Extending complex conjugate control to nonlinear wave energy converters

This paper extends the concept of Complex Conjugate Control (CCC) of linear wave energy converters (WECs) to nonlinear WECs by designing optimal limit cycles with Hamiltonian Surface Shaping and Power Flow Control (HSSPFC). It will be shown that CCC for a regular wave is equivalent to a power factor of one in electrical power networks, equivalent to mechanical resonance in a mass-spring-damper (MSD) system, and equivalent to a linear limit cycle constrained to a Hamiltonian surface defined in HSSPFC. Specifically, the optimal linear limit cycle is defined as a second-order center in the phase plane projection of the constant energy orbit across the Hamiltonian surface. This concept of CCC described by a linear limit cycle constrained to a Hamiltonian surface will be extended to nonlinear limit cycles constrained to a Hamiltonian surface for maximum energy harvesting by the nonlinear WEC. The case studies presented confirm increased energy harvesting which utilizes nonlinear geometry realization for reactive power generation

Nonlinear Hydrostatic Control Of A Wave Energy Converter

Increased energy harvesting is realized using a nonlinear buoy geometry for reactive power generation. By exploiting the nonlinear dynamic coupling between the buoy geometry and the potential wideband frequency spectrum of incoming waves in the controller/buoy design, increased power can be captured in comparison to conventional wave energy converter designs. In particular, the reactive power and energy storage system requirements are inherently embedded in the nonlinear buoy geometry, therefore requiring only simple rate-feedback control.https://digitalcommons.mtu.edu/patents/1159/thumbnail.jp

Pseudo-spectral method to control three-degree-of-freedom wave energy converters

The invention provides optimal control of a three-degree-of-freedom wave energy converter using a pseudo-spectral control method. The three modes are the heave, pitch and surge. A dynamic model is characterized by a coupling between the pitch and surge modes, while the heave is decoupled. The heave, however, excites the pitch motion through nonlinear parametric excitation in the pitch mode. The invention can use a Fourier series as basis functions to approximate the states and the control. For the parametric excited case, a sequential quadratic programming approach can be implemented to numerically solve for the optimal control. The numerical results show that the harvested energy from three modes is greater than three times the harvested energy from the heave mode alone. Moreover, the harvested energy using a control that accounts for the parametric excitation is significantly higher than the energy harvested when neglecting this nonlinear parametric excitation term.https://digitalcommons.mtu.edu/patents/1143/thumbnail.jp

Model predictive control of parametric excited pitch-surge modes in wave energy converters

A parametric excitation dynamic model is used for a three degrees-of-freedom (3-DOF) wave energy converter. Since the heave motion is uncoupled from the pitch and surge modes, the pitch-surge equations of motion can be treated as a linear time varying system, or a linear system with parametric excitation. In such case the parametric exciting frequency can be tuned to twice the natural frequency of the system for higher energy harvesting. A parametric excited 3-DOF wave energy converter can harvest more power, for both regular and irregular waves, compared to the linear 3-DOF. For example, in a Bretschneider wave, the harvested energy in the three modes is about 3.8 times the energy harvested in the heave mode alone; while the same device produces about 3.1 times the heave mode energy when using a linear 3-DOF model.https://digitalcommons.mtu.edu/patents/1147/thumbnail.jp

Multi-resonant feedback control of multiple degree-of-freedom wave energy converters

Multi-resonant control of a 3 degree-of-freedom (heave-pitch-surge) wave energy converter enables energy capture that can be in the order of three times the energy capture of a heave-only wave energy converter. The invention uses a time domain feedback control strategy that is optimal based on the criteria of complex conjugate control. The multi-resonant control can also be used to shift the harvested energy from one of the coupled modes to another, enabling the elimination of one of the actuators otherwise required in a 3 degree-of-freedom wave energy converter. This feedback control strategy does not require wave prediction; it only requires the measurement of the buoy position and velocity.https://digitalcommons.mtu.edu/patents/1149/thumbnail.jp

A Self-Tuning WEC Controller for Changing Sea States

A self-tuning proportional-integral control law prescribing motor torques was tested in experiment on a three degree-of-freedom wave energy converter. The control objective was to maximize electrical power. The control law relied upon an identified model of device intrinsic impedance to generate a frequency-domain estimate of the wave-induced excitation force and measurements of device velocities. The control law was tested in irregular sea-states that evolved over hours (a rapid, but realistic time-scale) and that changed instantly (an unrealistic scenario to evaluate controller response). For both cases, the controller converges to gains that closely approximate the postcalculated optimal gains for all degrees of freedom in a sufficiently short-time for realistic sea states. In addition, electrical power was found to be relatively insensitive to gain tuning over a broad range of gains, implying that an imperfectly tuned controller does not result in a large penalty to electrical power capture. Because the controller relies on an identified model of device intrinsic impedance, the sensitivity of power capture was evaluated with respect to uncertainty in the constituent terms of intrinsic impedance. Power capture is found to be relatively insensitive to uncertainty of 20% in constituent terms of the identified intrinsic impedance model. An extension of this control law that allows for adaptation to a changing device impedance model over time is proposed for long-term deployments, as well as an approach to explicitly handle constraints within this architecture

The wave energy converter control competition (WECCCOMP): Wave energy control algorithms compared in both simulation and tank testing

The wave energy control competition established a benchmark problem which was offered as an open challenge to the wave energy system control community. The competition had two stages: In the first stage, competitors used a standard wave energy simulation platform (WEC-Sim) to evaluate their controllers while, in the second stage, competitors were invited to test their controllers in a real-time implementation on a prototype system in a wave tank. The performance function used was based on converted energy across a range of standard sea states, but also included aspects related to economic performance, such as peak/average power, peak force, etc. This paper compares simulated and experimental results and, in particular, examines if the results obtained in a linear system simulation are borne out in reality. Overall, within the scope of the device tested, the range of sea states employed, and the performance metric used, the conclusion is that high-performance WEC controllers work well in practice, with good carry-over from simulation to experimentation. However, the availability of a good WEC mathematical model is deemed to be crucial

RELICS: The Reionization Lensing Cluster Survey and the Brightest High-z Galaxies

Massive foreground galaxy clusters magnify and distort the light of objects behind them, permitting a view into both the extremely distant and intrinsically faint galaxy populations. We present here the z ~ 6-8 candidate high-redshift galaxies from the Reionization Lensing Cluster Survey (RELICS), a Hubble and Spitzer Space Telescope survey of 41 massive galaxy clusters spanning an area of ≈200 arcmin². These clusters were selected to be excellent lenses, and we find similar high-redshift sample sizes and magnitude distributions as the Cluster Lensing And Supernova survey with Hubble (CLASH). We discover 257, 57, and eight candidate galaxies at z ~ 6, 7, and 8 respectively, (322 in total). The observed (lensed) magnitudes of the z ~ 6 candidates are as bright as AB mag ~23, making them among the brightest known at these redshifts, comparable with discoveries from much wider, blank-field surveys. RELICS demonstrates the efficiency of using strong gravitational lenses to produce high-redshift samples in the epoch of reionization. These brightly observed galaxies are excellent targets for follow-up study with current and future observatories, including the James Webb Space Telescope

RELICS: Strong Lens Models for Five Galaxy Clusters From the Reionization Lensing Cluster Survey

Strong gravitational lensing by galaxy clusters magnifies background galaxies, enhancing our ability to discover statistically significant samples of galaxies at z>6, in order to constrain the high-redshift galaxy luminosity functions. Here, we present the first five lens models out of the Reionization Lensing Cluster Survey (RELICS) Hubble Treasury Program, based on new HST WFC3/IR and ACS imaging of the clusters RXC J0142.9+4438, Abell 2537, Abell 2163, RXC J2211.7-0349, and ACT-CLJ0102-49151. The derived lensing magnification is essential for estimating the intrinsic properties of high-redshift galaxy candidates, and properly accounting for the survey volume. We report on new spectroscopic redshifts of multiply imaged lensed galaxies behind these clusters, which are used as constraints, and detail our strategy to reduce systematic uncertainties due to lack of spectroscopic information. In addition, we quantify the uncertainty on the lensing magnification due to statistical and systematic errors related to the lens modeling process, and find that in all but one cluster, the magnification is constrained to better than 20% in at least 80% of the field of view, including statistical and systematic uncertainties. The five clusters presented in this paper span the range of masses and redshifts of the clusters in the RELICS program. We find that they exhibit similar strong lensing efficiencies to the clusters targeted by the Hubble Frontier Fields within the WFC3/IR field of view. Outputs of the lens models are made available to the community through the Mikulski Archive for Space TelescopesComment: Accepted to Ap

The scientific potential of space-based gravitational wave detectors

The millihertz gravitational wave band can only be accessed with a space-based interferometer, but it is one of the richest in potential sources. Observations in this band have amazing scientific potential. The mergers between massive black holes with mass in the range 10 thousand to 10 million solar masses, which are expected to occur following the mergers of their host galaxies, produce strong millihertz gravitational radiation. Observations of these systems will trace the hierarchical assembly of structure in the Universe in a mass range that is very difficult to probe electromagnetically. Stellar mass compact objects falling into such black holes in the centres of galaxies generate detectable gravitational radiation for several years prior to the final plunge and merger with the central black hole. Measurements of these systems offer an unprecedented opportunity to probe the predictions of general relativity in the strong-field and dynamical regime. Millihertz gravitational waves are also generated by millions of ultra-compact binaries in the Milky Way, providing a new way to probe galactic stellar populations. ESA has recognised this great scientific potential by selecting The Gravitational Universe as its theme for the L3 large satellite mission, scheduled for launch in ~2034. In this article we will review the likely sources for millihertz gravitational wave detectors and describe the wide applications that observations of these sources could have for astrophysics, cosmology and fundamental physics.Comment: 18 pages, 2 figures, contribution to Gravitational Wave Astrophysics, the proceedings of the 2014 Sant Cugat Forum on Astrophysics; v2 includes one additional referenc