Abstract The power captured by a wave energy converter (WEC) can be greatly increased through the use of a well-conceived wave-by-wave control strategy. Optimal strategies including Model Predictive Control (MPC) rely on a dynamic model of the WEC and prediction of the wave excitation force several seconds into the future. Both the modelling and prediction processes are subject to errors. This study investigates the impact of these errors on the performance of a WEC under MPC. Idealised simulations are conducted to establish a suitable prediction horizon and establish a performance benchmark against an optimally tuned passively damped system. Power increases of over 200% are seen. The assumptions of perfect prediction and system modelling are progressively removed, culminating in multi-body simulation of a specific multi-DOF submerged point absorber WEC with constrained MPC. Under realistic conditions, the power gain is a more modest 30% at best across the tested sea states, demonstrating that these errors have a significant impact on performance. However, the ability to use constraints to limit motion in high energy seas and the tunability of the control law are valuable attributes for practical deployment. Overall the performance gains demonstrate the benefits of such control strategies for application to multi-DOF WECs.

中文翻译：

---

具有模型失配和预测误差的多自由度波浪能转换器的模型预测控制

摘要 通过使用精心设计的逐波控制策略，可以大大增加波浪能转换器 (WEC) 捕获的功率。包括模型预测控制 (MPC) 在内的优化策略依赖于 WEC 的动态模型和对未来几秒钟的波浪激励力的预测。建模和预测过程都存在错误。本研究调查了这些错误对 MPC 下 WEC 性能的影响。进行理想化模拟以建立合适的预测范围，并针对优化调整的被动阻尼系统建立性能基准。可以看到超过 200% 的功率增加。完美预测和系统建模的假设被逐步去除，最终对具有约束 MPC 的特定多自由度淹没点吸收器 WEC 进行多体仿真。在现实条件下，在测试的海况下，功率增益最多只有 30%，这表明这些误差对性能有显着影响。然而，在高能海中使用约束来限制运动的能力和控制律的可调性是实际部署的宝贵属性。总体而言，性能提升证明了这种控制策略应用于多自由度 WEC 的好处。在高能海中使用约束来限制运动的能力和控制律的可调性是实际部署的宝贵属性。总体而言，性能提升证明了这种控制策略应用于多自由度 WEC 的好处。在高能海中使用约束来限制运动的能力和控制律的可调性是实际部署的宝贵属性。总体而言，性能提升证明了这种控制策略应用于多自由度 WEC 的好处。