The design of controllers for wave energy devices has evolved from early monochromatic impedance-matching methods to complex numerical algorithms that can handle panchromatic seas, constraints, and nonlinearity. However, the potential high performance of such numerical controller comes at a computational cost, with some algorithms struggling to implement in real-time, and issues surround convergence of numerical optimisers. Within the broader area of control engineering, practitioners have always displayed a fondness for simple and intuitive controllers, as evidenced by the continued popularity of the ubiquitous PID controller. Recently, a number of energy-maximising wave energy controllers have been developed based on relatively simple strategies, stemming from the fundamentals behind impedance-matching. This paper documents this set of (5) controllers, which have been developed over the period 2010–2020, and compares and contrasts their characteristics, in terms of energy-maximising performance, the handling of physical constraints, and computational complexity. The comparison is carried out both analytically and numerically, including a detailed case study, when considering a state-of-the-art CorPower-like device.

中文翻译：

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比较波能设备的简单控制器

波浪能设备控制器的设计已从早期的单色阻抗匹配方法发展为可以处理全色海域，约束和非线性的复杂数值算法。然而，这种数值控制器的潜在高性能是以计算成本为代价的，其中一些算法难以实时实现，并且问题围绕数值优化器的收敛。在广泛的控制工程领域中，从业人员一直对简单直观的控制器表现出浓厚的兴趣，无所不在的PID控制器的持续流行证明了这一点。最近，基于阻抗匹配的基本原理，已经基于相对简单的策略开发了许多能量最大的波浪能控制器。本文记录了这套（5）控制器，它们是在2010-2020年期间开发的，并就能量最大化的性能，物理约束的处理和计算复杂性方面进行了比较和对比。当考虑使用最先进的类似CorPower的设备时，将进行分析和数值比较，包括详细的案例研究。