Accurate predictions of the annual energy yield from wave energy converters are essential to the development of the wave industry. The current method based on power matrices uses only a small part of the data available from sea state estimations and it is consequently prone to inaccuracies. The research presented in this work investigates the issue of energy yield prediction and questions the power matrix method. This is accomplished by quantifying the influence of several directional sea states parameters on the performances of wave energy converters. The approach taken was to test several wave energy converters in the Edinburgh Curved tank with a large set of sea states. The selected wave energy converters are a fix OWC, a set of two OWCs acting as a weak directional device and the desalination duck model. Uni-modal and bi-modal sea states were used. For the uni-modal sea states, parameters related to the wave system shape were considered. For the bi-modal sea states, the relative position of the wave system peaks was investigated and the uni-modality index was introduced to quantify the degree to which sea states could be considered bi-modal. For all sea states, the significant wave height was kept constant. The experimental work required good spectral estimates. The MLM and MMLM were adapted to deterministic waves to improve their stability and accuracy. A routine to isolate wave systems was also developed in order to estimate parameters with respect to each wave systems. For uni-modal spectra, parametric models of the observed performances of the devices could be devised. The frequency spreading and its interaction with the energy period proved to be as important as the energy period itself, which suggests that the frequency spreading should be used for energy production prediction. For bi-modal spectra, evidence of the duck sensitivity to directionality was found while the OWCs were not affected.

Thesis (PhD)--Stellenbosch University, 2013. / ENGLISH ABSTRACT: In hierdie tesis word ’n nuwe lug kern permanent magnet (PM) lineêre generator (LG) vir toepassing tot direk aangedrewe (DA) oseaan golf energie omsetters (GEO) ontwikkel. Die nuwe LG word ontwikkel vanaf die lineêre dubbel-kant topologie in ’n poging om probleme met die huidige longitudinale vloed (LV) yster kern LGs, wat tot dusvêr oorheersend voorkom in eksperimentele DA-GEOs, te oorkom. Die grootste probleem met hierdie LGs is die masiewe aantrekkings kragte tussen hul yster stators en die PM transleerders. ’n Groot hoeveelheid strukturuele staal word benodig om die luggaping te handhaaf, terwyl die las op die laars ook ’n groot probleem is. Die nuwe LG gebruik ’n lug kern stator wat alle aantrekkings kragte tussen die stator en transleerder elimineer en dus die nodige strukturuele material verminder. Die topologie van die transleerder is ook van so ’n aard dat die netto aantrekkings kragte op enige spesifieke PM ideaal nul is; dit verminder die strukturuele materiaal selfs verder. Die transleerder het ook ’n nuwe transversale vloed pad wat die sogenaamde paarwyse vloed koppeling wat in LV-LGs voorkom, en die negatiewe effekte daarvan, verhoed. ’n Aantal nuwe bydraes tot die veld van LGs vir DA-GEO word in hierdie tesis gemaak. ’n Nuwe topologie lug kern PMLG is ontwikkel soos bespreek. Dit sluit in die ontwikkeling van analitiese en eindige element modelle en ’n optimerings prosedure wat vinnig optimale dimensies vir minimum aktiewe massa van die nuwe LG vind. In die ontwerp word dit ook gevind dat die drywingsdigtheid van LGs verbeter kan word deur zero oorvleuling tussen die die stator en transleerder by die slag endte toe te laat. ’n 1 kW prototipe van die nuwe LG word ontwerp en gebou; die uitvoerbaarheid van die konstruksie vir die nuwe topologie op ’n klein skaal word dus gedemonstreer. ’n Unieke toets opstelling word ook ontwerp en is gebasseer op bestaande toerusting in die vorm van ’n wind turbine generator en rug-aan-rug spannings bron omsetters. Met die toets opstelling word ’n enkel frekwensie golf ge-emuleer om die teorie en simulasies te verifieer en word ook ’n voorspellende beheer strategie geimplementeer, wat vir die eerste keer gedemonstreer word vir LGs vir DA-GEOs. Goeie ooreenstemming tussen die gemete en gesimuleerde data bevestig die voorgestelde modellerings en ontwerps metodes. / AFRIKAANSE OPSOMMING: In this thesis, a novel air-cored permanent magnet (PM) linear generator (LG) is developed with application to direct drive (DD) wave energy converters (WECs). The novel LG is developed from the linear double-sided topology in an attempt to overcome the problems with current longitudinal flux (LF) iron-cored LGs, which have so far been dominant in experimental DD-WECs. The biggest problem with these LGs is the massive attraction forces between their iron stators and PM translators. A large amount of structural steel is required to maintain the air gap, while the load on the bearings is also a large concern. The novel LG uses an air-cored stator which eliminates any attraction forces between the stator and translator and hence reduces the required structural material. Furthermore, the topology of the translator is such that the net attraction force on any particular PM is ideally zero, which even further reduces the structural material required for the translator. A new transverse circulating flux path is also introduced in the translator which prevents pair-wise flux coupling and its negative effects as observed in LF-LGs. A number of new contributions are made to the field of LGs for DD-WECs in this thesis. A novel topology aircored PMLG is developed as described. This includes the development of analytical and finite element models and an exhaustive optimisation procedure for quickly finding optimal dimensions for minimum active mass of the novel LG. In the design it is also found that the power density of LGs can be improved by allowing zero overlap between the stator and translator at the stroke ends. A 1 kW prototype of the novel LG is designed and built; the feasibility of constructing the novel LG on a small scale is as such demonstrated. A unique test rig is designed based on existing equipment in the form of a wind turbine generator and back-to-back voltage source converters. The test rig allows emulation of a monochromatic wave for verifying the theory and simulations and also allows for implementation of a predictive control strategy, which is for the first time demonstrated for LGs for DD-WECs. Good agreement between measured and simulated data confirms the presented modelling and design methods.

Wave energy converters are devices that are designed to extract power from ocean waves. Existing wave energy converter technologies are not financially viable yet. Control systems have been identified as one of the areas that can contribute the most towards the increase in energy absorption and reduction of loads acting on the structure, whilst incurring only minimal extra hardware costs. In this thesis, control schemes are developed for wave energy converters, with the focus on single isolated devices. Numerical models of increasing complexity are developed for the simulation of a point absorber, which is a type of wave energy converter with small dimensions with respect to the dominating wave length. After investigating state-of-the-art control schemes, the existing control strategies reported in the literature have been found to rely on the model of the system dynamics to determine the optimal control action. This is despite the fact that modelling errors can negatively affect the performance of the device, particularly in highly energetic waves when non-linear effects become more significant. Furthermore, the controller should be adaptive so that changes in the system dynamics, e.g. due to marine growth or non-critical subsystem failure, are accounted for. Hence, machine learning approaches have been investigated as an alternative, with a focus on neural networks and reinforcement learning for control applications. A time-averaged approach will be employed for the development of the control schemes to enable a practical implementation on WECs based on the standard in the industry at the moment. Neural networks are applied to the active control of a point absorber. They are used mainly for system identification, where the mean power is related to the current sea state and parameters of the power take-off unit. The developed control scheme presents a similar performance to optimal active control for the analysed simulations, which rely on linear hydrodynamics. Reinforcement learning is then applied to the passive and active control of a wave energy converter for the first time. The successful development of different control schemes is described in detail, focusing on the encountered challenges in the selection of states, actions and reward function. The performance of reinforcement learning is assessed against state-of-the-art control strategies. Reinforcement learning is shown to learn the optimal behaviour in a reasonable time frame, whilst recognizing each sea state without reliance on any models of the system dynamics. Additionally, the strategy is able to deal with model non-linearities. Furthermore, it is shown that the control scheme is able to adapt to changes in the device dynamics, as for instance due to marine growth.

The energy transition has started. The key is to find an alternative to uneconomical and unsustainable energy production. In this sense it is a challenge to develop renewable energy technologies suitable for the present and proper for the future. Uppsala University is driving the Lysekil project at its Division of Electricity. The aim is to design an environmentally friendly energy system with wave energy converters (WECs) that are simple and strong in design. However, little has been done to know more about its economically feasibility and the social impact of its benefits. Therefore, this research focuses on a positional analysis of a 3 MW Wave Power Park to understand the relevant aspects of implementing this kind of technology. The target area will be at Rosarito, Baja California at the Pacific Ocean in the Northeast of Mexico, a region experiencing increasing energy demand. This thesis combines technical, economical and social aspects. The technical part describes how the device works. The analysis is complemented by describing the current energy situation in Mexico and the social benefits of sustainable energy. Finally, the economical analysis is presented, it is focused on the perspective of the Merchant Power Plant. The review shows that wave power could be economically viable due to its high degree of utilisation. Energy diversification and security, economic and sustainable development, and clean energy are some of the advantages of wave power. Therefore, wave power is an interesting alternative for generating electricity in Mexico. However, the energy sector is highly subsidised, making it difficult for new technologies to enter the market without government participation. Another finding is that in the long run if the equipment cost decreases or subsidies are applied, the technology might be successfully implemented. Environmental consequences are described briefly, concluding that little is known and more research is needed. The environmental constraints, economic implications and uncertainties of a high energy future are disturbing. In that sense, renewable energy appears to be unequivocally better than rely to a greater extent on fossil fuels, in the sense that they offer a sustainable development and less environmental damage.

Significant progress has been made in the development of wave energy converters (WECs) during recent years, with prototypes and farms of WECs being installed in different parts of the world. With increasing sizes of individual WECs and farms, it becomes necessary to consider the impacts of connecting these to the electricity network and to investigate means by which these impacts may be mitigated. The time-varying and the unpredictable nature of the power generated from wave power farms supplemented by the weak networks to which most of these farms will be connected to, makes the question of integrating a large quantity of wave power to the network more challenging. The work reported here focuses on the fluctuations in the rms-voltage introduced by the connection of wave power farms. Two means to reduce these rms-voltage fluctuations are proposed. In the first method, the physical placement of the WECs within a farm is selected prior to the development of the farm to reduce the fluctuations in the net real power generated. It is shown that spacing the WECs or the line of WECs within a farm at a distance greater than half the peak wavelength and orienting the farm at 90◦ to the dominant wave direction produces a much smoother power output. The appropriateness of the following conclusions has been tested and proven for a wave power farm developed off the Outer Hebrides, using real wave field and network data. The second method uses intelligent reactive power control algorithms, which have already been tested with wind and hydro power systems, to reduce voltage fluctuations. The application of these intelligent control methods to a 6 MW wave power farm connected to a realistic UK distribution network verified that these approaches improve the voltage profile of the distribution network and help the connection of larger farms to the network, without any need for network management or upgrades. Using these control methods ensured the connection of the wave power farm to the network for longer than when the conventional control methods are used, which is economically beneficial for the wave power farm developer. The use of such intelligent voltage - reactive power (volt/VAr) control methods with the wave power farm significantly affects the operation of other onshore voltage control devices found prior to the connection of the farm. Thus, it is essential that the control of the farm and the onshore control devices are coordinated. A voltage estimation method, which uses a one-step-ahead demand predictor, is used to sense the voltage downstream of the substation at the bus where the farm is connected. The estimator uses only measurements made at the substation and historical demand data. The estimation method is applied to identify the operating mode of a wave power farm connected to a generic 11 kV distribution network in the UK from the upstream substation. The developed method introduced an additional level of control and can be used at rural substations to optimise the operation of the network, without any new addition of measuring devices or communication means.

There is a demand for renewable energy in today’s society. Wave energy is a nearly untapped source of renewable energy. Ocean Harvesting Technologies AB (OHT) is currently developing a device that can be used to convert wave energy into electricity. The device is a Wave Energy Converter of the type point absorber. Their concept is a floating buoy that is connected to the seafloor via a Power Take-Off (PTO) unit. The PTO unit is equipped with generators, which are used to convert kinetic energy of the buoy into electricity. The objective of this thesis is to control the generators to optimize the performance of the system. OHT was interested in knowing how their system performs under the influence of a controller based on MPC. Hence an MPC-controller is constructed in this thesis. The developed controller functions by predicting the states (position and velocity) of the buoy over a finite time (e.g. $5s$). Then the controller uses the predictions to find a control force that makes the system behave optimally for the next $5$ seconds. A requirement from the company is that the controller should find the control force based on how the buoy is predicted to move in 3 Degrees Of Freedom (DOF). Further, the controller should be able to operate in real-time. To meet the company’s requirements, the following is done. A linear 3ODF model of the system is derived. This is used to predict the states of the buoy in the controller. An MPC algorithm is constructed. In this, the linear model and constraints of the system are included. Then, a simulation environment is built. This is including a non-linear model of OHT’s system. The performance of the controller is tested in the simulation environment. Real-time implementation is an important aspect of the controller. The computational time required by the controller is measured in the simulations. The results imply that the controller stands a chance of being real-time implementable. However, make sure that it can be run in real-time it should be tested on the control unit that OHT plans to use in their system. A linear model of the system is used in the controller to predict the future states o the buoy. It is important that the predictions are accurate for the controller to control the system in an optimal way. Hence, the validity of the linear model is investigated. The controller is managing to predict some states better than others. However, the controller is doing a fine job with controlling the system in terms of generated power. Thus the linear model is considered to be valid for the application. An advantage with controllers based on MPC is the simplicity of tuning the controller. Changes of settings in the controller have a predictable effect on the results. For the settings found in this thesis, the system is performing fine in terms of power generation. However, more work is needed to find more optimal settings.

Direct drive Permanent Magnet Linear Generators (PMLGs) are used in energy converters for energy harvesting from marine waves. Greater reliability and simplicity can be achieved for Wave Energy Converters (WECs), by using direct drive machines linked to the power take-off device, in comparison with WECs using rotational generators combined with hydraulic or mechanical interfaces to convert linear to rotational torque. However, owing to the relatively low velocities of marine waves and the desire for significant energy harvesting by each individual unit, direct drive PMLGs share large permanent magnet volumes and hence, high magnetic forces. Such forces can generate vibrations and reduce the lifetime of the bearings significantly, which is leading to an increase in maintenance costs of WECs. Additionally, a power electronics converter is required to integrate the generator‘s electrical output to meet the requirements for connection to the national grid. This thesis is concerned mainly with the fundamental investigation into the use PMLGs for direct drive WECs. Attention is focused on developing several new designs based on tubular long stator windings topologies and optimisation for flat PMLGs. The designs are simulated as air- and iron-cored machines by means of Finite Element Analysis (FEA). Furthermore, a new power electronics control system is proposed to convert the electrical output of the long stator generators. Various wave energy-harvesting technologies have been reviewed and it has been found that permanent magnet linear machines demonstrate great potential for integration in WECs. The main reason is the strong exaltation flux provided by the high number of permanent magnets. Such flux, combined with design simplicity, can deliver high induced voltage as well as structural integrity. In the thesis, a flat single and double structured iron-cored PMLG is studied and optimised. Several magnetic force mitigation techniques are investigated and an optimisation is conducted. The optimisation is concerned mainly with increasing electrical output power and reducing the magnetic forces in the generators. As a result, an optimal design introducing the idea of separated magnetic cores has been proposed. The FEA simulations reveal that magnetic separation in the yoke can increase significantly the energy-harvesting capability of PMLGs. Furthermore, the concept of the design of long stator windings for tubular PMLGs is studied. Two long stator generators having different magnetisation topologies and similar sizes to existing machine are modelled and compared to the existing machine. The similar-sized existing and proposed PMLGs are simulated by FEA. In this way, settings such as different boundary conditions, symmetry boundaries and material properties are used to gain confidence in the simulated results of the proposed machines. Moreover, the simulated results for the existing PMLG are verified against previously performed numerical simulations and practical tests delivered and published as part of other research. The outcome for the proposed PMLGs reveals several advantages for the long stator design, such as lower cogging forces and higher energy harvesting and a lower price of the raw structural materials. Additionally, the thesis proposes and simulates a new design for an air-cored PMLG. To boost the output power, the proposed design is based on a long stator topology adopting two sets of permanent magnet rings sandwiching copper windings in a tubular structure. The design is compared with a current machine in FEA and the results show significant reduction in radial forces and an increase in energy harvesting. Finally, a novel power electronics control system, bypassing inactive coils is suggested and simulated as part of the grid integration system for the long stator PMLGs. The new system achieves a reduction in the thermal losses in the power electronics switches in comparison with existing systems. The power electronics system and the generator have been simulated in Matlab coupled externally with FEA (JMAG Designer).

In this study, the initial hydrostatic stability, the hydrostatic stability and the structure realibility of three different barge-shaped vessels is simulated and evaluated in order to see which of the vessels would be the most optimal to use for deployment of wave energy converters, WECs. The vessels differ in their hull type: Bulbous-bow hull vessel, Barge hull vessel and Modified-barge hull vessel. In order to do the evaluation, the hull of each vessel is designed in DELFTship and further design is proceeded in SolidWorks 2014. Structural strength analysis is performed in SolidWorks 2014 and hydrostatic properties are simualted in Ansys Aqwa 16.0. The collected results are pointing at that the Modified-barge hull vessel is slightly superior to the others in terms of hydrostatic stability, while the structure stability is equal. The results of this study will provide a foundation for further evaluation of vessels capable of deploying wave energy converters.

The amount of energy enclosed in ocean waves has been classified as one of the most promising renewable energy sources. Nowadays, different wave energy conversion (WEC) systems are being investigated, but only a few concepts have been operated in a sea environment. One of the largest challenges is to guarantee the offshore survivability of the devices in extreme wave conditions. However, there are large uncertainties related to the prediction of extreme wave loads on WECs.  Highfidelity computational fluid dynamics (CFD) simulations can resolve nonlinear hydrodynamic effects associated with wave-structure interaction (WSI). This thesis explores the point-absorbing WEC developed by Uppsala University in extreme wave conditions. The dynamic response and the forces on key components (mooring line, buoy, generator's end-stop spring) of the device are studied and compared. The high nonlinear phenomena accompany the steep and high waves, i.e., breaking behavior, slamming loads can be well-captured by the highfidelity CFD simulations. A commonly used methodology for extreme waves selection, recommended by technical specifications and guidelines, is the environmental contour approach. The 100-year contour in Hamboldt Bay site in California and the 50-year contour in the Dowsing site, outside the UK, are utilized to extract the extreme waves examined in the present thesis. Popular methodologies and data from different sources (observational and hindcast data) are examined for the environmental contour generation providing useful insights. Moreover, two popular approaches for the numerical representation of the extreme sea states, either as focused wave or as equivalent regular wave, were examined and compared. A midfidelity model of the WEC is successfully verified, as the utilization of lower fidelity tools in the design stage would reduce the computational cost. Last but not least, in CFD simulations the computational grid is sensitive in large motions, something often occurs during extreme-WSI. The solution of this issue for the open source CFD software OpenFOAM is provided here.

Generation of electricity from ocean waves has seen increasing research and commercial interest in recent years. The development of projects of several hundred megawatts rated capacity is now being considered. There is a clear need for improved understanding of the environmental impact of large-scale wave energy extraction, particularly in nearshore regions where sediment transport and cliff erosion may be affected. This thesis investigates the change in nearshore wave conditions and sediment transport due to energy extraction by long strings of wave energy devices. The influence of wave energy converter (WEC) arrays has been studied using transmission coefficients implemented within a spectral wave model. It is shown that the breaking wave height nearshore is larger (5%) if transmission is defined as frequency dependent. This is due to the energy dissipation processes associated with different wave frequencies. Linear wave theory is employed to determine frequency dependent transmission and reflection coefficients across a line of wave energy devices based onthe amplitude of scattered and radiated waves. This approach is compared with experimental measurements of the wave field in the vicinity of an array of five heaving floats. The transmitted wave amplitude is predicted with reasonable accuracy but additional numerical damping is required to predict the measured float response amplitude. This comparison indicates that linear analysis is an acceptable approach for predicting float response and wave field in the vicinity of the array for a certain range of conditions. Linear wave analysis is subsequently applied to investigate the variation of transmission coefficients with distance inshore of a long array of heaving WECs undergoing free response and with damping specified to optimise power extraction. A method is presented for identifying representative transmission and reflection coefficients such that change in wave energy is equal to energy extraction by the devices. These coefficients are employed to quantify the change in nearshore conditions due to deployment of a long line of wave devices at a site near the East Anglian coastline. Wave conditions are modelled at 12 points along the shoreline over a 140 year period and significant wave height reductions up to 30% were obtained. Importantly, changes in nearshorewave direction are also observed. Analysis using the sediment transport model SCAPE (Soft Cliff and Platform Erosion model) indicates that the introduction of the array reduces both the sediment transport rate and cliff recession rate by an average of 50%.