A comparison of WEC control strategies for a linear WEC model.
Abstract not provided.
Wilson, David G.↗
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New Developments and Capabilities Within WEC-Sim
WEC-Sim is an open-source software for simulating wave energy converters and has been actively developed and applied since its initial release in 2014 to simulate a wide variety of device archetypes. WEC-Sim is developed jointly by the National Renewable Energy Laboratory and Sandia National Laboratories within the MATLAB/SIMULINK environment. A general wave-to-wire model begins with a deployment site resource characterization, which is used to complete the hydrodynamic simulation of wave energy converters (WEC), with the power generation profile imported to a grid simulator to understand the influence on the local electrical network. While modeling the entire wave-to-wire is difficult and encompasses multiple time scales and physics, WEC-Sim is focused on the hydrodynamics simulation to predict, analyze, and optimize WEC dynamics and power performance. WEC-Sim simulations are performed in the time domain based on the radiation and diffraction method using hydrodynamics coefficients derived from boundary element method (BEM)-based frequency-domain potential flow solvers (e.g., WAMIT, NEMOH, Capytaine, or ANSYS-AQWA). With this level of modeling fidelity, WEC-Sim can handle floating body hydrodynamics, mechanical and electrical power generation methods, advanced control implementation, mooring systems, and other unique applications such as desalination. Additional WEC-Sim functionalities include pre-built Simulink blocks and MATLAB scripts that can simulate a wide range of floating systems and the corresponding auxiliary subsystems. The developers of WEC-Sim continue to release new versions of the software, at least annually, with the latest release in September 2022. These releases include bug fixes, updates to software documentation, as well as new features to expand WEC-Sim's capabilities to model a wide range of WEC concepts. This publication will highlight the new features added to WEC-Sim between versions 4.1.0 to 5.0.1, which spans a 2-year period from June 2020 to September 2022. New features described here include topics such as continuous integration checks, revised Morison Element and nonlinear hydro implementations, run directly from Simulink (required for hardware-in-the-loop execution), BEMIO updates to import Capytaine BEM hydrodynamics, addition of cable blocks, and new wave visualization features.
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New Developments and Capabilities Within WEC-Sim: Preprint
WEC-Sim is an open-source software for simulating wave energy converters, which has been actively developed and applied since its initial release in 2014 to simulate a wide variety of device archetypes. WEC-Sim is developed jointly by the National Renewable Energy Laboratory (NREL) and Sandia National Laboratories (Sandia) within the MATLAB/SIMULINK environment. A general wave-to-wire model begins with a deployment site resource characterization, which is used to complete the hydrodynamic simulation of wave energy converters (WEC), with the power generation profile imported to a grid simulator to understand the influence on the local electrical network. While modeling the entire wave-to-wire is difficult and encompasses multiple time scales and physics, WEC-Sim is focused on the hydrodynamics simulation to predict, analyze, and optimize WEC dynamics and power performance. WEC-Sim simulations are performed in the time domain based on the radiation and diffraction method using hydrodynamics coefficients derived from boundary element method (BEM)-based frequency-domain potential flow solvers (e.g., WAMIT, NEMOH, Capytaine, or ANSYS-AQWA). With this level of modeling fidelity, WEC-Sim can handle floating body hydrodynamics, mechanical and electrical power generation methods, advanced control implementation, mooring systems, and other unique applications such as desalination. Additional WEC-Sim functionalities include pre-built Simulink blocks and MATLAB scripts that can simulate a wide range of floating systems and the corresponding auxiliary subsystems. The developers of WEC-Sim continue to release new versions of the software, at least annually, with our latest release in September 2022. These releases include bug fixes, updates to software documentation, as well as new features to expand WEC-Sim's capabilities to model a wide range of WEC concepts. This publication will highlight the new features added to WEC-Sim between versions 4.1.0 to 5.0.1 which spans over a two year period from June 2020 to September 2022. New features to be described will include topics such as continuous integration checks, revised Morison Element and nonlinear hydro implementations, run directly from Simulink (required for hardware-in-the-loop execution), BEMIO updates to import Capytaine BEM hydrodynamics, addition of cable blocks, and new wave visualization features.
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Co-Located Wave Energy Converter (WEC) and Aquaculture System Annotated Bibliography
This annotated bibliography includes references that could aid in the design of a co-located WEC and aquaculture system off the coast of Guam. The breadth of this work covers multiple co-location archetypes such as: 1. WEC seawater desalination system a) Nearshore and deepwater WEC deployment b) Onshore and offshore aquaculture 2. WEC powering an offshore aquaculture platform a) Nearshore or deepwater WEC deployment 3. WEC powering an onshore aquaculture system a) Nearshore WEC deployment 4. Wave powered seawater pump a) Nearshore WEC deployment b) Onshore aquaculture There are two archetypes that may be of immediate interest to the community in Guam are to service the existing Fadian Hatchery (Mangilao) and to support freshwater aquaculture activities. First, the seawater pump at the hatchery that fills the facility’s seawater storage unit is broken. A nearshore seawater pumping WEC could be a solution to this issue. In addition, due to the high frequency of typhoons/extreme conditions and the island’s bathymetry, the likelihood of community support for an offshore aquaculture platform or WEC deployed in deepwater is low. Proactive and resilient solutions not just for power, but for freshwater are of interest as well to support any freshwater aquaculture activities. Therefore, a nearshore WEC desalination system is another archetype to consider.
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WEC-Sim Array Development and Experimental Comparison Study: Preprint
Wave energy is still considered to be an emerging industry, and one significant contribution that researchers are making is to find solutions that reduce costs. The National Renewable Energy Laboratory and Sandia National Laboratories have contributed to this by creating WEC-Sim, an opensource modeling toolbox, to assist with early design decisions related to the design of wave energy converters (WECs). Previously, studies involving WEC-Sim have focused on single WEC modeling. In this paper, we will conduct a validation study to investigate the accuracy and ability of WEC-Sim to model arrays of WECs. The results from the WEC-Sim array simulations are compared to those from an existing experimental study. In addition, the array model is used to investigate the interaction between the WECs in the array and the influence of array spacing on the WECs' hydrodynamic performance.
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Recent Developments in the WEC-Sim Open-Source Design Tool: Preprint
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 initial release in 2014. WEC-Sim is developed jointly by the National Renewable Energy Laboratory (NREL) and Sandia National Laboratories (SNL) within the MATLAB/SIMULINK environment. Figure 1 illustrates a general wave-to-wire model which begins with a deployment site resource characterization, which is used to complete the hydrodynamic simulation of a single WEC (or array), with the power generation profile imported to a grid simulator to understand the influence on the local electrical network. While modelling the entire wave-to-wire is difficult and encompass multiple time scales and physics, WEC-Sim is focused on the hydrodynamics simulation to predict, analyze and optimize WEC dynamics and power performance. WEC-Sim simulations are performed in the time domain based on the radiation and diffraction method using hydrodynamics coefficients derived from boundary element method (BEM) based-frequency-domain potential flow solvers (e.g., WAMIT, NEMOH, Capytaine, or ANSYS-AQWA). Within this level of modeling fidelity, WEC-Sim can handle floating body hydrodynamics, mechanical and electrical power generation methods, advanced control implementation, mooring systems, and other unique applications such as desalination. Table 1 lists additional WEC-Sim functionalities, which are created using prebuilt Simulink blocks and MATLAB scripts that can simulate a wide range of floating systems and the corresponding auxiliary subsystems.
hydrodynamics modeling↗
WEC fault modelling and condition monitoring: A graph-theoretic approach
The nature of wave resources usually requires wave energy converter (WEC) components to handle peak loads (i.e., torques, forces, and powers) that are many times greater than their average loads, accelerating equipment degradation. Moreover, due to their isolated nature and harsh operating environment, WEC systems are projected to possess high operations and maintenance (O&M) cost, i.e., around 27% of their leveled cost of energy. As such, developing techniques to mitigate these costs through the application of condition monitoring and fault tolerant control will significantly impact the economic feasibility of grid connected WEC power. Toward this goal, models of faulty components are developed in the open source modeling platform, WEC-Sim, to estimate the performance and measurable states of a WEC operating with likely device and sensor failures. Two types of faulty component models are then applied to a point absorber WEC model with basic controller damping and spring forces. Resulting changes in device behavior are recorded as a benchmark, and a graph-theoretic approach is proposed for fault detection and identification utilizing multivariate time series. Simulation results demonstrate that these faults can greatly affect the WEC performance, and that the proposed method can effectively detect and classify different types of faults.
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Advanced WEC Dynamics and Controls, Test 1
Numerous studies have shown that advanced control of a wave energy converter's (WEC's) power take off (PTO) can provide significant increases (on the order of 200-300%) in WEC energy absorption. Transitioning these control approaches from simplified paper studies to application in full-scale devices remains an open and extremely challenging problem will be central to creating economically competitive WECs and delivering clean renewable energy to the US electrical grid. The Advanced WEC Dynamics and Controls project is targeted on assisting WEC developers to apply novel control systems for their devices and thus achieving major increases in performance and economic viability. The success of any control strategy is based directly upon the availability of a reduced-order model with the ability to accurately capture the dynamics of the system with sufficient accuracy. A model-scale WEC was designed and fabricated for use in studies to advance the state-of-the-art in WEC controls. This test, which is the first in a series of planned tests, focused on system identification (system ID) and model validation.
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TEAMER - AquaHarmonics High Fidelity WEC Sim PTO and Control Model Validation, Sim Model
Collaborative effort between AquaHarmonics, Sandia National Laboratories (SNL), and the National Renewable Energy Laboratory (NREL) to revise and validate Aquaharmonics' full wave to wire model, allowing for reduced uncertainty and increased understanding of design requirements of a utility scale wave energy converter (WEC). SNL and NREL in collaboration with AquaHarmonics, will set up and run WEC Simulator (WEC-Sim) models of the AquaHarmonics WEC, building off past model developments for inclusion of custom PTO (power take-off) dynamics. The intent is to review, update, and verify or validate a new WEC-Sim model against wave tank experimental data. Furthermore, the WEC-Sim model will be coupled to an energy storage system model to better understand the wave-to-wire functionality. Project is part of the TEAMER (Testing & Expertise for Marine Energy) RFTS (request for technical support) system of WEC research projects. Testing data can be found in the associated MHKDR link below.
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Wave resource spatial and temporal variability dependence on WEC size
As the wave energy sector grows and looks to the Blue Economy for commercialization opportunities, there is a distinct and pressing need to clearly understand and quantify the coupled impacts of wave energy converter (WEC) size and wave resource characteristics on the annual energy production, spatial variability and temporal variability. Utilizing generic frequency domain representations of the Oscilla Power Triton WEC and spectral wave conditions at PacWave (Oregon), Los Angeles (California) and WETS (Hawaii), a series of interesting results emerge. Firstly, the ‘optimal’ WEC size, from an energy standpoint, is fundamentally dependent on the frequency distribution of the incoming wave variance density spectrum. Secondly, and from a seasonality perspective, the seasonal WEC energy generation doesn’t necessarily follow the seasonal distribution of gross wave power. Finally, from an hourly power variability perspective, a reduction in WEC size generally decreases variability. However, for each of the locations investigated, there appears to be a WEC size threshold; a threshold where further reducing WEC size results in increased power variability.
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Wave Resource Spatial and Temporal Variability Dependence on WEC Size
As the wave energy sector grows and looks to the Blue Economy for commercialization opportunities, there is a distinct and pressing need to clearly understand and quantify the coupled impacts of wave energy converter (WEC) size and wave resource characteristics on the annual energy production, spatial variability and temporal variability. Utilizing generic frequency domain representations of the Oscilla Power Triton WEC and spectral wave conditions at PacWave (Oregon), Los Angeles (California) and WETS (Hawaii), a series of interesting results emerge. Firstly, the 'optimal' WEC size, from an energy standpoint, is fundamentally dependent on the frequency distribution of the incoming wave variance density spectrum. Secondly, and from a seasonality perspective, the seasonal WEC energy generation doesn't necessarily follow the seasonal distribution of gross wave power. Finally, from an hourly power variability perspective, a reduction in WEC size generally decreases variability. However, for each of the locations investigated, there appears to be a WEC size threshold; a threshold where further reducing WEC size results in increased power variability.
blue economy↗
2.1.3.404 - WEC Array Power Management and Output Simulation Tool
An array of wave energy converter (WEC) devices has variations in power output due to the chaotic nature of the waves. Eliminating or mitigating the power fluctuations is important for reducing the integration impacts of WEC plants in both distribution and transmission grids, and in standalone isolated power systems. Reduced variability of WEC-generated power in combination with energy storage or power management control at each WEC and at the array level will help increasing hosting capacity of distribution feeders for this type of variable renewable generation, and minimization of electric losses. To reduce risks and risk perception, gain key stakeholder acceptance, and enable developers to design effective and compatible energy plants with arrays of WEC devices, it requires the use of modeling tools to simulate the resource environment, device dynamics, utility power system response, as well as the development of an interface for an array controller. The project will create a publicly accessible numerical modeling framework to empower the wave energy sector to design projects of various scales (kW-100s MW), which are optimized on a plant performance basis and are compatible with different power systems and wave conditions. The framework will integrate with WEC-Sim, a wave environment model (SWAN-FUNWAVE), as well as established relevant electrical analysis tools, to model the grid system and interconnection, and optimize power output and power management for the WEC array.
POWER TRANSMISSION AND DISTRIBUTION,TIDAL AND WAVE↗
Numerical Model of IProTech PIP WEC Device
iProTech PIP wave energy converter (WEC) is a slack moored, single hull device with no moving parts in the water, joints or bearings. This submission includes data of the simulation, reports, and code for the iProTech PIP (WEC) project. The organization of the data included in the provided archive is detailed below and in the data description of the archive. The data teamer-iprotech-nrel folder includes and explains matlab and python code developed to hydrodynamically model the PIP WEC device in WEC-Sim. The subfolders cover the following steps: 1) report: explanatory information on device geometry 2) pip_mesher: python code to generate mesh panels from device profile data 3) wec-sim_models: matlab code to run WEC-Sim The data uploaded is a snapshot as of 11/02/2121 of code residing in a Github repository administered by David Ogden of NREL.
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A Scoping Study to Determine the Location-Specific WEC Threshold Size for Wave-Powered AUV Recharging
The aim of this study is to determine the threshold wave energy converter (WEC) type and size to charge a fleet of U.S. Navy autonomous underwater vehicles (AUVs) in various geographic locations of interest. The U.S. Navy deploys AUVs in locations around the world that must be charged manually, decreasing their operational endurance and creating operational limitations. Ocean waves are a potential power source that can be converted into electricity using a WEC and stored using a battery. It would be beneficial to develop a WEC that could autonomously charge AUVs offshore. Numerous locations were analyzed to determine the minimum size of a WEC capable of providing sufficient charging power and offering a strategic advantage. By predicting the WEC efficiency (based on empirical equations) and wave resource (based on available data), electrical power generation across numerous WEC types and locations was compared in MATLAB. The generalized process developed here could be used to determine the required size and type of WECs to charge a fleet of AUVs in different locations around the world.
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WEC-Sim (Wave Energy Converter - SIMulator)
WEC-Sim (Wave Energy Converter SIMulator) is a code developed by Sandia National Laboratories and the National Renewable Energy Laboratory to model wave energy converters (WECs) when they are subject to operational waves. The code is a time-domain modeling tool developed in MATLAB/Simulink using the multi-body dynamics solver SimMechanics. In WEC-Sim, WECs are modeled by connecting rigid bodies to one another with joint or constraint blocks from the WEC-Sim library. WEC-Sim is a publicly available, open-source code to model WECs.
Source record↗
WEC-Sim (Wave Energy Converter - SIMulator)
WEC-Sim (Wave Energy Converter SIMulator) is a code developed by Sandia National Laboratories and the National Renewable Energy Laboratory to model wave energy converters (WECs) when they are subject to operational waves. The code is a time-domain modeling tool developed in MATLAB/Simulink using the multi-body dynamics solver SimMechanics. In WEC-Sim, WECs are modeled by connecting rigid bodies to one another with joint or constraint blocks from the WEC-Sim library. WEC-Sim is a publicly available, open-source code to model WECs.
Source record↗
TEAMER: Numerical Modeling and Optimization of the iProTech Pitching Inertial Pump (PIP) Wave Energy Converter (WEC)
This project focused on developing an automated workflow to evaluate and optimize the iProTech Pitching Inertial Pump (PIP) wave energy converter (WEC) using open-source Python packages and the MATLAB/Simulink tool, WEC-Sim. The process involved parameterizing key design variables, running time-domain simulations, and performing sensitivity analyses to determine their impact on power output. The workflow, designed for the PIP device, is generalized and can be extended to optimize other WECs that can be simulated in WEC-Sim. This work establishes a foundation for future time-domain-based WEC design optimizations. Included in this submission are all figures from the final report and the model inputs required to generate them. This includes Python scripts with inputs that produce the meshes, boundary element method (BEM) models, hydrodynamic coefficients, and the WEC-Sim models used for time-domain analyses. Although data for every single run is not included to save space, all of it can be reproduced using the provided models. Detailed instructions for setting up the environment and running the codes are also included.
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Additional Degree of Freedom for WEC Model
'Additional Degree of Freedom for WEC' - WEC-Sim numerical model from RFTS 1 TEAMER project. An increase in wave energy converter (WEC) efficiency requires not only consideration of the nonlinear effects in the WEC dynamics and the power take-off (PTO) mechanisms, but also more integrated treatment of the whole system, i.e., the buoy dynamics, the PTO system, and the control strategy. It results in an optimization formulation that has a nonquadratic and nonstandard cost functional. This model presents the application of real-time nonlinear model predictive controller (NMPC) to two degrees of freedom point absorber type WEC with highly nonlinear PTO characteristics. The nonlinear effects, such as the fluid viscous drag, are also included in the plant dynamics. The controller may be implemented on a real-time target machine, and the WEC device is emulated in real-time using the WECSIM toolbox. Please see the ‘ReadMe’ within the root directory for an explanation of how to set-up and run the model. An article covering the development of this model is attached as "Real-Time Nonlinear Model Predictive Controller for Multiple Degrees of Freedom Wave Energy Converters with Non-Ideal Power Take-Off"
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