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针对振荡浮子式波浪能转换装置(Oscillating buoy wave energy converter, OBWEC)的安全运行和高效获能问题，本文在考虑OBWEC的浮子运动位移和控制力物理约束的基础上，设计了一种包含浮子运动轨迹规划层和轨迹跟踪层的双层协同控制方案。在轨迹规划层，利用傅里叶拟谱方法分析波浪频谱特征，在线生成满足位移和控制力物理约束且兼顾最大获能的浮子运动参考轨迹；在轨迹跟踪层，采用滑模控制(Sliding mode control, SMC)实现浮子运动的轨迹跟踪，并基于李雅普诺夫稳定性理论，证明了浮子运动轨迹跟踪误差渐近收敛于0。双层协同控制方案的核心在于，在保证浮子运动满足物理约束的前提下，尽可能获取最大能量，进而确保OBWEC的安全高效运行。仿真实验结果充分验证了所提方法的可行性与有效性，为OBWEC的实际应用提供了有力的理论支撑和技术参考。
Abstract：To solve the problem improving the energy absorption efficiency of the oscillating buoy wave energy converter(OBWEC) under the premise of guaranteeing device safety, considering the physical constraints of both the buoy motion and the control force of power take-off, this paper proposes a two-level control framework to implement the high efficiency of energy absorption of OBWEC. In the level of reference trajectory planning, the Fourier pseudo-spectral approach is utilized to compute the reference trajectory corresponding to the maximum energy absorption, which satisfies the displacement and control force constraints. In the level of trajectory tracking, sliding mode control(SMC) is used to make OBWEC track the reference trajectory. Besides, the stability of the tracking error system is proved by the Lyapunov theory. The simulation results show that the reference trajectory and control force satisfy the physical constraints, and the tracking error can converge to 0 in a finite time. Compared with the ideal absorbed energy without considering physical limitations, the ratio of energy absorption of OBWEC reaches 91%, which verifies the feasibility and effectiveness of the proposed approach.
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基本信息:
DOI：10.16441/j.cnki.hdxb.20230016
中图分类号:TM612;P743.2
引用信息:
[1]包鑫宇,黎明,陈震,等.考虑物理约束的振荡浮子式波浪能转换装置优化获能控制[J].中国海洋大学学报(自然科学版),2025,55(05):157-166.DOI:10.16441/j.cnki.hdxb.20230016.
基金信息:
山东省重点研究发展计划项目(2019JZZY010902); 国家重点研究发展计划项目(2018YFB1501904)资助~~
2023-01-20
2023
2023-04-19
2023
1
2025-04-28
2025-04-28