Abstract A wave energy converter (WEC) needs an active control strategy to maximise efficiency in a wide range of operating conditions. Many control strategies require knowledge of the wave excitation force, a quantity which cannot be measured in operation. In this study, two methods based upon Kalman filters are tested with an experimental 1:25th scale multiple degree-of-freedom WEC. A stochastic and a periodic Kalman estimator are implemented, using only quantities which are measurable in practice. Methods for tuning the estimators are discussed, and sensitivity to nonlinearity in the WEC and to unmodelled effects including quadratic viscous damping are established. The advantages of each method are compared, and excellent quality estimation results are obtained using both methods. Both methods are verified for use with advanced control strategies to improve power capture in WECs.

中文翻译：

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实验性多自由度 WEC 的实时波激振力估计

摘要 波浪能转换器 (WEC) 需要一种主动控制策略，以在各种操作条件下最大限度地提高效率。许多控制策略需要波激振力的知识，这是一个无法在操作中测量的量。在本研究中，使用实验性 1:25 比例多自由度 WEC 测试了基于卡尔曼滤波器的两种方法。实施随机和周期性卡尔曼估计器，仅使用在实践中可测量的数量。讨论了调整估计量的方法，并建立了对 WEC 中的非线性和包括二次粘性阻尼在内的未建模效应的敏感性。比较了每种方法的优点，并使用这两种方法获得了出色的质量估计结果。