Empirical models based on linear and nonlinear potential theory that determine the forces on Wave Energy Converters (WECs) are essential as they can be used for structural, mechanical and control system design as well as performance prediction. In contrast to empirical modelling, Computational Fluid Dynamics (CFD) solves the mass and momentum balance equations for fluid domains. CFD and linear potential theory models represent two extreme in terms of capturing the full range of hydrodynamic effects. These are classified as white box models and the structure of these models is completely derived from first principles understanding of the system. In contrast black box models like a Artificial Neural Networks and Auto-Regressive with, Exogenous Input (ARX), map input and output behaviour of a system without any specific physics based structure. Grey box models do not strictly follow a first principles approach but are based on some observations of relationships between the hydrodynamic effects (e.g. buoyancy force) and system state (e.g. free surface height). The objective of this thesis is to propose a data driven grey box modelling approach, which is computationally efficient compared to high fidelity white box mod- els and still sufficiently accurate for the purpose of determining hydrodynamic forces on heaving WECs. In this thesis, a unique data driven approach that combines features from existing works in modelling of WEC and application of nonlinear hysteretic systems is developed. To that end a CFD based Numerical Wave Tank that could provide the data needed to populate the new modelling framework is used. A hull which hydrodynamically represents a Self Reacting Point Absorbers (SRPAs) with heave plate is subjected to pan-chromatic wave fields and is forced to oscillate concomitantly. The results provide evidence that a SRPA with heave plate exhibits nonlinear relationships with motion parameters including relative position, velocity and acceleration. These parameters show causal relationships with the hydrodynamic force. A simulation methodology to establish confidence in the components of a model framework is developed and the hydrodynamic forces on SRPAs with heave plate and bulbous tank have been analyzed and compared. Two sets of numerical simulation were conducted. Firstly, the WECs were restricted to all degrees of freedom and subjected to monochromatic waves and later the WECs were oscillated at various frequency in a quiescent numerical tank. These results were validated against existing experimental data. Earlier attempts by other authors to develop a data-driven model were limited to simple hulls and did not include rate dependent nonlinearities that develop for heave plates. These studies laid the foundation to current work. The model framework developed in this thesis accounts for the nonlinear relationship between force and parameters like velocity and acceleration along with hysteretic relationship between force and velocity. This modelling framework has a nonlinear static, a hysteresis (Bouc-Wen model) and a dynamic (ARX model) block. In this work the Bouc-Wen model is employed to model the hysteresis effect. Five different models developed from this modelling framework are analyzed; two are state dependent models, while the other three required training to identify dynamic order of model equations. These latter models (Hammerstein, rate dependent Hammerstein and rate dependent KGP models) have been trained and validated for various cases of fixed and oscillating HP cylinder. The results demonstrate significant improvement (max 39%) in prediction accuracy of hydrodynamic forces on a WEC with heave plate, for the model in which a rate dependent hysteresis block is coupled with Hammerstein or KGP models. / Graduate

Vibration control is a large branch in control research, because all moving systems may induce desired or undesired vibration. Due to the limitation of passive system's adaptability and changing excitation input, vibration control brings the solution to change system dynamic with desired behavior to fulfill control targets. According to preference, vibration control can be separated into two categories: vibration reduction and vibration amplification. Lots of research papers only examine one aspect in vibration control. The thesis investigates the control development for both control targets with two different control applications: vehicle suspension and ocean wave energy converter. It develops control methods for both systems with simplified modeling setup, then followed by the application of a novel mechanical motion rectifier (MMR) gearbox that uses mechanical one-way clutches in both systems. The flow is from the control for common system to the control design for a specifically designed system. In the thesis, active (model predictive control: MPC), semi-active (Skyhook, skyhook-power driven damper: SH-PDD, hybrid model predictive control: HMPC), and passive control (Latching Control) methods are developed for different applications or control performance comparison on single system. The thesis also studies about new type of system with switching mechanism, in which other papers do not talk too much and possible control research direction to deal with such complicated system in vibration control. The state-space modeling for both systems are provided in the thesis with detailed model of the MMR gearbox. From the simulation, it can be shown that in the vehicle suspension application, the controlled MMR gearbox can be effective in improving vehicle ride comfort by 29.2% compared to that of the traditional hydraulic suspension. In the ocean wave energy converter, the controlled MMR WEC with simple latching control can improve the power generation by 57% compared to the passive MMR WEC. Besides, the passive MMR WEC also shows its advantage on the passive direct drive WEC in power generation improvement. From the control development flow for the MMR system, the limitation of the MMR gearbox is also identified, which introduces the future work in developing active-MMR gearbox by using an electromagnetic clutch. Some possible control development directions on the active-MMR is also mentioned at the end of the thesis to provide reference for future works. / Master of Science / Vibration happens in our daily life in almost all cases. It is a regular or irregular back and forth motion of particles. For example, when we start a vehicle, the engine will do circular motion to drive the wheel, which causes vibration and we feel wave pulses on our body when we sit in the car. However, this kind of vibration is undesirable, since it makes us uncomfortable. The car manufacture designs cushion seats to absorb vibration. This is a way to use hardware to control vibration. However, this is not enough. When vehicle goes through bumps, we do have suspension to absorb vibration transferred from road to our body. The car still experiences a big shock that makes us feel dizzy. On the opposite direction, in some cases when vibration becomes the motion source for energy harvesting, we would like to enhance it. Hardware can be helpful, since by tuning some parameters of an energy harvesting device, it can match with the vibration source to maximize vibration. However, it is still not enough due to low adaptability of a fixed parameter system. To overcome the limitation of hardware, researches begin to think about the way to control vibration, which is the method to change system behavior by using real-time adjustable hardware. By introducing vibration control, the theory behind that started to be investigated. This thesis investigates the vibration control theory application in both cases: vibration reduction and vibration enhancement, which are mentioned above due to opposite application preferences. There are two major applications of vibration control: vehicle suspension control and ocean wave energy converter (WEC) control. The thesis starts from the control development for both fields with general modeling criteria, then followed by control development with specific hardware design-mechanical motion rectifier (MMR) gearbox-applied on both systems. The MMR gearbox is the researcher designed hardware that targets on vibration adjustment with hardware capability, which is similar as the cushion seats mentioned at the beginning of the abstract. However, the MMR cannot have capability to furtherly optimize system vibration, which introduces the necessity of control development based on the existing hardware. In the suspension control application, the control strategy introduced successfully improve the vehicle ride comfort by 29.2%, which means the vehicle body acceleration has been reduced furtherly to let passenger feel less vibration. In the WEC application, the power absorbed from wave has been improved by 57% by applying suitable control strategy. The performance of improvement on vibration control has proved the effect on further vibration optimization beyond hardware limitation.

Mediante a crescente necessidade de aumento na oferta de energia elétrica devido à constante elevação na demanda mundial, esta dissertação avalia o desempenho de um sistema conversor de energia de ondas marítimas em energia elétrica. O sistema em análise é o de coluna de água oscilante com turbina de dupla ação instalado na costa. Utiliza-se um modelo regular de ondas como perturbação à dinâmica de uma câmara semi-submersa gerando fluxo de ar através de uma turbina à ar de dupla ação. O sistema final é não linear e com parâmetros variantes no tempo. A dissertação investiga possibilidades para o aumento do rendimento da turbina em diferentes condições de mar através do método de simulação numérica. Após a modelagem física e matemática do sistema escolhido, inicia-se a síntese de um controlador proporcional derivativo para controle da pressão de ar na turbina em torno da pressão ideal de trabalho da mesma. A análise inclui o comparativo entre os resultados do sistema com e sem controlador e a avaliação de robustez utilizando ondas com amplitude variável. O trabalho apresenta ainda propostas de otimização do sistema para trabalhar em condições similares a região de Pecém no Brasil. Pelos resultados obtidos nas simulações, conclui-se que o rendimento e a robustez do sistema podem melhorar utilizando um sistema controlado. O rendimento do sistema poderá ainda ser otimizado para a região de instalação. / Facing the growing necessity in increasing the electrical energy offer due to the constant rise in worldwide demand, this work evaluates the performance of an ocean wave energy converter into electrical energy. The system under analysis is an oscillating water column with dual action turbine installed in a shore. A regular wave model is used as disturbance to the semi-submerged air chamber dynamic generating an air flow through the dual action air turbine. The final system is nonlinear and contains time varying parameters. This work investigates, through numerical simulation, possibilities to increase the turbine efficiency under different ocean conditions. After the physical and mathematical modeling, it is synthesized a proportional derivative controller to control the air pressure in the turbine around its ideal working pressure. The analysis of results includes a comparison between results obtained for the system with and without controller and a robustness evaluation with amplitude variation in ocean waves. The work also presents optimization proposals for the system working in conditions similar to the Pecém region in Brazil. By the results obtained with simulation, it is concluded that the efficiency and robustness were improved for the controlled system. It is observed that the efficiency can be optimized for the installation area.

Mediante a crescente necessidade de aumento na oferta de energia elétrica devido à constante elevação na demanda mundial, esta dissertação avalia o desempenho de um sistema conversor de energia de ondas marítimas em energia elétrica. O sistema em análise é o de coluna de água oscilante com turbina de dupla ação instalado na costa. Utiliza-se um modelo regular de ondas como perturbação à dinâmica de uma câmara semi-submersa gerando fluxo de ar através de uma turbina à ar de dupla ação. O sistema final é não linear e com parâmetros variantes no tempo. A dissertação investiga possibilidades para o aumento do rendimento da turbina em diferentes condições de mar através do método de simulação numérica. Após a modelagem física e matemática do sistema escolhido, inicia-se a síntese de um controlador proporcional derivativo para controle da pressão de ar na turbina em torno da pressão ideal de trabalho da mesma. A análise inclui o comparativo entre os resultados do sistema com e sem controlador e a avaliação de robustez utilizando ondas com amplitude variável. O trabalho apresenta ainda propostas de otimização do sistema para trabalhar em condições similares a região de Pecém no Brasil. Pelos resultados obtidos nas simulações, conclui-se que o rendimento e a robustez do sistema podem melhorar utilizando um sistema controlado. O rendimento do sistema poderá ainda ser otimizado para a região de instalação. / Facing the growing necessity in increasing the electrical energy offer due to the constant rise in worldwide demand, this work evaluates the performance of an ocean wave energy converter into electrical energy. The system under analysis is an oscillating water column with dual action turbine installed in a shore. A regular wave model is used as disturbance to the semi-submerged air chamber dynamic generating an air flow through the dual action air turbine. The final system is nonlinear and contains time varying parameters. This work investigates, through numerical simulation, possibilities to increase the turbine efficiency under different ocean conditions. After the physical and mathematical modeling, it is synthesized a proportional derivative controller to control the air pressure in the turbine around its ideal working pressure. The analysis of results includes a comparison between results obtained for the system with and without controller and a robustness evaluation with amplitude variation in ocean waves. The work also presents optimization proposals for the system working in conditions similar to the Pecém region in Brazil. By the results obtained with simulation, it is concluded that the efficiency and robustness were improved for the controlled system. It is observed that the efficiency can be optimized for the installation area.