Model predictive control of wave energy converters with prediction error tolerance
Model predictive control of wave energy converters with prediction error tolerance
Sea wave energy converter (WEC) control is a non-causal optimal control problem, and the control performance relies on the accuracy of the prediction of incoming wave profile and the fidelity of the control-oriented model. To maximize energy conversion in real scenario, three issues should be fully considered: (a) the existing wave prediction methods inevitably introduce prediction errors, which degrades the control performance; (b) the model mismatch between the linearized state-space model and the hydrodynamic model also affects the control performance; (c) safe operations with limited power take-off (PTO) should be ensured to rule out the possibility of device damages. To explicitly deal with these problems, this paper proposes a novel control scheme to maximize the energy output subject to inaccurate predictions, model mismatch and multiple constraints. This is achieved by applying a feedback model predictive control (MPC) to handle the constraints and a compensator to cope with the prediction error and model mismatch. Due to the extra compensation input, the state and input constraints of MPC subsystem are further tightened to ensure constraints on both the states and the control input to be satisfied. Theoretical proof and simulation results show that the proposed controller is robust to achieve the maximal energy output subject to inaccurate prediction and inaccurate control-oriented model.
Compensation, Model mismatch, Model predictive control (MPC), Wave energy converters (WECs), Wave prediction
12289-12294
Zhang, Yao
a4f30318-ab42-4b38-a60d-f7199ff3a02a
Zhan, Siyuan
9c52c587-feaa-4c90-8558-285b3b4a8e0a
Li, Guang
76def2e4-4cf4-43b3-8b4c-78c7111d8ef3
17 July 2020
Zhang, Yao
a4f30318-ab42-4b38-a60d-f7199ff3a02a
Zhan, Siyuan
9c52c587-feaa-4c90-8558-285b3b4a8e0a
Li, Guang
76def2e4-4cf4-43b3-8b4c-78c7111d8ef3
Zhang, Yao, Zhan, Siyuan and Li, Guang
(2020)
Model predictive control of wave energy converters with prediction error tolerance.
IFAC-PapersOnLine, 53 (2), .
(doi:10.1016/j.ifacol.2020.12.1169).
Abstract
Sea wave energy converter (WEC) control is a non-causal optimal control problem, and the control performance relies on the accuracy of the prediction of incoming wave profile and the fidelity of the control-oriented model. To maximize energy conversion in real scenario, three issues should be fully considered: (a) the existing wave prediction methods inevitably introduce prediction errors, which degrades the control performance; (b) the model mismatch between the linearized state-space model and the hydrodynamic model also affects the control performance; (c) safe operations with limited power take-off (PTO) should be ensured to rule out the possibility of device damages. To explicitly deal with these problems, this paper proposes a novel control scheme to maximize the energy output subject to inaccurate predictions, model mismatch and multiple constraints. This is achieved by applying a feedback model predictive control (MPC) to handle the constraints and a compensator to cope with the prediction error and model mismatch. Due to the extra compensation input, the state and input constraints of MPC subsystem are further tightened to ensure constraints on both the states and the control input to be satisfied. Theoretical proof and simulation results show that the proposed controller is robust to achieve the maximal energy output subject to inaccurate prediction and inaccurate control-oriented model.
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Published date: 17 July 2020
Additional Information:
Funding Information:
This work was supported in part by a research contract from Wave Energy Scotlands Control Systems programme, in part by EPSRC grant Launch and Recovery in Enhanced Sea States (no. EP/P023002/1) and in part by Newton Advanced Fellowship (NA160436) by Royal Society.
Publisher Copyright:
Copyright © 2020 The Authors.
Venue - Dates:
21st IFAC World Congress 2020, , Berlin, Germany, 2020-07-12 - 2020-07-17
Keywords:
Compensation, Model mismatch, Model predictive control (MPC), Wave energy converters (WECs), Wave prediction
Identifiers
Local EPrints ID: 472263
URI: http://eprints.soton.ac.uk/id/eprint/472263
ISSN: 2405-8963
PURE UUID: 3f5d0c5b-0588-4c8b-a443-0844c1301ed9
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Date deposited: 30 Nov 2022 17:41
Last modified: 18 Mar 2024 04:07
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Contributors
Author:
Yao Zhang
Author:
Siyuan Zhan
Author:
Guang Li
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