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research-article

An Efficient Convex Formulation for Model-Predictive Control on Wave-Energy Converters

[+] Author and Article Information
Qian Zhong

Department of Mechanical Engineering, University of California at Berkeley, Berkeley, California, 94720
qzhong@berkeley.edu

Ronald W. Yeung

Department of Mechanical Engineering, University of California at Berkeley, Berkeley, California, 94720
rwyeung@berkeley.edu

1Corresponding author.

ASME doi:10.1115/1.4038503 History: Received May 26, 2017; Revised November 02, 2017

Abstract

Model-Predictive Control (MPC) has shown its strong potential in maximizing energy extraction for Wave-Energy Converters (WECs) while handling hard constraints. However, the computational demand is known to be a primary concern for ap- plying MPC in real time. In this work, we develop a cost function, in which a penalty term on the slew rate of the machinery force is introduced and used to ensure the convexity of the cost function. Constraints on states and the input are incorporated. Such a constrained optimization problem is cast into a Quadratic Programming (QP) form and efficiently solved by a standard QP solver. The current MPC is found to have good energy-capture capability in both regular and irregular wave conditions, and is able to broaden favorably the bandwidth for capturing wave energy compared to other controllers in literature. Reactive power required by the PTO system is presented. The effects of the additional penalty term are discussed.

Copyright (c) 2017 by ASME
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