The hydrodynamic properties of a horizontal cylinder which is free to pitch about an off-centred axis are studied and used to derive the equations of motion of a wave energy converter which extracts energy from incoming sea waves with a linear power-take-off mechanism. The present work follows from a recent study which compared the performance of an off-centred cylinder with those of the Edinburgh Duck wave energy converter. The small decrease in performance found is offset by a reduction in the likely costs associated with the manufacturing of the cylindrical cam compared with those of the asymmetric profile. As part of the survivability strategy in very energetic seas-states it had been planned to completely submerge the device so as to reduce the mooring forces. However, experiments with scale models show that a good absorption capacity is retained even when fully-submerged. The hydrodynamic properties of a horizontal cylinder that pierces the free-surface and of one that is fully submerged are therefore of central concern in this study. These properties are well known for the case of very long cylinders but they are now found for cylinders with different widths, drafts, submergence levels and water-depths. The hydrodynamic forces and moments at the off-centred axis are, furthermore, derived through the application of transformation formulae. The equation of motion of the off-centred cylinder is derived for one degree of freedom and its performance as a wave energy converter is analysed. A relationship which relates the resonance of the device with the location of the off-centred axis and its mass distribution is derived and used to optimize the design for average sea conditions attained at a real location. Design cases associated with three diameters of the cylinder are looked into detail for both a fully-submerged and free-surface piercing cylinder. The one degree of freedom model is extended to include a multi-body which has three degrees of freedom in order to describe the dynamics of a proposed wave powered desalination system based on a cylindrical Duck device. This mathematical model is derived through linearised Lagrangian equations of motion in which the hydrodynamic forces are included as generalised external forces. The advantage of such approach is to reduce the number of equations associated with multi-body systems by removing the reaction forces of holomonic constraints from the system of equations to solve. This model is validated through experiments with a scale model performed in the curved tank of the University of Edinburgh with both regular waves and mixed seas.

The AOE Accumulated Ocean Energy Inc. (AOE) wave energy converter (WEC) is a cascaded pneumatic system, in which air is successively compressed through three point absorber devices on the way to shore; this air is then used to drive an electricity generator. To better quantify the performance of this device, this thesis presents a dynamically coupled model architecture of the AOE WEC, which was developed using the finite element solver ProteusDS and MATLAB/Simulink. This model is subsequently applied for the development and implementation of control in the AOE WEC. At each control stage, comprehensive power matrix data is generated to assess power production as a function of control complexity. The nature of the AOE WEC presented a series of novel challenges, centered on the significant residency time of air within the power take-off (PTO). As a result, control implementation was broken into two stages: passive and active control. The first stage, passive control, was realized as an optimization of eight critical PTO parameters with the objective of maximizing exergy output. After only 15 generations, the genetic algorithm optimization led to an increase of 330.4% over an initial, informed estimate of the optimal design, such that the annually-averaged power output was 29.37 kW. However, a disparity in power production between low and moderate energy sea-states was identified, which informed the development of an active control strategy for the increase of power production in low energy sea-states. To this aim, a recirculation-based control strategy was developed, in which three accumulator tanks were used to selectively pressurize and de-pressurize the piston at opportune times, thereby increasing the continuity of air throughput. Under the influence of active control, sea-states with significant wave heights between 0.75 m – 1.75 m, which on average encompass 55.93% of the year at the Amphitrite Bank deployment location, saw a 16.3% increase in energy production. / Graduate / 2018-08-18

Wave energy is one of the possible solutions for meeting the future energy demand in a clean and sustainable way. Extracting large amounts of energy, a wave energy device would be subjected to extreme and fatigue loads from the waves. Designing such a device, a trade off needs to be done between making a device that is strong enough to withstand the loads and on the same time not too heavy making it inefficient and too costly. Having good estimations of extreme and fatigue loads are therefore critical when designing an efficient wave energy device. This thesis has aimed to create a tool that can be used between the already existing hydrodynamic and solid mechanic models available at CorPower Oceean. The goal has been that the tool shall extract the extreme and fatigue loads from the hydrodynamic model and format them in a way so that they can be used in the solid mechanical model. Four different tools have been created and compared for calculating fatigue using amplitude and spectral methods, where the amplitude methods also are able to estimate extreme loads. The fatigue tools have been evaluated against each other in a simple example showing that the estimated accumulated fatigue damage can be decreased by using several variables. An application of the tools has been done on a critical sub system of the wave energy device developed by CorPower Ocean. Where in this application critical points against extreme loading and fatigue have been localized. A new design has been suggested based on the strength analysis from the first one. Increasing the number of variables and using the tools developed in this thesis can significantly improve the fatigue damage estimations of the system. What fatigue method to use depends on the details for each case.

Our oceans contain tremendous resource potential in the form of mechanical energy. With the ability to capture and convert the energy carried in surface waves into usable electricity, wave energy converters (WECs) have been a long-held aspiration in ocean renewable energy. One of the most popular wave energy design concepts is the Oscillating Surge Wave Energy Converter (OSWEC). True to their namesake, OSWECs extract energy from the surge force induced by incident waves. In their most basic form, OSWECs are analogous to a bottom-hinged paddle which pitches fore and aft in the direction of wave motion. Most commonly, OSWECs are designed for nearshore use in water depths of less than 20 m where they are mounted to the seafloor at their point of rotation. This work seeks to explore the response and design loads of foundation raised OSWECs for use in deeper waters, unlocking new and greater areas of wave energy resource. A foundation raised OSWEC was designed, built, and tested in a laboratory wave tank. The scale OSWEC was modeled using two methods and compared to data from the experiments. The first of these methods is a highly efficient, analytical approach which derives from the solution to the boundary value problem transformed into elliptical coordinates. Previous validation results demonstrate the analytical model is capable of reproducing results from higher fidelity numerical simulations with computation times on the order of seconds. The second approach combines hydrodynamic coefficients evaluated in WAMIT with the open-source time domain solver WEC-Sim. Two model configurations were observed: the scale OSWEC with no external attachments, and the OSWEC with external torsion springs, as to excite the model at its natural period. The pitch displacement, surge and heave forces, and pitch moment were recorded at the base of the model foundation in response to regular waves with periods ranging from 0.8 s to 2.8 s and heights from 1.5 mm to 14.3 mm. The experimental results show the surge force and pitch moment increase drastically across the observed period range from the addition of external springs. The increase is 20–30 times greater in the most extreme cases. Little to no change in heave forcing was observed between the configurations. The analytical and numerical models capture the natural period of the two configurations well, but the pitch displacement responses of both models fall short of the observations by as much as 60-80% at some periods. Excellent agreement in surge, heave, and pitch loading was obtained between the experimental data and both models. The models were used to simulate a simple power takeoff (PTO) system to approximate the additional PTO torque on the OSWEC. This torque was found to be substantial in magnitude relative to the pitch foundation moment over much of the observed period range.

As worldwide energy consumption continues to increase, so does the demand for renewable energy sources. The total available wave energy resource for the United States alone is 2,640 TWh/yr; nearly two thirds of the 4,000 TWh of electricity used in the United States each year. It is estimated that nearly half of that available energy is recoverable through wave energy conversion techniques. In this thesis, a two-body 'point absorber' type wave energy converter with a mechanical power-takeoff is investigated. The two-body wave energy converter extracts energy through the relative motion of a floating buoy and a neutrally buoyant submerged body. Using a linear frequency-domain model, analytical solutions of the optimal power and the corresponding power-takeoff components are derived for the two-body wave energy converter. Using these solutions, a case study is conducted to investigate the influence of the submerged body size on the absorbed power of the device in regular and irregular waves. Here it is found that an optimal mass ratio between the submerged body and floating buoy exists where the device will achieve resonance. Furthermore, a case study to investigate the influence of the submerged body shape on the absorbed power is conducted using a time-domain numerical model. Here it is found that the submerged body should be designed to reduce the effects of drag, but to maintain relatively large hydrodynamic added mass and excitation force. To validate the analytical and numerical models, a 1/30th scale model of a two-body wave energy converter is tested in a wave tank. The results of the wave tank tests show that the two-body wave energy converter can absorb nearly twice the energy of a single-body 'point absorber' type wave energy converter. / Master of Science

The design of a mooring system for a floating structure is a significant challenge; the choice of line structure and layout determine highly non-linear hydrodynamic behaviors that, in turn, influence the dynamics of the whole system. The difficulty is particularly acute for Self-Reacting Point Absorber Wave Energy Converters (SRPA WEC) as these machines rely on their movements to extract useful power from wave motions and the mooring must constrain the SRPA WEC motion without detracting from power production. In this thesis this topic has been addressed in an innovative way and new ideas on how these devices should be moored were investigated. As part of the study, an optimization routine was implemented to investigate the optimal mooring design and its characteristics. In this process, different challenges were faced. To evaluate the different mooring configurations, a high fidelity representation of the system hydrodynamics is necessary which captures the non-linearities of the system. Unfortunately, high-fidelity modeling tends to be very computationally expensive, and for this reason previous studies based mooring design largely relies on simplified representations that only reflect part of the mooring design space since some physical and hydrodynamic properties are dropped. In this work, we present how a full hydrodynamic time domain simulation can be utilized within a Metamodel-Based Optimization to better evaluate a wider range of mooring configurations spanning the breadth of the full design space. The method uses a Metamodel, defined in terms of the mooring physical parameters, to cover the majority of the optimization process a high fidelity model is used to establish the Metamodel in a pre-processing stage. The method was applied to a case study of a two-body heaving SRPA WEC. Survivability constrains where introduce into the model using a new statistical approach which reduces the execution time, and allowed the optimization routine. The analysis results lead to the conclusion that for SRPA WEC the mooring loads have a significant impact on how the body reacts with the waves, affecting both the energy that enter the system as well as the energy that is extracted as power. This implies that, in some cases, the mooring lines need to be considered in early stages of the designs as opposed to an afterthought, as is typically done. Results indicate that an optimal mooring design can result in a 26% increase in total annual power production. In addition, the mooring lines impact on mitigating parasitic pitch and roll were analyzed. It was established that in regular waves, the mooring lines can reduce the parametric excitations and improve the power extraction up to 56% for a particular sea state. By applying a computationally efficient iterative design approach to a device's mooring, parasitic motions and suboptimal device operation can be reduced, ultimately making WECs a more competitive source of energy. / Graduate / 0346 / 0537 / 0548 / 0547 / jortiz@uvic.ca

In this project, the wave energy converter (WEC) designed at Seabased AB and Uppsala University was modelled in the program MATLAB. In order to increase the average output power, the WEC should be controlled. Therefore, the simulation tool was used to investigate damping strategies where the damping coefficient was changed at different times of the wave period. The tests showed that a suitable damping strategy, matched to the sea state at the specific location of the site and the overall WEC design, increases the average output power, as well as may protect the WEC from damages. This can lead to a more sustainable WEC system, which may contribute to the increasing demand of renewable energy solutions.

The key focus of this research was to investigate the bearing options most suited to operation in a novel direct drive linear generator. This was done through bearing comparisons, modelling and testing. It is fundamental that the linear generator is designed to suit the marine environment. Key design constraints include reliability, survivability, maintenance intervals and cost. Resilient mechanical structural components, such as bearings, will prolong the time a device can operate without maintenance hence prolonging the operating period. Effective lifespan predictions for bearings will feed into the structural design of the generator which forms part of an overall objective to combine each generator design stage into one integrated design process. This promises to provide a cost effective, light weight generator design. This thesis covers the initial investigations into effective, long life and low-wear bearings to meet the operating demands of WEC. It includes an assessment of conventional bearing technology, designs of water-fed hydrostatic bearings and testing of novel polymer bearings. The development of an experimental test rig from a prototype linear generator is described. The rig was built in order to validate and fully explore the potential of self-lubricating, submersible polymer bearings with the ultimate aim of identifying wear constants and frictional properties of the bearings in the low-speed, mid to high-load, oscillating operation of a WEC in order to more accurately predict a bearing lifespan. The outcome of this research served to underpin the need for the design of application specific bearing systems to be based on empirically determined data and observations from test data taken from application specific tests. For inclusion in the design of these linear generators, sizing a bearing requires knowledge of the electrical loading in addition to the expected operating conditions of a WEC. Choosing bearing materials and hence lubricant regimes is dependant on the thermal operating characteristics. Then bearing knowledge in terms of size, load capacity and lifespan can be put directly into the structural model. This iterative process of design can then be merged into a fully integrated generator design tool hence this research was part of the development of an integrated design tool for direct drive generators.

This research investigates the effects that geometry and control have on the absorption characteristics of active wavemakers and looks at the feasibility of modelling these wavemakers in commercial computational fluid dynamic software. This thesis presents the hydrodynamic coefficients for four different types of wavemakers. The absorption characteristics of these wavemakers are analysed using different combinations of control impedance coefficients. The effect of combining both geometry and control is then investigated. Results, quantifying the absorption characteristics are then presented. It is shown that the amount of absorption for a given paddle differs greatly depending on the choice of control coefficients used to implement complex conjugate control. Increased absorption can be achieved over a broader bandwidth of frequencies when the geometry of the wavemaker is optimised for one specific frequency and the control impedance is optimised for an alternate frequency. In conjunction to this theoretical study, a numerical investigation is conducted in order to verify and validate two commercial computational fluid dynamic codes' suitability to model the previously discussed absorbing wavemakers. ANSYS CFX and FLOW3D are used to model a physical wavemaker. Both are rigorously verified for discretisation errors and CFX is validated against linear wavemaker theory. Results show good agreement and prediction of the free surface close to the oscillating wavemaker, but problems with wave height attenuation and excessive run times were encountered.

In this thesis, certain issues relating to a number of wave energy absorbers operating in the same vicinity are investigated. Specifically, arrangements of the devices within such an array are sought, such that beneficial hydrodynamic interference between members is exploited and unwanted effects mitigated. Arrays of `point absorber' devices as well as converters with multiple closely spaced floats are modelled and a frequency domain hydrodynamic solution derived. This is implemented as efficient computer code, capable of producing the full linear wave theory solution to any desired degree of accuracy. Furthermore, the results are verified against output from the boundary element code WAMIT. Initially, detailed analysis of an isolated absorber is conducted, with motion responses, forces, power output and velocity potentials at the free surface computed for a range of different device specifications. Elementary examples of arrays are then used to demonstrate the influence of factors such as device separation, wave heading angle, number of devices and array configuration upon collective performance. Subsequently, the power output from an array of five devices is optimised with respect to its layout, using two different routines. The first is a new heuristic approach, named the Parabolic Intersection (PI) method, that efficiently creates array con figurations using only basic computations. The second is a Genetic Algorithm (GA) with a novel `crossover' operator. Each method is applied to maximise the output at a given regular wave frequency and direction under two different power take-off regimes and also to minimise power in a third, cautionary example. The resulting arrays are then analysed and the optimisation procedures themselves evaluated. Finally, the effects of irregular seas on array interactions are investigated. The configurations that were optimised for regular wave climates are assessed in a range of irregular sea-states. The GA is then used once more to create optimal array layouts for each of these seas. The characteristics of the arrays are subsequently examined and the influence of certain spectral parameters on the optimal solutions considered. The optimisation procedures were both found to be effective, with the GA marginally outperforming the PI method in all cases. Significant positive and negative modifications to the power output were observed in the arrays optimised in regular waves, although the effects weakened when the same arrays were subjected to irregular sea-states. However, arrays optimised specifically in irregular seas exhibited differences in net power output equivalent to over half that produced from the same number of devices in isolation.