Effect of a model predictive control on the design of a power take-off system for wave energy converters

Abstract In this study, a model predictive control (MPC) strategy is developed for a wave energy converter (WEC) to investigate how the controller settings affect the design of the power take-off machinery. The WEC chosen for this analysis is a submerged multi-degree-of-freedom WEC inspired by the multi-moored CETO system. A nonlinear numerical model of the WEC dynamics is built and tested for a potential deployment site off the coast of Albany, Western Australia. Tuning parameters of the MPC include the prediction horizon and control force penalties. In addition, the effect of a mechanical spring on the controller performance is investigated. The results show the significance of the penalty terms on the power production and control forces dynamics if the power take-off efficiency is not ideal.