High-capacity wave energy conversion by multi-float, multi-PTO, control and prediction: Generalized state-space modelling with linear optimal control and arbitrary headings

Wave energy converters with capacity similar to, or greater than, wind turbines are desirable for the supply of electricity to the grid. It is shown that this may be provided by multiple floats in a hinged raft-type configuration with multi-mode forcing. The case analysed has 8 floats and 4 power take off (PTO) units. Analysis is based on linear diffraction-radiation modelling, validated in wave basin experiments with a smaller number of floats. Control is desirable to improve energy capture, mainly demonstrated for point absorbers, but this has not previously been applied to such a complex problem with many degrees of freedom. The linear hydrodynamic model in a state-space form makes it possible to implement advanced control algorithms in real time. Linear non-causal optimal control (LNOC) is applied with wave force prediction from auto-regression. For the design case with zero heading, as the configuration heads naturally into the wave direction, energy capture is improved by between 21% and 83%. The energy capture is about 62% the maximum possible from idealised analyses. Off-design, non-zero headings are also analysed to indicate how energy capture can be reduced; the contribution from different modes of forcing varies with heading and energy capture is always improved by control, by several times at 90° heading.