A gradient flow approach for combined layout-control design of wave energy parks

Abstract

Wave energy converters (WECs) represent an innovative technology for power generation from renewable sources (marine energy). Although there has been a great deal of research into such devices in recent decades, the power output of a single device has remained low. Therefore, installation in parks is required for economic reasons. The optimal design problem for parks of WECs is challenging since it requires the simultaneous optimization of positions and control parameters. While the literature on this problem usually considers metaheuristic algorithms, we present a novel numerical framework based on a gradient-flow formulation. This framework is capable of solving the optimal design problem for WEC parks. In particular, we use a low-order adaptive Runge-Kutta scheme to integrate the gradient-flow equation and introduce an inexact solution procedure. Here, the tolerances of the linear solver used for projection on the constraint nullspace and of the time-advancing scheme are automatically adapted to avoid over-solving so that the method requires minimal tuning. We then provide the specific details of its application to the considered WEC problem: the goal is to maximize the average power produced by a park, subject to hydrodynamic and dynamic governing equations and to the constraints of available sea area, minimum distance between devices, and limited oscillation amplitude around the undisturbed free surface elevation. A suitable choice of the discrete models allows us to compute analytically the Jacobian of the state problem's residual. Numerical tests with realistic parameters show that the proposed algorithm is efficient, and results of physical interest are obtained.