Numerical investigation of parametric resonance due to hydrodynamic coupling in a realistic wave energy converter

Representative models of the nonlinear behavior of floating platforms are essential for their successful design, especially in the emerging field of wave energy conversion where nonlinear dynamics can have substantially detrimental effects on the converter efficiency. The spar buoy, commonly used for deep-water drilling, oil and natural gas extraction and storage, as well as offshore wind and wave energy generation, is known to be prone to experience parametric resonance. In the vast majority of cases, parametric resonance is studied by means of simplified analytical models, considering only two degrees of freedom (DoFs) of archetypical geometries, while neglecting collateral complexity of ancillary systems. On the contrary, this paper implements a representative 7-DoF nonlinear hydrodynamic model of the full complexity of a realistic spar buoy wave energy converter, which is used to verify the likelihood of parametric instability, quantify the severity of the parametrically excited response and evaluate its consequences on power conversion efficiency. It is found that the numerical model agrees with expected conditions for parametric instability from simplified analytical models. The model is then used as a design tool to determine the best ballast configuration, limiting detrimental effects of parametric resonance while maximizing power conversion efficiency.

     

A novel method for predicting the power outputs of wave energy converters

This paper focuses on realistically predicting the power outputs of wave energy converters operating in shallow water nonlinear waves. A heaving two-body point absorber is utilized as a specific calculation example, and the generated power of the point absorber has been predicted by using a novel method(a nonlinear simulation method) that incorporates a second order random wave model into a nonlinear dynamic filter. It is demonstrated that the second order random wave model in this article can be utilized to generate irregular waves with realistic crest–trough asymmetries, and consequently, more accurate generated power can be predicted by subsequently solving the nonlinear dynamic filter equation with the nonlinearly simulated second order waves as inputs. The research findings demonstrate that the novel nonlinear simulation method in this article can be utilized as a robust tool for ocean engineers in their design, analysis and optimization of wave energy converters.     

An improved boundary element method for modelling a self-reacting point absorber wave energy converter

A numerical model based on a boundary element method (BEM) is developed to predict the performance of two-body self-reacting floating-point absorber (SRFPA) wave energy systems that operate predominantly in heave. The key numerical issues in applying the BEM are systematically discussed. In particular, some improvements and simplifications in the numerical scheme are developed to evaluate the free surface Green’s function, which is a main element of difficulty in the BEM. For a locked SRFPA system, the present method is compared with the existing experiment and the Reynolds-averaged Navier–Stokes (RANS)-based method, where it is shown that the inviscid assumption leads to substantial over-prediction of the heave response. For the unlocked SRFPA model we study in this paper, the additional viscous damping primarily induced by flow separation and vortex shedding, is modelled as a quadratic drag force, which is proportional to the square of body velocity. The inclusion of viscous drag in present method significantly improves the prediction of the heave responses and the power absorption performance of the SRFPA system, obtaining results excellent agreement with experimental data and the RANS simulation results over a broad range of incident wave periods, except near resonance in larger wave height scenarios. It is found that the wave overtopping and the re-entering impact of out-of-water floating body are observed more frequently in larger waves, where these non-linear effects are the dominant damping sources and could significantly reduce the power output and the motion responses of the SRFPA system.     

Suppression of transients in wave-excited response testing

When a floating body in a wave tank has low hydrodynamic damping, for example in the heave mode, very long duration transient responses can arise if it is excited from a state of rest by sinusoidal waves. Such behaviour can be undesirable when steady state response characteristics are the object of investigation in a numerical tank, because of the consequential need for very long computations. The present paper develops a method for suppressing such transient behaviour in computational models. The success of the approach is demonstrated in the context of the heaving motion of a simple buoy. A linear model of such a buoy initially at rest in a wave tank, excited by propagating sinusoidal waves, is used here for a preliminary investigation of the removal of transients. The technique is then incorporated into a fully nonlinear potential flow simulation of the buoy, and the approach is shown to be effective.     

Numerical study on the dynamics of a two-raft wave energy conversion device

This paper presents a dynamic analysis of a two-raft wave energy conversion device based on the three-dimensional wave radiation-diffraction method. The device consists of two hinged cylindrical rafts of elliptical cross section and a power take-off system at the joint. The effect of raft length, linear damping and spring coefficient in the power take off (PTO) system, axis ratio (ratio of minor axis to major axis of raft elliptical cross section) and raft radius of gyration on wave energy capture factor has been investigated in frequency domain, while the effects of a nonlinear Coulomb power take-off, raft radius of gyration and latching control have been studied in time domain. The difference in the performance of a raft-typed device obtained using a linear damping and a Coulomb damping is also illustrated.     

Aeroelastic inverse: Estimation of aerodynamic loads during large amplitude limit cycle oscillations

This paper presents an algorithm to compute the aerodynamic forces and moments of an aeroelastic wing undergoing large amplitude heave and pitch limit cycle oscillations. The technique is based on inverting the equations of motion to solve for the lift and moment experienced by the wing. Bayesian inferencing is used to estimate the structural parameters of the system and generate credible intervals on the lift and moment calculations. The inversion technique is applied to study the affect of mass coupling on limit cycle oscillation amplitude. Examining the force, power, and energy of the system, the reasons for amplitude growth with wind speed can be determined. The results demonstrate that the influence of mass coupling on the pitch–heave difference is the driving factor in amplitude variation. The pitch–heave phase difference not only controls how much aerodynamic energy is transferred into the system but also how the aerodynamic energy is distributed between the degrees of freedom.     

Hydrodynamic response of tension-leg platforms—A model

The tension-leg platform (TLP) is a hybrid type of offshore platform, fixed for the vertical degrees of freedom and compliant for the horizontal degrees of freedom. The platform structure is connected to the sea-bed foundation by vertical moorings (tension legs) which are kept in tension under all conditions by the excess buoyancy over weight of the platform. Hydrodynamic analysis is an important stage of the design of these structures; model tests are usually done for this purpose. This paper gives the details of an experimental study to analyze the behavior of a 1:50 TLP model subjected to the action of regular and irregular waves. Platform motions in surge, sway and heave directions were measured using accelerometers. Tether tensions were measured using specially developed load cells. Details of instrumentation, testing and analysis to obtain response amplitude operators (RAOs) are explained. The connection of tether to the column, arrangement for adjusting pretension from top, connection of load cell to the tether and provision for changing the angle of incidence of waves are some special features of this experimental study. The work reported will serve as a useful practical guide for similar types of experimental study. In addition, the conclusions on the comparison of RAOs of the model for regular and irregular waves will be useful in planning hydrodynamic model tests.     

SPH for 3D floating bodies using variable mass particle distribution

A floating body with substantial heave motion is a challenging fluid–structure interaction problem for numerical simulation. In this paper we develop SPH in three dimensions to include variable particle mass distribution using an arbitrary Lagrange–Eulerian formulation with an embedded Riemann solver. A wedge or cone in initially still water is forced to move with a displacement equal to the surface elevation of a focused wave group. A two‐dimensional wedge case is used to evaluate two forms of repulsive‐force boundary condition on the body; the force depending on the normal distance from the object surface produced closer agreement with the experiment. For a three‐dimensional heaving cone the comparison between SPH and experiment shows excellent agreement for the force and free surface for motion with low peak spectral frequencies while for a higher peak frequency the agreement is reasonable in terms of phase and magnitude, but a small discrepancy appears at the troughs in the motion. Capturing the entire three‐dimensional flow field using an initially uniform particle distribution with sufficiently fine resolution requires an extremely large number of particles and consequently large computing resource. To mitigate this issue, we employ a variable mass distribution with fine resolution around the body. Using a refined mass distribution in a preselected area avoids the need for a dynamic particle refinement scheme and leads to a computational speedup of more than 600% or much improved results for a given number of particles. SPH with variable mass distribution is then applied to a single heaving‐float wave energy converter, the ‘Manchester Bobber’, in extreme waves and compared with experiments in a wave tank. The SPH simulations are presented for two cases: a single degree‐of‐freedom system with motion restricted to the vertical direction and with general motion allowing six degrees‐of‐freedom. The motion predicted for the float with general motion is in much closer agreement with experimental data than the vertically constrained system. Using variable particle mass distribution is shown to produce close agreement with a computation time 20% of that required with a uniformly fine resolution. Copyright © 2012 John Wiley & Sons, Ltd.     

What does head movement tell about the minimum number of mechanical degrees of freedom in quiet human stance?

In this study, we checked experimentally whether anterior–posterior accelerations of the head during quiet human stance are usually below or above known thresholds of the otolith sensor. Thereto, we measured head kinematics with high spatial resolution. Furthermore, we used both these experimental data and computer simulations of two double inverted pendulum (DIP) models in order to verify the validity of DIP models in general. The results are clear cut. First, not only are acceleration thresholds regularly exceeded about once a second but also are velocity thresholds exceeded, albeit probably less frequently. Second, COM and head movement predicted by interwoven DIP model dynamics can not reproduce the mean measured amplitudes at once. Thus, neither the formerly promoted single inverted pendulum nor any DIP model can causally explain the dynamics of quiet human stance. Instead, we suggest to factor in at least three mechanical degrees of freedom. Due to a couple of reasons discussed, the triple inverted pendulum (TIP) model seems to be a promising abstraction implying potential to better understand the dynamics of quiet human stance.     

Modelling and analysis of a single gimbal gyroscopic energy harvester

This work investigates the non-linear dynamics of a single gimbal gyroscopic energy harvester, excited by a harmonic moment about 1 and 2 axes simultaneously. The governing equations of motion are derived and a numerical model is developed to analyse the forced system response in all three rotational degrees of freedom. Simulations showing the effect of the harmonic forcing frequency and the gyroscopic damping are presented. The results identify the characteristic motion responses and available power of a single gimbal gyroscopic energy harvester including the development of the non-linear responses.     

翼型颤振压电俘能器的输出特性研究

压电俘能器能够为自然界中低功率的微机电系统持续供能. 为了模拟机翼的沉浮?俯仰二自由度运动和有效俘获气动弹性振动能量, 本文提出一种新颖的翼型颤振压电俘能器. 基于非定常气动力模型, 推导翼型颤振压电俘能器流?固?电耦合场的数学模型. 建立有限元模型, 模拟机翼的沉浮?俯仰二自由度运动, 获得机翼附近的涡旋脱落和流场特性. 搭建风洞实验系统, 制作压电俘能器样机. 利用实验验证理论和仿真模型的正确性, 仿真分析压电俘能器结构参数对其气动弹性振动响应和俘获性能的影响. 结果表明: 理论分析、仿真模拟和实验研究获得的输出电压具有较好的一致性, 验证建立数学和仿真模型的正确性. 仿真分析获得机翼附近的压力场变化云图, 表明交替的压力差驱动机翼发生二自由度沉浮?俯仰运动. 当风速超过颤振起始速度时, 压电俘能器发生颤振, 并表现为极限环振荡. 当偏心距为0.3和风速为16 m/s时, 可获得最大输出电压为17.88 V和输出功率为1.278 mW. 功率密度为7.99 mW/cm3, 相比较于其他压电俘能器, 能实现优越的俘获性能. 研究结果对设计更高效的翼型颤振压电俘能器提供重要的指导意义.      

垂荡双气室振荡水柱波能装置水动力特性研究

振荡水柱(OWC)波能转换装置因其结构简单、便于安装维护等特点, 被公认为最具应用前景的波能转换技术. 本研究以垂荡式双气室OWC波能转换装置为研究对象, 借助开源代码平台OpenFOAM及基于interFoam求解器开发的造/消波工具箱waves2Foam, 采用流体体积法(VOF)捕捉自由面和六自由度(6DOF)动网格求解器模拟垂荡运动响应, 数值研究在不同入射规则波作用下, 前后气室相对宽度、弹簧弹性系数对装置捕能宽度比及水动力特性的影响规律. 通过与已有的固定情况下的双气室OWC装置结果对比, 并通过对比自由衰减运动响应验证动网格技术, 揭示了本研究中数值模型的合理性和有效性. 计算结果表明, 较宽的后气室结构布置有利于双气室振荡水柱装置在垂荡状态下的波能提取; 前后气室宽度比为1/2时, 垂荡式双气室OWC装置在测试波频段具有最优的捕能宽度比; 相较于固定状态, 垂荡装置的后气室在中高波频段有着更高的捕能宽度比; 装置前后气室内水柱与OWC装置垂荡运动间存在的相位差使得气室内水面相对振幅和相对压强在测试波频段存在多峰值现象, 进一步发现弹装置通过垂向弹簧进行相位控制, 可显著拓宽高效频谱带, 实现较大的捕能宽度比.      

On forced oscillations of a simple model for a novel wave energy converter

The dynamics of a simple model for an ocean wave energy converter is discussed. The model for the converter is a hybrid system consisting of a pair of harmonically excited mass–spring–dashpot systems and a set of four state-dependent switching rules. Of particular interest is the response of the model to a wide spectrum of harmonic excitations. Partially because of the piecewise-smooth dynamics of the system, the response is far more interesting than the linear components of the model would suggest. As expected with hybrid systems of this type, it is difficult to establish analytical results, and hence, with the assistance of an extensive series of numerical integrations, an atlas of qualitative results on the limit cycles and other forms of bounded oscillations exhibited by the system is presented. In addition, the presence of unstable limit cycles, the stabilization of the unforced system using low-frequency excitation, the peculiar nature of the response of the system to high-frequency excitation, and the implications of these results on the energy harvesting capabilities of the wave energy converter are discussed.     

An improved depth-averaged nonhydrostatic shallow water model with quadratic pressure approximation

Phase-resolved information is necessary for many coastal wave problems, for example, for the wave conditions in the vicinity of harbor structures. Two-dimensional (2D) depth-averaging shallow water models are commonly used to obtain a phase-resolved solution near the coast. These models are in general more computationally effective compared with computational fluid dynamics software and will be even more capable if equipped with a parallelized code. In the current article, a 2D wave model solving the depth-averaged continuity equation and the Euler equations is implemented in the open-source hydrodynamic code REEF3D. The model is based on a nonhydrostatic extension and a quadratic vertical pressure profile assumption, which provides a better approximation of the frequency dispersion. It is the first model of its kind to employ high-order discretization schemes and to be fully parallelized following the domain decomposition strategy. Wave generation and absorption are achieved with a relaxation method. The simulations of nonlinear long wave propagations and transformations over nonconstant bathymetries are presented. The results are compared with benchmark wave propagation cases. A large-scale wave propagation simulation over realistic irregular topography is shown to demonstrate the model's capability of solving operational large-scale problems.     

一种新的高阶弹簧-阻尼-质量边界——-无限域圆柱对称波动问题

提出一种描述力-位移时间卷积关系的高阶弹簧-阻尼-质量模型,并将其作为人工边界条件直接应用于弹性动力学无限域圆柱对称运动问题的时域数值求解. 该人工边界条件不存在旁轴近似、多次透射等位移型外推人工边界条件普遍存在的高、低频失稳问题;与黏性、黏弹性边界等应力型人工边界条件相比,它具有高阶精度,且是严格高、低频双渐近的,也可以退化到黏性、黏弹性边界;该边界可以像黏性、黏弹性边界一样利用商用有限元软件中内置的并联弹簧-阻尼器、质量单元和时间积分求解器在商用软件中方便地实现,便于研究人员和工程师应用. 分析的几个简单数值算例也验证了该边界条件的上述优点.      

A classification of higher-order strain-gradient models – linear analysis

Summary  The use of higher-order strain-gradient models in mechanics is studied. First, existing second-gradient models from the literature are investigated analytically. In general, two classes of second-order strain-gradient models can be distinguished: one class of models has a direct link with the underlying microstructure, but reveals instability for deformation patterns of a relatively short wave length, while the other class of models does not have a direct link with the microstructure, but stability is unconditionally guaranteed. To combine the advantageous properties of the two classes of second-gradient models, a new, fourth-order strain-gradient model, which is unconditionally stable, is derived from a discrete microstructure. The fourth-gradient model and the second-gradient models are compared under static and dynamic loading conditions. A numerical approach is followed, whereby the element-free Galerkin method is used. For the second-gradient model that has been derived from the microstructure, it is found that the model becomes unstable for a limited number of wave lengths, while in dynamics, instabilities are encountered for all shorter wave lengths. Contrarily, the second-gradient model without a direct link to the microstructure behaves in a stable manner, although physically unrealistic results are obtained in dynamics. The fourth-gradient model, with a microstructural basis, gives stable and realistic results in statics as well as in dynamics. Received 13 June 2001; accepted for publication 6 November 2001     

A time-domain high-order spectral finite element for the simulation of symmetric and anti-symmetric guided waves in laminated composite strips

A time domain spectral finite element is developed for improving the efficiency of numerical simulations of guided waves in laminated composite strips. The finite element relies on a new generalized laminate mechanics model formulated to represent symmetric and anti-symmetric Lamb waves. The laminate mechanics incorporate third-order polynomial terms for the approximation of axial and transverse displacement fields through the thickness and consider the displacements of the upper and lower surfaces as degrees of freedom. The laminate theory formulation is easily expanded to a high-order layerwise model. Based on the resultant governing equations of the laminate section, a new finite element with 8 nodal degrees of freedom is formulated; its nodes are collocated with Gauss–Lobatto–Legendre integration points in order to improve computational efficiency. Stiffness and mass matrices are assembled and the transient response is predicted using the explicit central differences time integration scheme. The transient response of Aluminum, Carbon Fiber Reinforced Polymer laminated and sandwich strips is investigated. Numerical results are validated against a semi-analytical solution. The accuracy and computational efficiency of the introduced element regarding the prediction of symmetric and anti-symmetric wave propagation is also quantified.     

Static and stability analyses of arbitrary straight-sided quadrilateral thin plates by DQM

A differential quadrature (DQ) methodology is employed for the static and stability analysis of irregular quadrilateral straight-sided thin plates. A four-noded super element is used to map the irregular physical domain into a square computational domain. Second order transformation schemes with relative ease and low computational effort are employed to transform the fourth order governing equations of thin plates between the domains. Within the domain, the displacements are the only degrees of freedom whereas, along the boundaries, the displacements as well as the second order derivatives of the displacements with respect to the associated normal coordinate variables in the computational domain are the two sets of degrees of freedom. The implementation procedures for different boundary conditions including free-edge boundaries are formulated. To demonstrate the accuracy, convergency and stability of the methodology, detailed studies of skewed and trapezoidal plates for different geometries under different boundary and loading conditions are made. Good agreement is achieved between the results of the present methodology and those of other DQ methodologies or other comparable numerical algorithms.     

Multiscale coupling of compliant and rigid walls blood flow models

Numerical methods based on geometrical multiscale models of blood flows solve for averaged flow statistics on a network of vessels while providing more detailed information about fluid dynamics in a specific region of interest. In such an approach, a 3D model based on the Navier–Stokes equations posed in a domain with rigid walls is often used to describe blood flow dynamics in the refined region. While ignoring elasticity effects in 3D models is plausible in certain applications and saves computational time significantly, coupling such models with 1D flow models may result in non‐physiological phenomena in the computed solutions. Thus, the immediate coupling conditions based on continuity of normal stresses, flow rate, pressure, or a combination of thereof do not account for the inconsistency between elasticity effects in the 1D model and the non‐compliance of the 3D model. In this paper, we introduce and study an auxiliary absorbing 0D model, which is placed at the interface between 1D and 3D models. A virtual device mimics the effect of the 3D model compliance and hence reduces pressure wave reflection and instabilities caused by the inconsistency. The absorbing model is developed from basic mechanical principles. As a result, parameters of the 0D model can be designed based on hemodynamic data. We analyze the stability of the geometrical multiscale model and perform several numerical experiments to assess its computational efficiency. Copyright © 2016 John Wiley & Sons, Ltd.