This paper designs control laws that maximize the harvested power for submerged point absorber wave energy converters (PAWECs) constrained to heave motion. First, a mathematical model of a submerged PAWEC driven by nonlinear hydrodynamic, friction, restoring, and harvested power forces is derived. Second, a new disturbance observer is designed that globally practically exponentially estimate the wave velocity and its time derivatives. Next, the optimal operating points are derived such that when the PAWEC operates at these points, the harvested power is maximized. Fourth, nonlinear control laws are designed to track the optimal operating points based on the proposed disturbance observer and Lyapunov's direct method. In addition to maximize the harvested power, these optimal control laws ensure that the harvested power is always nonnegative; i.e., no power is drawn from the network to the PAWEC at any time. For comparison, a control law that maximizes the hydrodynamic extraction power is also designed. Several simulations are carried out and illustrate that the maximizing harvested power control yields better results than others.

中文翻译：

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使用波浪观测器进行非线性控制，以最大限度地提高点吸收波浪能转换器的收集功率

本文设计了控制律，以最大限度地提高受垂荡运动约束的潜点吸收波能转换器 (PAWEC) 的收获功率。首先，导出了由非线性水动力、摩擦力、恢复力和收集动力驱动的水下 PAWEC 的数学模型。其次，设计了一种新的扰动观测器，可以全局地以指数方式估计波速及其时间导数。接下来，导出最佳操作点，以便当 PAWEC 在这些点操作时，获得的功率最大化。第四，非线性控制律被设计为基于所提出的扰动观测器和李雅普诺夫直接法跟踪最佳操作点。除了最大化收获功率之外，这些最优控制法则还确保收获功率始终为非负值；一世。例如，任何时候都不会从网络向 PAWEC 供电。为了比较，还设计了最大化流体动力提取功率的控制律。进行了几次模拟，并说明最大化收获功率控制产生比其他更好的结果。