met. The system costs were calculated and then refined by shortening unnecessary chain line lengths and reducing the chain diameters of the downstream anchored mooring lines. It was found that, in general, mooring system costs per WEC decrease when WECs are installed in an array. Compared to the baseline mooring system for a single WEC, the 2x3 mooring system array had the lowest mooring system cost per WEC, reducing the cost per WEC by 59%. The 3x3 and 4x4 array mooring systems also saw significant reductions in cost per WEC but had negligible cost savings between the two designs, primarily because the larger 4x4 mooring system requires larger chain diameters, which increases cost. These results provide an interesting glimpse into modeling, designing, and calculating the cost of mooring systems for large WEC arrays.
WEC-Sim is a DOE-funded software tool being jointly developed by NREL and SNL. WEC-Sim computationally models wave energy converters (WEC), devices that generate electricity using movement of water systems such as oceans, rivers, etc. There is great potential for WECs to generate electricity, but as of yet, the industry has yet to establish a commercially viable concept. Modeling, design, and simulations tools are essential to the successful development of WECs. Commercial WEC modeling software tools can't be modified by the user. In contrast, WEC-Sim is a free, open-source, and flexible enough to be modified to meet the rapidly evolving needs of the WEC industry. By modeling the power generation performance and dynamic loads of WEC designs, WEC-Sim can help support the development of new WEC devices by optimizing designs for cost of energy and competitiveness. By being easily accessible, WEC-Sim promises to help level the playing field in the WEC industry. Importantly, WEC-Sim is also excellent at its job! In 2014, WEC-Sim was used in conjunction with NREL’s FAST modeling software to win a hydrodynamic modeling competition. WEC-Sim and FAST performed very well at predicting the motion of a test device in comparison to other modeling tools. The most recent version of WEC-Sim (v1.1) was released in April 2015.
This study explores and verifies the generalized body-modes method for evaluating the structural loads on a wave energy converter (WEC). Historically, WEC design methodologies have focused primarily on accurately evaluating hydrodynamic loads, while methodologies for evaluating structural loads have yet to be fully considered and incorporated into the WEC design process. As wave energy technologies continue to advance, however, it has become increasingly evident that an accurate evaluation of the structural loads will enable an optimized structural design, as well as the potential utilization of composites and flexible materials, and hence reduce WEC costs. Although there are many computational fluid dynamics, structural analyses and fluid-structure-interaction (FSI) codes available, the application of these codes is typically too computationally intensive to be practical in the early stages of the WEC design process. The generalized body-modes method, however, is a reduced order, linearized, frequency-domain FSI approach, performed in conjunction with the linear hydrodynamic analysis, with computation times that could realistically be incorporated into the WEC design process. The objective of this study is to verify the generalized body-modes approach in comparison to high-fidelity FSI simulations to accurately predict structural deflections and stress loads in a WEC. Two verification cases are considered, a free-floating barge and a fixed-bottom column. Details for both the generalized body-modes models and FSI models are first provided. Results for each of the models are then compared and discussed. Finally, based on the verification results obtained, future plans for incorporating the generalized body-modes method into the WEC simulation tool, WEC-Sim, and the overall WEC design process are discussed.
A wave energy converter (WEC) system has the potential to convert the wave energy resource directly into the high-pressure flow that is needed by the desalination system to permeate saltwater through the reverse-osmosis membrane to generate clean water. In this study, a wave-to-water numerical model was developed to investigate the potential use of a wave-powered desalination system (WPDS) for water production in the United States. The model was developed by coupling a time-domain radiation-and-diffraction-method-based numerical tool (WEC-Sim) for predicting the hydrodynamic performance of WECs with a solution-diffusion model that was used to simulate the reverse-osmosis process. To evaluate the feasibility of the WPDS, the wave-to-water numerical model was applied to simulate a desalination system that used an oscillating surge WEC device to pump seawater through the system. The annual water production was estimated based on the wave resource at a reference site on the coast of northern California to investigate the potential cost of water in that area, where the cost of water and electricity is high compared to other regions. In the scenario evaluated, for a 100-unit utility-scale electricity-producing array, the estimated levelized cost of energy for these WECs is about 3-6 times the U.S.'s current, unsubsidized electricity rates. However, with clean water as an end product and by directly producing pressurized water with WECs, rather than electricity as an intermediary, it is presently only 12 percent greater than typical water cost in California. This study suggests that a WEC array that produces water may be a viable, near-term solution to the nation's water supply, and the niche application of the WPDS may also provide developers with new opportunities to further develop technologies that benefit both the electric and drinking water markets.
A wave energy converter (WEC) and the power take-off (PTO) generator system can be represented by using a mass-spring-dampener model. By incorporating a negative stiffness spring within the PTO, the overall stiffness of the PTO can be lowered allowing the impedance of the PTO to be more closely matched with the WEC. By designing for impedance matching the WEC can greatly enhance its power generation capability. This project has involved the design, fabrication and testing of a new type of linear-stroke length and rotary stroke length adjustable negative stiffness magnetic springs for use within a wave energy converter (WEC). The magnetic springs were studied by using 3-D finite element analysis with the objective of creating high energy density and a long linear stroke length. After the construction and testing of both a proof-of-principle adjustable linear and rotary magnetic spring prototype the rotary (torsional) magnetic spring was selected for scaling up analysis. The selected scaled-up proof-of-principle magnetic spring had a peak torque of 850 Nm with a ±45 degree stroke length. By translating the inner rotor relative to the outer rotor, the stiffness could be adjusted to be either negative or positive stiffness. During this project a magnetic lead screw was also studied, and it was shown that by combining the magnetic lead screw with a linearly translating magnetic spring a very long rotary stroke length could be attained. However, as the magnetic lead screw increased complexity and reduced overall energy density relative to a rotary (torsional) spring, this design approach was not further pursed. Dynamometer testing of the variable stiffness magnetic springs was first completed by Portland State University and following this the magnetic spring performance was independently verified by Sandia National Laboratory (Sandia). A WEC analysis when using a variable stiffness magnetic spring was completed by using the WecOptTool. WecOptTool is an open-source WEC optimization software developed by Sandia that supports efficient power take-off (PTO) and control optimization. Wave condition data from the Oregon PacWave test-site was used in this study. The analysis showed that a WEC with a tunable stiffness value could consistently achieve about 80% of its maximum theoretical power production. The use of a tunable stiffness WEC, rather than zero-stiffness or a constant stiffness WEC was also shown to lead to a smaller maximum PTO force requirement. The variable stiffness magnetic spring was integrated into an experimental WEC developed by Sandia, called a Wave-Bot. Sandia successfully completed water-tank testing of the Wave-Bot at the Navy’s Carderock, Maryland, wave-basin test site. The wave-basin testing helped to experimentally demonstrate the operating capabilities and increased power generation capability of a WEC containing an integrated variable stiffness magnetic spring. A WEC capacity factor analysis was also completed. The capacity factor was defined as the ratio of annual average WEC generator power to the maximum (RMS) generated power. This capacity factor provided a means of identifying the ratio of potential revenue to cost. It was calculated that if a tunable variable stiffness magnetic spring has RMS constraints it could operate with a capacity factor above 30%. This is comparable to a wind turbine’s capacity factor.
One of the primary challenges for wave energy converter (WEC) systems is the fluctuating nature of wave resources, which require the WEC components to be designed to handle loads (i.e., torques, forces, and powers) that are many times greater than the average load. This approach requires a much greater power take-off (PTO) capacity than the average power output and indicates a higher cost for the PTO. Moreover, additional design requirements, such as battery storage, are needed, particularly for practical electrical grid connection, and can be a problem for sensitive equipment (e.g., radar, computing devices, and sensors). Therefore, it is essential to investigate potential methodologies to reduce the overall power fluctuation while trying to optimize the power output from WECs. In this study, a detailed hydraulic PTO model was developed and coupled with a time-domain hydrodynamics model (WEC-Sim) to evaluate the PTO efficiency for WECs and the trade-off between power output and fluctuation using different power smoothing methods, including energy storage, pressure relief mechanism, and a powerbased setpoint control method. The study also revealed that the maximum power fluctuation for WECs can be significantly reduced by one order of magnitude when these power smoothing methods are applied.
Due to the irregular nature of real waves, the power captured in a wave energy converter (WEC) system is highly variable. This is an important barrier to the effective use of WECs. To address this challenge, this study focuses on a rotational WEC power-take-off system in which high-speed and high-efficiency generators along with a torque/power smoothing inertia element can be effectively utilized. In the first phase of this study, the U.S. Department of Energy’s reference model 3 (WEC-Sim RM3; two-body point absorber), along with a slider-crank WEC, were integrated for linear to rotational conversion. Relative motion between the float and spar in RM3 was the driving force for this slider-crank WEC, which is connected to a motor/generator set through a gearbox. RM3 geometry was scaled down by 25 times to work within the limits of the physical motor/generator set used in the experimentation. Once the integration in a hardware-in-the-loop simulation environment was successfully completed, data on the peak-to-average power ratio was collected for various wave conditions including regular and irregular waves. The control algorithm designed to keep the system in resonance with waves was able to maintain relatively high speed depending on the specific gear ratio and wave period. Initial results with hardware-in-the-loop simulations reveal that gear ratio and crank radius have a strong impact on the peak-to-average power ratio. In addition, it was found that output power from the generator was maximized at a larger gear ratio, as the crank radius was increased.
Modeled nearshore wave propagation was investigated downstream of simulated wave energy converters (WECs) to evaluate overall near- and far-field effects of WEC arrays. Model sensitivity to WEC characteristics and WEC array deployment scenarios was evaluated using a modified version of an industry standard wave model, Simulating WAves Nearshore (SWAN), which allows the incorporation of device-specific WEC characteristics to specify obstacle transmission. The sensitivity study illustrated that WEC device type and subsequently its size directly resulted in wave height variations in the lee of the WEC array. Wave heights decreased up to 30% between modeled scenarios with and without WECs for large arrays (100 devices) of relatively sizable devices (26 m in diameter) with peak power generation near to the modeled incident wave height. Other WEC types resulted in less than 15% differences in modeled wave height with and without WECs, with lesser influence for WECs less than 10 m in diameter. Wave directions and periods were largely insensitive to changes in parameters. Furthermore, additional model parameterization and analysis are required to fully explore the model sensitivity of peak wave period and mean wave direction to the varying of the parameters.
Wave energy converters (WECs) and tidal energy converters (TECs) are only beginning to be deployed along the U.S. West Coast and in Hawai‘i, and a better understanding of their ecological effects on fish, particularly on special-status fish (e.g., threatened and endangered) is needed to facilitate project design and environmental permitting. The structures of WECs and TECs placed on to the seabed, such as anchors and foundations, may function as artificial reefs that attract reef-associated fishes, while the midwater and surface structures, such as mooring lines, buoys, and wave or tidal power devices, may function as fish aggregating devices (FADs), forming the nuclei for groups of fishes. Little is known about the potential for WECs and TECs to function as artificial reefs and FADs in coastal waters of the U.S. West Coast and Hawai‘i. We evaluated these potential ecological interactions by reviewing relevant information about fish associations with surrogate structures, such as artificial reefs, natural reefs, kelps, floating debris, oil and gas platforms, marine debris, anchored FADs deployed to enhance fishing opportunities, net-cages used for mariculture, and piers and docks. Based on our review, we postulate that the structures of WECs and TECs placed on or near the seabed in coastal waters of the U.S. West Coast and Hawai‘i likely will function as small-scale artificial reefs and attract potentially high densities of reef-associated fishes (including special-status rockfish species [Sebastes spp.] along the mainland), and that the midwater and surface structures of WECs placed in the tropical waters of Hawai‘i likely will function as de facto FADs with species assemblages varying by distance from shore and deployment depth. Along the U.S. West Coast, frequent associations with midwater and surface structures may be less likely: juvenile, semipelagic, kelp-associated rockfishes may occur at midwater and surface structures of WECs in coastal waters of southern California to Washington, and occasional, seasonal, or transitory associations of coastal pelagic fishes such as jack mackerel (Trachurus symmetricus) may also occur at WECs in these waters. Importantly, our review indicated that negative effects of WEC structures on special-status fish species, such as increased predation of juvenile salmonids or rockfishes, are not likely. In addition, WECs installed in coastal California, especially in southern California waters, have the potential to attract high densities of reef-associated fishes and may even contribute to rockfish productivity, if fish respond to the WECs similarly to oil and gas platforms, which have some of the highest secondary production per unit area of seafloor of any marine habitat studied globally (Claisse et al. 2014). We encountered some information gaps, owing to the paucity or lack, in key locations, of comparable surrogate structures in which fish assemblages and ecological interactions were studied. TECs are most likely to be used in the Puget Sound area, but suitable surrogates are lacking there. However, in similarly cold-temperate waters of Europe and Maine, benthopelagic fish occurred around tidal turbines during lower tidal velocities, and this type of interaction may be expected by similar species at TECs in Puget Sound. To address information gaps in the near term, such as whether WECs would function as FADs in temperate waters, studies of navigation buoys using hydroacoustics are recommended.
This paper proposes a software framework, WEC-Grid, for integrating wave energy converters (WECs) into power flow software, such as Siemens PSS®E, to aid the integration of alternative energy sources into Microgrids. While integrating alternative sources such as WECs presents specific challenges such as cost, power quality, and power variability, wave energy is a promising renewable energy resource. Evaluating the integration of WECs into the power grid is a complex and nuanced problem that requires seamless communication between a WEC model and power flow software. The presented WEC-Grid software framework bridges and extends the functionality of WEC-Sim, an open-source WEC modeling package for MATLAB, through a wave-to-wire (W2W) electro-mechanical power conversion and processing model. WEC-Grid acts as a software wrapper, handler, and communication layer between the W2W modeler and power flow software. The software is designed to represent each grid system as a class object, allowing power system operators to perform power system duties such as contingency planning and dispatch operations. The integration of WECs with PSS®E’s power flow calculations workflow is demonstrated with an IEEE RTS case study.
The purpose of this project was to build upon the research, development and testing experience of the Northwest National Marine Renewable Energy Center (NNMREC) to establish a non-grid connected open-ocean testing facility for wave energy converters (WECs) off the coast of Newport, Oregon. The test facility would serve as the first facility of its kind in the continental US with a fully energetic wave resource where WEC technologies could be proven for west coast US markets. The test facility would provide the opportunity for self-contained WEC testing or WEC testing connected via an umbilical cable to a mobile ocean test berth (MOTB). The MOTB would act as a “grid surrogate” measuring energy produced by the WEC and the environmental conditions under which the energy was produced. In order to realize this vision, the ocean site would need to be identified through outreach to community stakeholders, and then regulatory and permitting processes would be undertaken. Part of those processes would require environmental baseline studies and site analysis, including benthic, acoustic and wave resource characterization. The MOTB and its myriad systems would need to be designed and constructed.The first WEC test at the facility with the MOTB was completed within this project with the WET-NZ device in summer 2012. In summer 2013, the MOTB was deployed with load cells on its mooring lines to characterize forces on mooring systems in a variety of sea states. Throughout both testing seasons, studies were done to analyze environmental effects during testing operations. Test protocols and best management practices for open ocean operations were developed. As a result of this project, the non-grid connected fully energetic WEC test facility is operational, and the MOTB system developed provides a portable concept for WEC testing. The permitting process used provides a model for other wave energy projects, especially those in the Pacific Northwest that have similar environmental considerations. While the non-grid connected testing facility provides an option for WEC developers to prove their technology in a fully-energetic wave environment, the absence of grid connection is somewhat of a limitation. To prove that their technology is commercially viable, developers seek a multi-year grid connected testing option. To address this need, NNMREC is developing a companion grid connected test facility in Newport, Oregon, where small arrays of WECs can be tested as well.
In this study, we present the development of a numerical model of the TALOS Wave Energy Converter (WEC) in WEC-Sim and compare it with existing numerical in-house models from Lancaster and results from DNV's Sesam code. The objective of this work is to validate the performance of the TALOS WEC using WEC-Sim and compare the results with those obtained from other numerical models. The TALOS WEC is a promising technology for the generation of clean, renewable energy from ocean waves. The development of a reliable numerical model for the TALOS WEC is crucial for its design and optimization. To achieve this, we have implemented the TALOS WEC in WEC-Sim and compared the results to in-house models from Lancaster and to results from DNV's Sesam code. Our results show good agreement with the results from Lancaster and DNV, demonstrating the accuracy and reliability of the numerical model developed in WEC-Sim. This work advances the field of wave energy conversion by providing a verified numerical model of the TALOS WEC, which can be used for further optimization and design studies.
For this study, the National Renewable Energy Laboratory and Ocean Power Technologies (OPT) conducted a collaborative code validation and design optimization study for OPT's PowerBuoy wave energy converter (WEC). NREL utilized WEC-Sim, an open-source WEC simulator, to compare four design variations of OPT's PowerBuoy. As an input to the WEC-Sim models, viscous drag coefficients for the PowerBuoy floats were first evaluated using computational fluid dynamics. The resulting WEC-Sim PowerBuoy models were then validated with experimental power output and fatigue load data provided by OPT. The validated WEC-Sim models were then used to simulate the power performance and loads for operational conditions, extreme conditions, and directional waves, for each of the four PowerBuoy design variations, assuming the wave environment of Humboldt Bay, California. And finally, ratios of power-to-weight, power-to-fatigue-load, power-to-maximum-extreme-load, power-to-water-plane-area, and power-to-wetted-surface-area were used to make a final comparison of the potential PowerBuoy WEC designs. Lastly, the design comparison methodologies developed and presented in this study are applicable to other WEC devices and may be useful as a framework for future WEC design development projects.
We developed a synergistic ocean renewable system where an array of Wave Energy Converters (WEC) with adaptive resonance was collocated with a Floating Offshore Wind Turbine (FOWT) such that the WECs, capturing wave energy through the resonance adapting to varying irregular waves, consequently reduced FOWFT loads and turbine motions. Combining Surface-Riding WECs (SR-WEC) individually designed to feasibly relocate their natural frequency at the peak of the wave excitation spectrum for each sea state, and to obtain the highest capture width ratio at one of the frequent sea states for annual average power in a tens of kilowatts scale with a 15 MW FOWT based on a semi-submersible, Bayesian Optimization is implemented to determine the arrangement of WECs that minimize the annual representation of FOWT’s wave excitation spectra. The time-domain simulation of the system in the optimized arrangement is performed, including two sets of interactions: one set is the wind turbine dynamics, mooring lines, and floating body dynamics for FOWT, and the other set is the nonlinear power-take-off dynamics, linear mooring, and individual WECs’ floating body dynamics. Those two sets of interactions are further coupled through the hydrodynamics of diffraction and radiation. For sea states comprising Annual Energy Production, we investigate the capture width ratio of WECs, wave excitation on FOWT, and nacelle acceleration of the turbine compared to their single unit operations. We find that the optimally arranged SR-WECs reduce the wave excitation spectral area of FOWT by up to 60% and lower the turbine’s peak nacelle acceleration by nearly 44% in highly occurring sea states, while multiple WECs often produce more than the single operation, achieving adaptive resonance with a larger wave excitation spectra for those sea states. The synergistic system improves the total Annual Energy Production (AEP) by 1440 MWh, and we address which costs of Levelized Cost Of Energy (LCOE) can be reduced by the collocation.
Over the past two years, a wave energy converter control systems competition (WECCCOMP) has been in progress, with the objective of comparing different wave energy converter (WEC) control paradigms on a standard benchmark problem. The target system is a point absorber, corresponding to a single float with an absolute reference, of the WaveStar WEC prototype. The system was modelled in WEC-Sim, with the hydrodynamic parameters validated against tank test data. Competitors were asked to design and implement a WEC control system for this model, with performance evaluated across six sea states. The evaluation criteria included a weighted combination of average converted power, peak/average power, and the degree to which the system physical constraints were exploited or temporarily exceeded.
The power take-off (PTO) system in a wave energy converter (WEC) is the means by which the energy in an ocean wave is converted into useful energy. There has been a general lack of technology convergence in the wave energy industry and PTO design has been largely device-specific with the design process determined by the WEC developer. An optimized PTO design can significantly affect the efficiency, reliability, performance, and overall cost and viability of a device. There remains a need in the marine energy industry for best practices and efficient design processes to be identified as it could greatly benefit developers and researchers in designing an optimal WEC PTO. This research utilizes the open-source Matlab-Simulink based software, WEC-Sim, which was developed by the National Renewable Energy Laboratory, and the Eagle, a high-performance computing system, to model and optimize two WECs of different archetypes and then investigates if any trends exist that can be exploited for greater efficiency in optimal PTO design. The results from this research indicate that there may be an optimal sizing for WEC PTOs for both power and PTO force rating and that substantial reductions can be made in the cost of a device without significant loss in the energy produced. Furthermore this optimal sizing may be independent of WEC type and deployment location. With an optimal, or near optimal, approach to WEC PTO sizing demonstrated, a methodology is proposed to address the challenge of nameplate ratings in the wave energy industry.