Professional Documents
Culture Documents
Aachen 2010
Yukio Kamizuru
RWTH Aachen University, Germany, Institute for Fluid Power Drives and Controls (IFAS)
Matthias Liermann
RWTH Aachen University, Germany, Institute for Fluid Power Drives and Controls (IFAS)
now at the American University of Beirut, Lebanon
Hubertus Murrenhoff
RWTH Aachen University, Germany, Institute for Fluid Power Drives and Controls (IFAS)
ABSTRACT
This paper gives an overview of different wave energy converter concepts. Due to their variety a
benchmark is conducted to provide a foundation for a systematic comparison of different
converter types. The benchmarking shows the advantages of wave power plants, where multiple
converters feed a pipeline, which is used to generate electricity centralised onshore.
The second part of the paper explains the modelling of a wave energy converter with hydraulic
power transmission. For this the mathematical model of ocean waves is discussed. To enhance
environmental and stability aspects of the converter an open, seawater based, hydraulic circuit
is developed and simulated.
NOMENCLATURE
η surface elevation m
ω angular frequency rad/s
a acceleration m/s²
dv,prop damping coefficient Ns/m
D damping force N
7th International Fluid Power Conference 2
Aachen 2010
1 INTRODUCTION
Aachen 2010
This paper gives an introduction to the ocean wave energy resource and its
mathematical characterisation. Followed by a short overview of selected WEC concepts
and a benchmark, which considers stability and maintainability, a simulation
environment for WEC is explained.
No wave is like the other. The physics of ocean waves is so complex that even with the
state of the art calculation of physical processes, simple variables like the velocity of
water particles, the pressure field or surface elevation do not reflect the reality in a
satisfactory way /Gra95/. The difficulty of understanding the physics of a real wave
results from the fact that the wind-borne ocean waves are a superposition of waves with
a variety of frequencies travelling at different speeds and from different directions.
Moreover the effects of the seabed on the movement of water particles are hard to be
considered in mathematic equations. Some abstractions which have to be made, in
order to mathematically describe the waves, are discussed in the following section.
The most common and simplest way to describe a wave is the application of the Airy
wave theory, also called linear theory /Cha05/. It is mainly based on the assumption of
potential flow, an even, solid sea bed, and infinitely small waves. The linear theory
reduces a wave to a sinusoidal curve /Sor93/:
H
cos(kx t ) (1)
2
Where η is the surface elevation at the specified time t and horizontal coordinate x.
H defines the amplitude of the wave. For WECs, in contrast to ships or offshore
platforms, the velocity of water particles and the pressure field below the surface are of
particular interest. The particle trajectories determined by the linear theory describe
closed orbits. By applying higher order theories a more realistic assumption can be
made. These take into account that wave crests are steeper than troughs and particle
orbits are not closed. The resulting net mass transport is called Stokes-drift.
7th International Fluid Power Conference 4
Aachen 2010
example
direction of travel particle orbit
Figure 1 shows particle trajectories calculated with the so called second order Stokes
theory. One can see that the particle displacement decreases with water depth. The
same applies to the variation of pressure below the surface. The particle movement
corresponds to the kinetic energy of the wave, the pressure at a certain depth
corresponds to the potential energy. These findings explain why it is necessary to place
WECs close to the water surface, where the highest amount of energy can be captured.
Conversion principles can be roughly divided into three different categories: point
absorbers (PA), attenuators and terminators /Cru08/. Figure 2 illustrates the three
categories by an example each.
Point absorber Attenuator Terminator
Example
/Gra95/
Figure 2: Classification and examples of WEC
The three classes of WECs describe the relationship of the structure to the incident
wave front. A point absorber is usually axis symmetric to the heave axis and small
compared to the wave lengths. The picture in Figure 2 shows a submerged PA, which
extracts power from waves by using the pressure differences of crests and troughs. A
gas filled chamber is used as a spring to provide the restoring force needed for the
upward movement under troughs.
7th International Fluid Power Conference 5
Aachen 2010
Attenuators are characterised by their great length and the alignment with the direction
of travel of the incoming waves. The attenuator shown in Table 1 consists of a row of
pontoons, connected to each other by hinges and cylinders, which provide the damping.
This floating concept is called the Cockerell Raft and utilises the relative movement of
the pontoons to extract energy from the waves /Gra95/.
The terminator illustrated in Figure 2 comprises a flap connected through hinges to a
base, which is mounted on the sea bed. The terminator uses, like the Cockerell Raft,
cylinders as the damping mechanism. The flap can be designed as a lifting body, which
provides the restoring force, making a spring needless. The velocity of the water
particles exerts a force on the flap and causes its movement
The main thing most WEC have in common is the principle of absorption. Waves induce
an oscillating motion to a spring mass damper system. Hence a cylinder or linear
generator can be applied to facilitate the power take-off (PTO).
In this section two different approaches are presented, which mainly differ in the point
where the mechanical energy is ideally converted into electricity. If wave energy is
converted into electricity in each WEC the authors refer to a decentralised system. The
opposite is the transportation of fluid power energy to a remote location, for example
with a pipeline, and to convert it into electricity inside a station. This method will be
referred to as a centralised system. Both approaches have their justification, but for
many cases the advantages of the centralised are on hand: Many converters can be
used to feed a pipeline, which transmits the absorbed wave power through a fluid
onshore. There, one or more turbines are used to generate electricity. This strategy,
also called manifolding, can reduce the mechanical and electrical complexity of the WEC
and hence contributes to the systems stability and maintainability since vulnerable
components are placed safely onshore. Figure 3 illustrates the differences of centralised
and decentralised systems and clarifies their complexity as well.
7th International Fluid Power Conference 6
Aachen 2010
Aachen 2010
This chapter compares different WEC concepts and introduces a benchmark, which
considers the technological complexity of possible WEC configurations. The benchmark
considers the three above mentioned representative concepts.
In recent years, survivability problems of ocean wave energy devices prevailed. Since
maintenance data of long term operation of wave farms is yet unavailable, the
benchmark is focussed on the stability and robustness of the systems. Table 1 gives an
overview of the criteria, their approximate weighting and influence factors.
criteria weight influence factors
electric simplicity 40% number of electric components on board
mechanic simplicity 20% number of mechanic PTO components on board
maintainability/accessability 15% distance to shore, location in water
risk of damage 15% size of WEC, survivability
effects of damage 10% used fluid, urgency of recovery, effect on farm
sum 100%
Regarding the simplicity of the electric setup a concept with centralised electricity
generation has the greatest advantage. Vulnerable electric components are located
onshore and easy to reach for maintenance. Since a pipeline is needed, the centralised
electricity generation is more likely to be utilised for near-shore WECs, which is a
limitation for these systems. An additional feature is the usage of an open seawater
based circuit. Expensive return lines and working fluids are unnecessary, leading to
7th International Fluid Power Conference 8
Aachen 2010
Aachen 2010
forecasted. A tailor made concept, which combines different types of WECs according to
the characteristics of the desired location, could lead to an optimal layout of a wave
energy plant.
Each of the earlier introduced WEC concepts utilises a different absorption mechanism.
Namely the pressure difference under wave trains (submerged PA), hydrodynamics on
the water surface (Cockerell Raft), and the velocity of water particles (terminators). For
an initial setup of a WEC simulation, the absorption mechanism has to be modelled in
such a way that the mathematical description can be used within simulation software.
For this reason the concept of a submerged PA was chosen, because of the
uncomplicated determination of the force from the pressure on top of the device. Since
the simulation is structured modularly, the absorption principle can be exchanged
quickly, once a model for the specified WEC is developed. Figure 4 shows the structure
of the WEC simulation.
F , x , x , x
/Sor93/
Aachen 2010
Aachen 2010
time delay of the forces upon the single absorbers. With the simulation it is now possible
to model different wave energy converters and design the hydraulic components
according to an incoming regular wave. Figure 6 depicts both the surface elevation
caused by a wave and the displacement of eight absorbers. The varying behaviour of
single absorbers results mainly from the transient effect at the beginning of the
simulation.
Wave parameter:
H=3m
T = 10 seconds
CONCLUSION
In this paper different concepts of how to extract energy from ocean waves were
introduced. The wave energy resource was described and a model for a mathematical
abstraction of waves was given. A short overview of existing concepts with decentralised
electricity generation was followed by the introduction of a method called manifolding to
connect single absorbers feeding a central power generation station. Focussing primarily
on the stability and survivability, a comparison between wave energy converters was
used in order to create a benchmark. The result shows advantages on the side of sea
bed mounted converters that employ lifting bodies, such as air filled chambers, and
7th International Fluid Power Conference 12
Aachen 2010
central electricity generation to achieve first experiences in long term operation of WEC.
Based on these results a simulation model was set up at IFAS in order to analyse
different absorption mechanisms and to employ a centralised system. Further research
will include the variation of sea conditions and a deeper analysis of the implemented
components inside a wave farm.
ACKNOWLEDGEMENT
The authors would like to thank Matthias Schramm and Rasmus Börchers for the
assistance within this project.
REFERENCES