Renewable Energy 34 (2009) 692698

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Renewable Energy
journal homepage: www.elsevier.com/locate/renene

A twin unidirectional impulse turbine topology for OWC based wave energy plants
V. Jayashankar a, *, S. Anand a, T. Geetha a, S. Santhakumar b, V. Jagadeesh Kumar a, M. Ravindran c, T. Setoguchi d, M. Takao e, K. Toyota f, S. Nagata f
a

Department of Electrical Engineering, IIT Madras, India Department of Aerospace Engineering, IIT Madras, India Advisor RUTAG, IIT Madras, India d Department of Mechanical Engineering, Saga University, Japan e Department of Mechanical Engineering, Matsue National College, Japan f IOES, Saga University, Japan
b c

a r t i c l e i n f o
Article history: Received 14 October 2007 Accepted 2 May 2008 Available online 2 July 2008 Keywords: Wave energy OWC Impulse turbine Time domain Frequency domain Wave to wire model

a b s t r a c t
Experimental results from near shore bottom standing OWC based wave energy plants in Japan and India have now been available for about a decade. Historically the weakest link in the conversion efciency of OWC based wave energy plants built so far has been the bidirectional turbine. This is possibly because a single turbine has been required to deliver power when the plant is exposed to random incident wave excitation varying by a factor of 10. A new topology that uses twin unidirectional turbines (which features a high efciency spanning a broad range) is proposed. Using the Indian Wave Energy plant as a case study, it is shown that the power output from such a module considerably exceeds existing optimal congurations including those based on a xed guide vane impulse turbine, linked guide vane impulse turbine or a Wells turbine. A wave to wire efciency of the order of 50% over the incident range is shown to be feasible in a credible manner by showing the output at all stages of the conversion process. A frequency domain technique is used to compute the OWC efciency and a time domain approach used for the power module with the turbine pressure being the pivotal variable. 2008 Elsevier Ltd. All rights reserved.

1. Introduction A conventional OWC based wave energy plant has a three stage energy conversion process variations in sea surface elevations are converted to pressure in the OWC, a bidirectional turbine converts pneumatic air power into mechanical shaft power and an electrical generator coupled to the turbine provides electrical power that is exported to the grid. [14]. The most complete and detailed experimental results with near shore OWC plants are possibly from the one at Sakata port, Japan. [2]. Experience in Europe is mostly with shoreline devices as evidenced in the LIMPET [4] and other similar plants. Developments in Europe cover all aspects of the energy conversion chain including the OWC [57], the turbine [810] as well as optimization from wave to wire [1115]. A thorough review of the European experience (which complements near shore efforts) is detailed in [16]. The Indian wave energy plant is a bottom standing near shore OWC with a 10 m opening width

(Fig. 1) and is unique in that several conceptually different power modules were tested in the same caisson. Initially (in 1991) the plant was designed with a 2 m constant chord Wells turbine and a 110 kW squirrel cage induction generator. The next module (in 1996) was a twin 1 m Wells turbine coupled to a 55 kW slip-ring induction generator. [3] This was followed (in 1997) by a 1 m linked guide vane impulse turbine using the same induction generator. The nal conguration (from 1998 onward to date) was a xed guide vane impulse turbine. A close analysis of the results of each of these congurations shows that the efciency of the power take-off mechanism needs to be improved. We initially trace the historical development of the turbines in a global context and show how a new unidirectional turbine conguration would help achieve higher overall efciency. 2. Problem formulation and solution space The average incident wave power in sea environments as in a near shore plant can be expressed as

* Corresponding author. Tel.: 91 44 22574427; fax: 91 44 22570509. E-mail address: jshankar@ee.iitm.ac.in (V. Jayashankar). 0960-1481/$ see front matter 2008 Elsevier Ltd. All rights reserved. doi:10.1016/j.renene.2008.05.028

2 W 0:55Hs TZ kW=m

(1)

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compute the average OWC efciency based on frequency domain calculations and model studies. The power module performance can be estimated as a single unit. We then compute the overall efciency. We provide a brief review of steps involved in proposing a new power module topology.

3. The historical development of turbines for wave energy applications Model studies [17] and practical measurements [2] have shown the efciency of an OWC to be greater than 90% at an optimum damping and when designed to match the incident excitation frequency. At higher power levels, the efciency of an electrical generator can also be in excess of 90% over a wide range of inputs [2]. Thus, the component with the lowest efciency spanning the input range is the turbine. It is this aspect that has motivated the study of different turbines and not surprisingly, the research in this area has been very substantial. [1824]. The rst prototype OWC based wave energy plant in the oating ship Kaimei is used as an unidirectional impulse turbine in conjunction with valves [1]. Here, one set of valves are open during intake and a second set are open during exhaust of air as shown in Fig. 2(a,b). This was necessary in order to use a unidirectional turbine. As the wave period is of the order of seconds it was felt that constant opening and closing of valves might be a limiting factor for long life. Research then shifted to the development of bidirectional turbines. The Wells turbine was extensively tested for such use. One problem with the Wells turbine is its stalling behaviour when the ow coefcient exceeds a certain value. This has been observed in every experimental plant with such a turbine [24]. When the incident excitation is random, as from waves, it is difcult to avoid stalling unless the turbine speed is made to vary over a wide range. With a simple squirrel cage generator as the electrical machine this becomes almost impossible. A second option that emerged was the impulse turbine and its variants. Both the linked guide vane impulse turbine and a xed guide vane impulse turbine were tested at the Indian wave energy plant. A schematic of such a turbine with self pitching guide vanes is shown in Fig. 3 while Fig. 4 shows a recently proposed unidirectional turbine. A review of self rectifying impulse turbines was recently discussed in [23]. Fig. 5 shows the instantaneous efciencies of several classes of turbines available today that can be considered for wave energy applications. They are of three conceptual classes bidirectional turbines with stalling behaviour, bidirectional turbines without stalling and a class of unidirectional turbines. It does appear from Fig. 5 that high instantaneous efciency over a broad range is possible with a unidirectional turbine. A topology that can utilize such a turbine while avoiding valves seems the key to good overall performance. A logical solution is to utilize a turbine that exhibits this feature.

Fig. 1. The Indian near shore OWC plant (circa 1996).

where Hs is the signicant wave height and Tz is the zero crossing period. In India, it can vary from 4 kW/m in December to 40 kW/m in June, July (during the monsoons). (It is emphasized that for an optimal design at a given location, site specic wave data need to be gathered). With an OWC width of 10 m it implies an incident power varying from 40 kW to 400 kW. The efciency of an OWC based plant is given by

h hOWC ht he

(2)

where hOWC is the efciency of the OWC, ht is the turbine efciency and he is the electrical generator efciency. The objective is to arrive at a conguration that can provide a high overall efciency spanning the range of input conditions. The results need to be presented in the form of average electrical power generated spanning the range of incident wave conditions. This is because a high efciency of one component in the chain at one operating condition is likely to be misleading and insufcient to characterize performance. The determination of overall efciency based on Eq. (2) is involved as the OWC efciency is dependent on the damping of the succeeding power module and is inuenced by the incident wave spectrum. The turbine efciency is a nonlinear function of the ow coefcient which in turn is affected by the speed variations of the coupled electrical generator. However, certain simplications such as computation of individual stage efciencies make the computation possible. It is more important to cover the entire span of incident power rather than attempt a time domain model predicting the instantaneous power output given a certain time series of sea elevation. Further, the sea surface elevations are typically measured by a buoy at some distance from the plant and not at the entrance to the OWC. From the possible range of pneumatic powers, we

Exhaust

Intake

Turbine Generator

Fig. 2. OWC based oating plant with valves and unidirectional turbine.

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1 0.9 0.8 0.7 FGV Impulse Turbine LGV Impulse Turbine Wells Turbine Uni-Directional Turbine

Efficiency
Fig. 3. Bidirectional impulse turbine with guide vanes.

0.6 0.5 0.4 0.3 0.2 0.1 0 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Flow Coefficient, phi

4. A new topology for the power module It has been shown that a class of turbines proposed by Takao et al. [25] have the highest efciency for any unidirectional turbine [2628]. They have been specically optimized for variable ow operation and the design and motivation of this turbine are discussed in [25]. Fig. 6 shows the plan view of a proposed conguration for an OWC plant using such a turbine as the power take-off device. Here the OWC is connected to two turbines T1, T2 by a duct which splits into two to accommodate the turbines. Each of the turbines (T1 and T2) is a unidirectional turbine and coupled to a common electrical generator. There are no valves. During intake, the air ows from T1 into the OWC and during exhaust the air exits the OWC via T2. In effect, each turbine works for half a cycle. The pressure ow characteristics of the turbines for two directions are utilized to provide full wave rectication. A brief explanation of the working follows. Consider the pressure-ow characteristics of various turbines considered in the Indian wave energy plant as shown in Fig. 7. The base case design operating point was a 2 m Wells turbine with a ow rate of 35 m3/s and a pressure of 4250 Pa. For comparison, the characteristics of 2 m linked guide vane impulse turbine and a 2 m unidirectional turbine are also shown. Consider now the operating situation if a 1 m impulse turbine is coupled to a 2 m impulse turbine on the same shaft. By the nature of the plant the pressure difference across the turbines must be the same. The ow rates across the turbines will hence be different. In this case it would be about 35 m3/s across the 2 m turbine and 9 m3/s across the 1 m turbine. In effect it is feasible to have two turbines with different ow rates even in the absence of valves. As
Fig. 5. Efciency of three conceptual classes of turbines proposed for wave energy applications [2325].

an extreme example, one could consider no ow across one turbine and all the ow across the other turbine. If we now evaluate the situation with two unidirectional turbines it can be seen that one turbine would be in the proper direction for power transfer and the other would be in a choking mode. With the proper design of guide vanes it should be possible to have choking in the reverse direction of ow. An electrical analogue of the scheme is a full wave rectier with a centre tap transformer and using two diodes. The efciency of the plant is estimated in the sequel by evaluating the efciency of each subsection. 5. Estimation of OWC efciency For a xed geometry, the factors that affect the efciency of the OWC are the input power spectrum and the damping provided by

Fig. 4. Unidirectional impulse turbine with guide vanes.

Fig. 6. Twin unidirectional turbine topology (plan).

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2 1.8

x 104 2m Uni-directional turbine 2m FGV Impulse turbine 1m LGV Impulse turbine 2m Wells Turbine

0.84

Differential Pressure, dp, Pascal

0.82

1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0 0 10 20 30

Capture factor

0.8

0.78

0.76 2m FGV Impulse Turbine 2m Wells Turbine 2m Uni-Directional Turbine 0 50 100 150 200 250 300 350 400 450

0.74

0.72 40 50 60 70 80 90

Wave Power, kW
Fig. 9. Computed OWC efciencies with different turbines.

Volume Flow Rate, dq

Fig. 7. Damping characteristics of the turbines considered.

the power module. As part of the initial design effort of the Indian plant, the OWC characteristics were established with the help of a three dimensional 1:100 model in a 300 mm narrow ume. Tests were done with regular waves for various values of damping [17]. Fig. 8(a) shows the capture factor of the model OWC as a function of damping and incident wave frequency. (The capture factor is the ratio of pneumatic power to the incident wave power). A

1.8 1.6 1.4

1.3 Hz 0.7 Hz 0.8 Hz 0.9 Hz

1.2 1 0.8 0.6 0.4

perspective view of the capture factor is shown in Fig. 8(b). The optimum damping in the model was found to be 4.75 Ns/m. Using Froude scaling, the required damping for the rst prototype (commissioned in 1991) was achieved with a 2 m Wells turbine. It is known that for a given OWC with a xed water column area, the damping is a scaled value of the pressure ow characteristics of different turbines as long as the diameters are the same. [4]. For comparison, the damping provided by the optimum bidirectional 2 m xed guide vane impulse turbine, the proposed 2 m unidirectional turbine conguration, and the original 2 m Wells turbine are shown in Fig. 7. Also shown is the damping of the 1 m linked guide vane impulse turbine that was tested in the plant. The methodology adopted for computing the OWC efciency under random excitation conditions is as follows: It is instructive to consider the differential pressure as the pivotal variable in the analysis of OWC plants. A turbine generator model typically accepts the pressure as an input and estimates the turbine and generator outputs. Similarly, the same time series of pressure can be used in conjunction with model OWC tests to estimate the capture factor. The time series (8 min) for differential pressure used in the analysis is a typical record obtained from the Indian site. Scaled values cover the entire range of wave powers

Capture factor

200 0.2 0 5 10 15 20 25 180 160 2m Uni-Directional Turbine 2m FGV Impulse Turbine 2m Wells Turbine

Damping (N-s/m) Turbine Power, kW

140 120 100 80 60 40 20 0 0 50 100 150 200 250 300 350 400

Pnuematic Power, kW
Fig. 8. (a),Model OWC characteristics [17]; (b), A perspective view of capture factor as inuenced by damping and frequency. Fig. 10. Comparison of turbine powers.

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from 40 kW to 400 kW available. For each cycle of the incident pressure time series, the fundamental frequency, fi is computed and peak value of differential pressure dpim computed in the frequency domain. The dq (ow) for the cycle is determined from the turbine Ca/4 curve. The impedance Zi (based on the fundamental frequency) is determined as

6. Estimation of turbine performance The estimation of the power exported to the grid from a power module is a comparatively well understood task. A SIMULINK model for this purpose has been validated and is described in [30]. The input to the program is the differential pressure across the turbine as obtained from site data. The time series for pressure has been scaled appropriately in order to cover pneumatic excitation possible at site. The Ca vs 4 and Ct vs 4 characteristics of turbines are from [2224]. The program evaluates the expression

Zi

dpim dqim

(3)

This is normalized and expressed in terms of the optimal turbine damping established in the model test. The capture factor (Ci) for this cycle is computed from Fig. 8(a). Extrapolation is done for intermediate values of frequencies. The incident wave power for this cycle is given by

du Tt Tg Tl dt

(6)

wi

n X pi qi i1

Ci

(4)

where n is the number of points per cycle. These values are calculated for all the cycles. The overall capture factor is determined as

hOWC

  N X n pj qj X
i1 j1

wi

(5)

where N is the number of cycles. Fig. 9 shows the computed OWC efciency with the turbines discussed so far. Appendix III shows a validation of the approach based on site data with the twin 1 m Wells and 1 m linked guide vane impulse turbine. It is to be recognized that the procedure described above is required for an impulse turbine as it presents a nonlinear damping to the OWC. One advantage of the Wells turbine is that it presents constant impedance to the OWC, as long as it is operated below the stalling region. The linear pressure drop vs ow characteristic of a Wells turbine makes it inherently easier to optimize the turbine to a given OWC.

where J is the moment of inertia of the system, Tt, Tg are the turbine and generator torques and Tl is the term accounting for losses. This module has been previously validated with data from the 1 m linked guide vane impulse turbine [29,30,]. One important point to note is that the electrical machine is a squirrel cage machine and can be treated as an almost xed speed machine. The details of the machine parameters used for simulation are in Appendix II.,Fig.10 shows the turbine outputs as a function of pneumatic power. It is clear that the unidirectional turbine performs considerably better than the Wells and the xed guide vane impulse turbine. Fig. 11 shows the ow coefcient and the corresponding turbine power for a short span of time during a typical run of 8 min, with the unidirectional turbine when the average turbine power was 113 kW. 7. Results The average turbine power over the range of incident wave conditions for the three classes of turbines is shown in Fig. 12. The corresponding waves to wire efciencies are shown in Fig. 13. The efciencies of the older modules tested at site (twin 1 m Wells, 1 m LGV impulse) are also shown for comparison [3,31].

1.5

Flow Coefficient, phi

0.5

0 150

155

160

165

170

175

180

185

190

195

200

Time, seconds
800

Turbine power, kW

600 400 200 0 150 155 160 165 170 175 180 185 190 195 200

Time, seconds
Fig. 11. The variation of 4 and turbine power for a short span.

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200 180 160 2m Uni-Directional Turbine 2m FGV Impulse Turbine 2m WellsTurbine

140 120 100 80 60 40 20 0 0 50 100 150 200 250 300 350 400 450

Wave Power, kW
Fig. 12. Comparison of turbine powers over the range of wave power.

8. Discussions This work was mainly concerned with predictions based on the Indian wave energy plant. Specically the time variations of incident power are relevant to Indian conditions. The plant is now being used for desalination [32]. The new proposal for twin unidirectional turbines can be directly traced to practical observations of twin Wells turbines, linked self pitched guide vanes and xed guide vane impulse turbines. Refer www.measurements.in/experiments. The overall efciency calculation method proposed here makes full use of the fact that model data for the OWC as well as full scale turbine performance are available. This makes possible the combination of frequency domain computations for the rst stage and time domain modeling for the power module so that predictions can cover the span of available wave power. A purely time domain approach is available in [33] while an alternative approach to turbine damping has been described in [34]. It would be very instructive to adopt a similar procedure for a U-OWC based plant as proposed in [35] which could ensure higher efciency over a broader range of wave power. In any case, the power produced by a twin unidirectional turbine topology considerably exceeds

that from a comparable plant with a single bidirectional turbine. In the analysis it was assumed that choking of one turbine for reverse ow was perfect. It can be appreciated that the results will continue to be good even if some leakage occurs in the reverse direction. One research area that directly emerges is the optimum combination of xed stator guide vane and rotor prole for good ow in one direction with choking in the reverse direction. A further option is to use self pitching guide vanes so designed that the reverse ow is almost fully blocked. A nal manner of evaluating the result is as follows: There has been sufcient experience with elastomeric valves for excess pressure release in the wave energy eld. Using the direction of ow as a control variable, similar powered valves can be used at the two ends open to the atmosphere in the proposed conguration. They are so controlled that at any instant of time only one valve is open. Two unidirectional turbines are needed one for the intake and the other for the exhaust. The preceding analysis (Fig. 12) shows the excess power available in a twin turbine conguration as opposed to a bidirectional turbine. As is obvious, should the power consumed by the valves be a fraction of the additional power available with twin turbines, the new topology will always be a better option. A laboratory prototype of the conguration is being built to conrm the predictions. The work could form the basis of bulk power production such as wind wave systems [36]. 9. Conclusion The efciency of a near shore OWC plant can be obtained as a product of each stage of the energy conversion stage. Frequency domain computations in conjunction with model studies can be used to compute OWC efciency in spite of varying power module damping. The power module performance can be estimated based on a numerical method for solving nonlinear differential equations. A new topology for an OWC based plant was proposed using twin unidirectional impulse turbines. It was shown that wave to wire efciency of the order of 50% is feasible. Data from near shore plants in India and Japan were used to arrive at the design. Acknowledgment V. Jayashankar is greatly indebted to SAGA University for providing an opportunity to be in Saga during June 2006 when this work was initialised. He dedicates this to Prof. Masuda whose Never say die attitude has been a source of inspiration. He thanks Dr. Murugandam and Madhu Mohan of IIT Madras for their help.

Turbine Power, kW

Efficiency from Wave to Wire

0.5

1m Twin Wells Turbine 1m LGV ImpulseTurbine 2m WellsTurbine 2m FGV ImpulseTurbine 2m Uni-Directional Turbine

Appendix I

0.4
Nomenclature Ci: capture factor Ct: torque coefcient Ca: input coefcient b: height of the blade l: chord length(m) r: mean radius a: annular area(m2) R1: stator resistance R2: rotor resistance referred to stator

0.3

0.2

0.1

50

100

150

200

250

300

350

400

450

Wave Power, kW
Fig. 13. Wave to wire efciencies with different power modules.

X1: stator reactance X2: rotor reactance referred to stator rm: shunt resistance

xm: shunt reactance Tl: loss torque N-m. Tg: generator torque y: intermediate computation variable dq: volume ow rate (m3/s) n: number of blades dp: pressure difference across the turbine (Pa) Vx: axial velocity of air (m/s) Tt: gross torque produced by turbine in Nm Greek letters 4: ow coefcient, phi hOWC: capture factor of the caisson

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V. Jayashankar et al. / Renewable Energy 34 (2009) 692698 [4] Curran R, Stewart TP, Whittaker TJT. Design synthesis of oscillating water column wave energy converters: performance matching. Proceedings of the Institution of Mechanical Engineers Part AJournal of Power and Energy 1997; 211:489505. [5] Evans DV, Porter R. Hydrodynamic characteristics of an oscillating water column device. Applied Ocean Research 1995;17:15564. [6] Brendmo A, Falnes J, Lillebekken PM. Linear modeling of OWCs including viscous loss. Applied Ocean Research 1996;18:6575. [7] Greenlaw M, White SP. Optimal heave motion of some axisymmetric wave energy devices in sinusoidal waves. Applied Ocean Research 1997;19:14159. [8] White PRS. A phenomenological design tool for Wells turbines, 1991. In: Seminar on wave energy. Institute of Mechanical Engineers, London, UK. p 5360. [9] Raghunathan S. Performance of the Wells self-rectifying turbine. The Aeronautical Journal 1985;89:36979. 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Appendix II The parameters used in the Simulink model for the three turbines are shown in Table A1.
Table A1 Turbine parameters Wells Mean radius, r (m) b (m) l (m) No. of blades Hub to tip ratio Operating speed (rpm) 0.8 0.4 0.38 8 1/0.6 1000 Impulse 2 m 0.85 0.3 0.36 30 1/0.7 375 Unidirectional 2 m 0.85 0.3 0.36 30 1/0.7 375

The parameters used in the Simulink model for the induction generator are shown in Table A2. The 110 kW machine was used with the Wells turbine. With the 2 m FGV the 110 kW machine works until 180 kW wave power and is changed to a 150 kW machine for higher powers. The 2 m unidirectional turbine used the 150 kW machine for all conditions. The Simulink model is described in Refs. [18,25]. Table A2 Induction generator characteristics Rating (kW) Synchronous speed (rpm) R1 X1 R0 2 0 X2 rm xm 110 1000 0.0123 0.0763 0.00744 0.0763 63.787 2.585 150W 1500 0.00902 0.0763 0.0334 0.0763 63.787 2.585

Appendix III The estimated and measured values for the capture factors of the Indian OWC plant with two different power modules are shown in Fig. A3.
1 0.9 0.8

Capture Factor

0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 1m Twin Wells Turbine, site data 1m LGV Impulse Turbine, site data 1m Twin Wells Turbine, calculated data 1m LGV Impulse Turbine, calculated data 20 40 60 80 100 120 140

Wave Power, kW
Fig. A3. Capture factor of Indian wave energy plant with different power modules.

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