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At least 19 records

Control Design for a Marine Hydrokinetic Cycloturbine Vehicle

Abstract Marine Hydrokinetic (MHK) cycloturbines generate sustainable power by exploiting tidal currents. By powering the turbines and using pitching foils for control, a vehicle comprised of MHK cycloturbines also has the ability to station keep and maneuver. The vehicle consists of four counter-rotating cycloturbines, with hydrofoils oriented perpendicular to the flow in a paddlewheel configuration. Lift and drag generated from these foils sum together to produce thrust. An experimentally tuned simulation model that solves the six-degrees-of-freedom rigid body equations of motion for the MHK vehicle subject to hydrodynamic, hydrostatic, and propulsive forces is used to aid the design of vehicle controllers. Global feedback controllers are initially designed by applying classical control methods to an approximate linear model of the system dynamics. A higher performing nonlinear controller is designed using the nonlinear dynamic inversion (NDI) method. NDI accounts for the nonlinearities of the MHK system and therefore is suitable for a wide range of operating conditions. The response of the classical and NDI controllers to speed, depth, roll, pitch, and yaw commands are evaluated and compared in simulation. The classical controller outperforms the NDI controller for small amplitude maneuvers, although the degradation with NDI is minor. However, in the nonlinear operating regime the NDI controller outperforms the classical controller and the classical controller exhibits instability.

Automation & Control Systems↗

The Storage of Marine Hydrokinetic Power through Hydrogen Production

Marine hydrokinetic (MHK) power is likely to play a crucial role in future energy diversification and remote energy supply efforts. Providing a means of direct energy storage for MHK power would provide additional benefits to applications in ship microgrids and remote communities. Hydrogen (H 2 ) has long been pursued as a means of green energy storage and can be generated through electrolysis of water in an electrolyzer. However, electrolyzer technology for H 2 production is currently only possible on the commercial scale using fresh water, also a precious resource in our society. The direct electrolysis of seawater would alleviate the fresh water constraints for a new H 2 feedstock and a seawater-fed electrolyzer could be powered locally at a MHK platform. Several technical challenges exist before efficient direct seawater electrolysis can be realized. This project was designed as a demonstration of efficient direct seawater electrolysis that limits chlorine evolution, avoids use of platinum (Pt) group metals and overcomes cathode fouling over long service times.

08 HYDROGEN↗

Cycloturbine modular river current energy converter and method and apparatus for deploying marine hydrokinetic turbine assembly to harvest riverine and ocean tidal current energy

A hydrokinetic turbine system for harvesting energy from riverine and tidal sources, including a first floating dock, a marine hydrokinetic turbine mounted on the first floating dock, and a second floating dock. The system further includes a winch assembly mounted on the second floating dock and operationally connected to the first floating dock and a linkage assembly operationally connected to the first floating dock and to the second floating dock. The linkage assembly may be actuated to pull the first floating dock into contact with the second floating dock. The linkage assembly may be actuated to distance the first floating dock from the second floating dock, and the winch assembly may be energized to orient the first floating dock into a position wherein the marine hydrokinetic turbine is above the first floating dock and wherein the winch assembly may be energized to orient the first floating dock into a position wherein the marine hydrokinetic turbine is below the first floating dock.

Chen, Jun↗

A Low-Flow Marine Hydrokinetic Turbine for a Floating Unmanned Mobile Platform

Design and fabrication of a marine hydrokinetic turbine for deployment from a floating unmanned autonomous mobile catamaran platform is described. The objective is to develop a low-flow current turbine for deployment from a floating mobile catamaran USV platform. An undershot water wheel has been selected as the turbine of choice and a WAM-V 16 catamaran has been selected as the USV platform. The concept of operation is that the USV platform would autonomously seek and navigate to a coastal location where coastal or tidal currents may be present, anchor at the location, and deploy the turbine to harness the current energy, convert it to electricity and store it in onboard battery banks. The prototype system being developed is targeted at supporting development of self-powered autonomous mobile recharge stations for unmanned aerial vehicles in coastal zones. Once implemented on the vehicle, open water tests are planned for a range of environmental conditions, involving tidal and coastal currents, and system configurations. The status of the ongoing effort will be discussed.

16 TIDAL AND WAVE POWER↗

Development of a Control Co-Design Modeling Tool for Marine Hydrokinetic Turbines: Preprint

This report describes the ongoing and planned development of the software package CT-Opt (Current/Tidal Optimization), a control co-design modeling tool for marine hydrokinetic turbines. The commercialization of these turbines has faced significant challenges due to the complex, multidisciplinary nature of their design and the extreme environmental conditions of their operation. This project aims to create a modeling tool that will enable the efficient design of robust, cost-competitive hydrokinetic turbine systems. Rather than using traditional optimization methods, CT-Opt combines multiple models across a range of fidelities to enable coupled optimization of the system design and system controller via a control co-design approach. With this method, the parameters that affect system performance are considered more comprehensively at every stage of the design process. The lowest-fidelity, frequency-domain model called by CT-Opt is RAFT (Response Amplitudes of Floating Turbines), which was originally developed by the National Renewable Energy Laboratory (NREL) to model response amplitudes of floating offshore wind turbines. The highest-fidelity, time-domain model is OpenFAST, which was developed by NREL for land-based and offshore wind turbines. As part of the CT-Opt project, new functionalities will be added to RAFT and OpenFAST to enable the accurate simulation of fixed and floating marine hydrokinetic turbines. In addition to expanding the capabilities of RAFT and OpenFAST, new midfidelity models will be developed. These models will be based on RAFT and OpenFAST and will consist of linearized, state-space models derived from the fully coupled, nonlinear OpenFAST equations and derivative function surrogate models that approximate the nonlinear system behavior. Each model will be coupled with controllers to allow control co-design methods to be applied both within models and across fidelity levels, enabling efficient system optimization.

control co-design↗

Integrating Marine Hydrokinetic and Offshore Wind Energy: A Review of Technologies, Deployment, and Challenges

Together, offshore wind (OSW) and marine hydrokinetic (MHK) technologies have vast potential to expand the world’s access to abundant energy resource. With more than 60 GW of offshore wind energy capacity and 527 MW of ocean energy deployed globally by 2023, there is a significant amount of available resources; however, technical and non-technical challenges prevent the combined large-scale deployment of these technologies. There is still a lack of research that provides a parallel review of both MHK and OSW technologies in order to better understand their synergistic working principles. This paper aimed to address that research gap by presenting a comprehensive side-by-side review of the worldwide technological landscape, global deployment trends, integration strategies, and modeling approaches for MHK and OSW. A particular focus has been given on analyzing existing modeling and simulation techniques, assessing integration and control strategies, and comparing technologies based on water depth. Furthermore, this study provides important insights into the readiness levels of both technologies by highlighting ongoing international projects. By addressing these issues, this review will give researchers and industry stakeholders an outline for assessing the maturity of OSW and MHK systems and facilitating their transition to large-scale, sustainable deployment.

16 - TIDAL AND WAVE POWER↗

Design of High-deflection Foils for Marine Hydrokinetic Applications (Final Report)

This project used model-scale tank testing and fluid-structure-interaction (FSI) simulations to investigate the behavior of foils with large deflections and the effect of these deflections on crossflow turbine performance with the goal of determining the maximum allowable deflections consonant with efficiency and a robust, durable structure. A validated modeling and simulation approach was used in the design of an Ocean Renewable Power Company (ORPC) full-scale turbine. The methodology is applicable to the design of other marine hydrokinetic (MHK) devices, and to hydrokinetic turbines which experience significant deflections during operation.

16 TIDAL AND WAVE POWER↗

SMALL UNMANNED MARINE HYDROKINETIC PLATFORMS FOR POWER GENERATION IN COASTAL AND TIDAL WATERS

The feasibility and optimization of small unmanned mobile marine hydrokinetic (MHK) energy platforms for harvesting marine current energy in coastal and tidal waters are examined. A case study of a platform based on the use of a free-surface waterwheel (FSWW) mounted on an autonomous unmanned surface vehicle (USV) was conducted. Such platforms can serve as recharging stations for aerial drones (UAVs), enabling extension of the UAVs’ autonomous operating time. An unmanned MHK platform potentially meets this need with sustainable power harvested from water currents. For the case study, six different waterwheel configurations were field-tested in the Intracoastal Waterway of South Florida in support of determining the configuration that produced the most power. Required technologies for unmanned operations of the MHK platform were developed and tested. The data from the field-testing were analyzed to develop an empirical relation between the wheel’s theoretical hydrokinetic power produced and the mechanical power harnessed by the MHK platform with various waterwheel configurations during field-testing. The field data was also used to determine the electrical power generated by the FSWW configurations during field-testing. The study has led to the development of standardized testing procedures. The empirical relation is used to examine predicted power production through scaling up different physical aspects of the waterwheel.

McKinney, Adriana↗

Low-Flow Marine Hydrokinetic Turbine for Small Autonomous Unmanned Mobile Recharge Stations

A prototype low-flow marine current turbine for deployment from a small unmanned mobile floating platform has been developed for autonomously seeking and harnessing tidal/coastal currents. The support platform is an unmanned surface vehicle (USV), in the form of a catamaran with two electric outboard motors and with capabilities for autonomous navigation. The USV utilized is a WAM-V 16 vehicle that has been developed separately with support from the Office of Naval Research (ONR) [1]. The marine current turbine is based on a freestream waterwheel (FSWW), also known as an undershot waterwheel (FSWW), mounted on the stern of the USV. The concept of operation involves the USV autonomously navigating to a designated marine current resource. Upon arrival, the USV anchors itself, aligns with the current, and deploys the FSWW turbine using a custom cable-lift mechanism. The turbine harnesses the local current, and an onboard power-take-off (PTO) device converts the mechanical energy into electricity, which is stored in an onboard battery bank. When energy harvesting is completed, the turbine and the anchor are retrieved and the USV navigates to a selected location. These unmanned at-sea platforms can provide power to other unmanned maritime systems. Specifically, in this project, the power generated onboard can be used to charge aerial drones via a custom flight deck that has been developed for the USV. The recharging capabilities offered by a fleet of such strategically placed recharging stations can significantly benefit aerial drones operating in the maritime domain by eliminating the need to travel back and forth to land or ship based charging stations. The project has resulted in the development of subcomponents, including the FSWW turbine, a novel PTO, an automated anchoring system for the USV, an automated turbine deployment system, and a flight deck with capabilities onboard the USV for landing, direct-contact charging and takeoff of aerial drones. The design and development of these subsystems have culminated in the overall prototype marine hydrokinetic platform (MHK Platform, Fig. 1). Comprehensive lab and field testing have been conducted to validate the functionality and performance of the platform and its components. The project demonstrates the potential for autonomous, unmanned systems to harness renewable energy from marine currents, and provide sustainable power solutions for maritime applications such as coastal surveillance and environmental monitoring; shoreline mapping; search and rescue; oceanographic research; inspection and maintenance of offshore energy installations like wind turbines and oil rigs; oil spill response; maritime disaster response; and aerial surveys, as well as facilitation of data transfer drones and shore stations.

16 TIDAL AND WAVE POWER↗

Public Reference Data for Megawatt-Scale Hydrogen Electrolysis - Simulated Marine Hydrokinetic Tidal Turbine

The U.S. Department of Energy and National Laboratory of the Rockies (NLR) demonstrate hydrogen electrolysis, hydrogen compression and storage, and variable hydrogen fuel cell power production using megawatt-scale equipment at NLR’s Flatirons Campus as part of the Advanced Research on Integrated Energy Systems (ARIES) initiative. This dataset is part of that effort and is intended for academic, national laboratory, industrial, and other stakeholders to plan, design, and validate models of megawatt-scale hydrogen technologies and diverse energy infrastructure. These data provide a baseline for how existing hydrogen electrolysis technologies perform when coupled with other energy technologies. This dataset contains inputs and outputs from simulations of a floating marine hydrokinetic turbine over approximately half a tidal cycle (~6.6 hours). Inflow conditions were derived from field measurements in Alaska’s Cook Inlet and represent a tidal environment in which the current speed ramps from near 0 m/s to a peak of 3 m/s and back. The original acoustic doppler current profiler dataset is publicly available on the Marine and Hydrokinetic Data Repository. In a full tidal cycle, the flow reverses and the rotor would reorient; this reversal was not modeled. In the Cook Inlet campaign , turbulence intensity was similar in both directions. Two inflow cases are included. In the first case, labeled “raw” in the files, the measured current time series was used directly in the InflowWind module of OpenFAST. Speed and direction were applied as a function of time and elevation, uniformly in the horizontal direction. With full spatial coherence, this approach captures high turbulent variability and results in pronounced power fluctuations, so it is considered a conservative, near-worst-case representation of loading. In the second case, labeled “average” in the files, a 30-minute moving average was applied to extract the slowly varying mean speed. The residual fluctuations about this mean were used to generate spatially varying, full-field turbulence inputs with TurbSim, giving a more physically realistic representation of the inflow across the rotor disk. Two random realizations were used to produce distinct inflow conditions for two OpenFAST simulations representing a two-turbine array. The same turbulence intensity is applied across the full time series, producing larger fluctuations at the start and end, where the mean speed is low. The second case is the more appropriate framework for performance and power assessment but overpredicts turbulence at lower flow speeds and underpredicts it at higher speeds. As the floating platform moves and the rotor changes its x-position, Taylor’s frozen turbulence hypothesis used by InflowWind assumes a constant rather than a time-varying mean velocity, introducing some inaccuracy in the velocity plane sampling. The turbine modeled is the 500-kW Reference Model 1, a horizontal-axis two-bladed hydrokinetic turbine on a four-column floating semisubmersible substructure . Simulations were performed using OpenFAST v4.1 with the Reference Open Source Controller (ROSCO) v2.10. All input files required to reproduce the simulations are included. The electrolyzer is a 1.25-MW proton exchange membrane type MC250 system manufactured by Nel . This unit supports up to 2.5 MW, but NLR has only a single 1.25-MW stack. The datasets report hydrogen balance-of-plant and system data, all captured at 1 Hz, including hydrogen mass production measured with an Emerson Coriolis flow meter. The system controls hydrogen production by varying direct current applied to the stack, from a maximum of 3,000 A to a minimum safe operating current of 300 A, or 10%. Because the current–voltage characteristic changes as the stack ages and efficiency degrades, the actual minimum safe operating power changes over time. The simulated tidal turbine time series data was translated from power (kilowatts) to current (amperes) using a curve fit with calibration data and sent to the electrolyzer power supply at 1-Hz. Each zip file represents a single tidal electrolysis experiment and is named: {technology}_{inflow method}_{number of 500 kW tidal turbines connected} For instance, “tidal-500kW-RM1_average_2.zip” is a 6-hour experiment using the 500-kW tidal reference model, scaled by 2x (1-MW) to better match the electrolyzer maximum of 1.25MW, fed with the 30-minute moving average current case. Each zip folder contains the following files: A .csv file of raw data. An .xlsx file explaining all the fields in the raw data. A .png plot showing the time series of hydrogen production in kilograms per hour, electrolysis power consumption, and input wave power. A .csv file combines all tidal profiles as "combined_tidal_experiments.csv." A separate experiment, “characterization_200.zip,” shows the MC250 electrolyzer steady-state response with 30-minute load steps over 5 hours and is accessible with this entry.

08 HYDROGEN↗

Reinforcement Learning Control for Enhancing Marine Hydrokinetic Turbine Energy Generation

This paper proposes a reinforcement learning-based method to maximize power generation for a direct-drive marine hydrokinetic turbine. A high levelized cost of energy (LCOE) is preventative in the widespread adoption of many marine energy conversion technologies. A straightforward way to reduce LCOE is to increase conversion efficiency and ensure maximum energy generation. The proposed method utilizes a damping control methodology, varying applied generator torque via a linear relationship between the applied damping coefficient and rotor speed. A state-action-reward-state-action (SARSA) algorithm has been used to learn the optimal control action for a given flow velocity. The proposed SARSA methodology uses Gaussian radial basis functions to create a three-dimensional surface to estimate the relationship between damping coefficient, incoming flow velocity, and coefficient of power (C p ). Here, the SARSA algorithm was compared against a baseline optimal tip speed ratio controller over a year-long flow velocity case profile while considering the effects of biofouling on the turbine system, where the proposed RL method generated 0.92% more energy than the baseline.

Damp↗

Computational Fluid Dynamics Study of a Cross-Flow Marine Hydrokinetic Turbine and the Combined Influence of Struts and Helical Blades

A computational fluid dynamics study was performed for a cross-flow marine hydrokinetic turbine. The analysis was done in three dimensions and used the unsteady Reynolds-averaged Navier-Stokes solver in the commercial code STAR-CCM+. The base turbine configuration is the RivGen(R) Turbine, designed by the Ocean Renewable Power Company. A convergence and uncertainty analysis was performed for both the spatial and temporal discretization; this was done using the base configuration, which features support struts and helical foils. Both struts and helical blades introduce three-dimensional flow effects, influencing the complex flow phenomenon of dynamic stall. The study compares the relative impact of struts on power performance and blade loading for both helical and straight blades, and found that for this turbine the relative loss in power from struts was lower with helical blades.

CFD↗

A Power Takeoff Device for a Small Marine Hydrokinetic Turbine Deployed from an Unmanned Floating Platform

The design, development, and field-testing of a power takeoff (PTO) device equipped with a ball-type continuously-variable transmission (B-CVT) for a small marine hydrokinetic (MHK) turbine deployed from a floating unmanned autonomous mobile catamaran platform is described. The turbine is a partially-submerged multi-blade undershot waterwheel (USWW). The objective is to develop a PTO for the optimal conversion of the MHK energy harnessed by the turbine to electric power, which is stored in battery banks onboard the MHK platform. Modeling, simulation, and bench testing of the USWW and PTO show the feasibility of utilizing the B-CVT's variable gear ratio to decouple the USWW and generator speeds, maintaining the waterwheel within its optimal tip speed ratio (TSR) while varying the generator speed, thereby increasing the efficiency of the PTO. Results of bench and field testing in support of characterizing the power conversion capabilities of the PTO are described. The system being developed is in support of potential self-powered autonomous mobile recharge stations for unmanned aerial vehicles (U A V s) operating in coastal zones. Field tests of the complete MHK platform with 9 blades on the waterwheel and wheel sub mergences of 10 and 12 inches (full blade submergence) were performed. The overall proof-of-concept was successfully demonstrated, with the system satisfactorily capturing and converting water flow energy into electricity. The feasibility of utilizing the B-CVT as a means of increasing the PTO power capture capabilities and efficiency is analyzed.

Pimentel, Hugo↗

Predicting turbulent wake flow of marine hydrokinetic turbine arrays in large-scale waterways via physics-enhanced convolutional neural networks

We present a physics-enhanced convolutional neural network (PECNN) algorithm for reconstructing the mean flow and turbulence statistics in the wake of marine hydrokinetic (MHK) turbine arrays installed in large-scale meandering rivers. The algorithm embeds the mass and momentum conservation equations into the loss function of the PECNN algorithm to improve the physical realism of the reconstructed flow fields. The PECNN is trained using large eddy simulation (LES) results of the wake flow of a single row of turbines in a virtual meandering river. Subsequently, the trained PECNN is applied to predict the wake flow of MHK turbines with arrangements and positionings different than those considered during the training process. The PECNN predictions are validated using the results of separately performed LES. The results show that the PECNN algorithm can accurately predict the wake flow of MHK turbine farms at a small fraction of the cost of LES. The PECNN can improve the accuracy by around 1% and reduce the physical constraint indices by around 50% compared to the CNN without physical constraints. This work underscores the potential of PECNN to develop reduced-order models for control co-design and optimization of MHK turbine arrays in natural riverine environments.

Mechanics↗

Development of an Optimal Variable-Pitch Controller for Floating Axial-Flow Marine Hydrokinetic Turbines: Preprint

This article discusses the development of an optimal variable-pitch controller for floating, axial-flow marine turbines. Recently, OpenFAST, an open-source wind turbine modeling tool, has been extended to model marine turbines. A controller is necessary to simulate marine turbines for different load cases using OpenFAST, which greatly impacts the performance of the energy system. Previous studies have designed controllers using a linearized model of the marine turbine, which can be timeconsuming and require the expertise of a control engineer. In this study, we use an automated approach that uses generic models of the marine turbine to identify the controller gains, which can expedite the process of designing a controller. Using an optimizer to identify the control system parameters can additionally improve the controller's performance. The optimal controller tuned using such an approach results in a 20% reduction in the towerbase damage equivalent loading and better tracking of the rated generator speed and power.

closed-loop control↗

Assessment Framework of Marine Hydrokinetic Technologies for Microgrid Applications

Communities in Alaska that are not connected to a regional grid (referred to hereafter as grid-islanded Alaskan communities) rely heavily on stand-alone generators with imported diesel fuel as the primary source of energy. Several of these grid-islanded Alaskan communities have the potential to harness significant wave, tidal, and hydrokinetic power; many also have hydropower or wind potential that could complement these resources. The implementation of marine and hydrokinetic energy focused microgrids in these communities would diversify their energy profiles, with the potential in many communities to keep costs flat while reducing dependance on diesel. This would enhance resilience and reduce environmental impacts. This seedling proposal will systematically identify grid-islanded coastal communities in Alaska with wave, tidal, and hydrokinetic energy potential to add fuel diversity to generation, applying microgrid integration methods and strategies that will meet the community’s needs. This proposal is in partnership with the Alaska Center for Energy and Power (ACEP) and XENDEE Corporation who bring extensive expertise in Alaskan communities and microgrid technoeconomic assessment, respectively. This project will deliver: (1) a database of grid-islanded communities that are candidates for MHK based microgrids, (2) an assessment of possible microgrid integration methods and strategies related to tidal, wave, and hydrokinetic technologies, and (3) a MHK development plan for the XENDEE Microgrid design platform and planning tool that can serve these grid-islanded communities and project developers. In the final stage, the planning tool will allow for the comprehensive comparison between diesel based and MHK based renewable generation.

16 TIDAL AND WAVE POWER↗

Magnetic Gears for a Marine Hydrokinetic Generator Component Model

The goal of this project is to design, fabricate, and test a hermetically sealed 50 kilowatt (kW) multistage magnetically geared generator (MGG). The Component Content Model provides data submitters with an easy and consistent means of uploading data and associated meta data about a component that is currently under development. The data fields include generic information about the component, technology classifications, current costs and performance, proposed target goals, and the environment that the component is operated in. These data are important to DOE and will be used to develop data products that provide quantitative information to guide and support programmatic decisions. Data will also be used by DOE in general assessments of MHK component readiness, performance, costs, and proposed plans. The ultimate goal is to use these data to perform research and tailor programs to best benefit the industry.

16 TIDAL AND WAVE POWER↗

Sub-Scale Stage 1 Magnetic Gear for a Marine Hydrokinetic Generator

The goal of this project is to design, fabricate, and test a hermetically sealed 50 kilowatt (kW) multistage magnetically geared generator (MGG). In order to reduce risk, a sub-scale 5kW multistage MGG was first built. This project will benefit MHK device developers by providing an MHK PTO that overcomes the reliability concerns of the mechanical gears and the sizing constraints of the direct-drive generators. Measurement data for a 9.5:1 gear ratio magnetic gear with a measured peak torque of 227 N-m as well as the dual stage magnetic gear with a 63:1 gear ratio.

16 TIDAL AND WAVE POWER↗