Li, T., Zhang, M., Yu, S. R., & Yuan, Z. M. (2022, June). Real-Time Control of WECs Based on NAR, NARX and LSTM Artificial Neural Network. In The 32nd International Ocean and Polar Engineering Conference. OnePetro.
In order to control the motion of floating bodies and produce power at the same time, hydrodynamics and some control algorithms need to be considered here.
Hinged bodies have the same motion in constrained directions at the hinge point.
Model Predictive Control
Model predictive control is a perfect tool to realize real-time control.
Floating wind turbine
The motion of floating wind turbines is much larger than the fixed ones.
Pontryagin's Maximum Principle tells us how to maximize the cost function in limited time horizion.
The fluid memory effects in time-domain motion can be fitted by Cummins equation.
Latching control allows device to "wait for" the wave force; declutching control allows device to "catch up" the wave.
The increase in power absorption is realized as a "side effect" of the motion reduction of the Spar-type substructure.