The implementation of energy maximising control systems (EMCSs) in wave energy converter (WEC) devices is an important step towards commercially viable operation of WECs. During the design stage of such EMCSs, linear hydrodynamic models are commonly used and are, in fact, the most viable option due to the real–time computational requirements of optimisation routines associated with energy-maximising optimal control techniques. However, the objective function of EMCSs, i.e. maximising the generated power by exaggerating WEC motion, inherently violates the underlying assumption of the linear hydrodynamic control design models, i.e. small amplitude device motion (compared to the device dimensions). Consequently, the linear models, used as a basis for EMCSs, in fact conspire to violate the very assumption upon which they were built - hence leading to a modelling paradox. It is important to evaluate WEC controllers in realistic physical or numerical environments, to gain knowledge of the disparity between the performance prediction from the EMCS design and performance evaluation models. This paper presents a comprehensive assessment of the performance prediction by a linear and non–linear hydrodynamic model of three different EMCSs, implemented in two different WEC structures, in an attempt to quantify the severity of this modelling disparity, or paradox.

波浪能转换器（WEC）设备中的能量最大化控制系统（EMCS）的实施是WEC走向商业可行的重要一步。在此类EMCS的设计阶段，通常使用线性流体动力学模型，实际上，由于与能量最大化的最佳控制技术相关的优化例程的实时计算要求，线性模型是最可行的选择。但是，EMCS的目标函数（即通过夸大WEC运动最大化发电量）固有地违反了线性流体动力控制设计模型的基本假设，即小幅度的设备运动（与设备尺寸相比）。因此，用作EMCS的基础的线性模型实际上密谋违反了建立它们的假设，因此导致了建模悖论。重要的是，在现实的物理或数字环境中评估WEC控制器，以了解EMCS设计的性能预测与性能评估模型之间的差异。本文通过在两个不同的WEC结构中实施的三个不同EMCS的线性和非线性流体动力学模型，对性能预测进行了全面评估，以试图量化这种建模差异或悖论的严重性。