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Maintenance Maneuver Automation for an Adapted Cylindrical Shape TEC

Author

Listed:
  • Rafael Morales

    (Escuela de Ingenieros Industriales de Albacete, Universidad de Castilla-La Mancha, 02071 Albacete, Spain)

  • Lorenzo Fernández

    (Escuela de Ingenieros Industriales de Albacete, Universidad de Castilla-La Mancha, 02071 Albacete, Spain)

  • Eva Segura

    (Escuela de Ingenieros Industriales de Albacete, Universidad de Castilla-La Mancha, 02071 Albacete, Spain)

  • José A. Somolinos

    (Escuela Técnica Superior de Ingenieros Navales, Universidad Politécnica de Madrid, 28040 Madrid, Spain)

Abstract

Several manufacturers have developed devices with which to harness tidal/current power in areas where the depth does not exceed 40 m. These are the so-called first generation Tidal Energy Converters (TEC), and they are usually fixed to the seabed by gravity. When carrying out maintenance tasks on these devices it is, therefore, necessary to remove the nacelles from their bases and raise them to the surface of the sea. They must subsequently be placed back on their bases. These tasks require special high performance ships, signifying high maintenance costs. The automation of emersion and immersion maneuvers will undoubtedly lead to lower costs, given that ships with less demanding requirements will be required for the aforementioned maintenance tasks. This research presents a simple two degrees of freedom dynamic model that can be used to control a first generation TEC that has been conceived of to harness energy from marine currents. The control of the system is carried out by means of a water ballast system located inside the nacelle of the main power unit and is used as an actuator to produce buoying vertical forces. A nonlinear control law based on a decoupling term for the closed loop depth and/or orientation control is also proposed in order to ensure adequate behavior when the TEC performs emersion and immersion maneuvers with only hydrostatic buoyancy forces. The control scheme is composed of an inner loop consisting of a linear and decoupled input/output relationship and the vector of friction and compressibility terms and an outer loop that operates with the tracking error vector in order to ensure the asymptotically exponential stability of the TEC posture. Finally, the effectiveness of the dynamic model and the controller approach is demonstrated by means of numerical simulations when the TEC is carrying out an emersion maneuver for the development of general maintenance tasks and an emersion maneuver for blade-cleaning maintenance tasks.

Suggested Citation

  • Rafael Morales & Lorenzo Fernández & Eva Segura & José A. Somolinos, 2016. "Maintenance Maneuver Automation for an Adapted Cylindrical Shape TEC," Energies, MDPI, vol. 9(9), pages 1-16, September.
    • Handle: RePEc:gam:jeners:v:9:y:2016:i:9:p:746-:d:78139
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    References listed on IDEAS

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    1. Bahaj, AbuBakr S., 2011. "Generating electricity from the oceans," Renewable and Sustainable Energy Reviews, Elsevier, vol. 15(7), pages 3399-3416, September.
    2. Schweizer, Joerg & Antonini, Alessandro & Govoni, Laura & Gottardi, Guido & Archetti, Renata & Supino, Enrico & Berretta, Claudia & Casadei, Carlo & Ozzi, Claudia, 2016. "Investigating the potential and feasibility of an offshore wind farm in the Northern Adriatic Sea," Applied Energy, Elsevier, vol. 177(C), pages 449-463.
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    Citations

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    Cited by:

    1. Eva Segura & Rafael Morales & José A. Somolinos, 2017. "Cost Assessment Methodology and Economic Viability of Tidal Energy Projects," Energies, MDPI, vol. 10(11), pages 1-27, November.
    2. Eva Segura & Rafael Morales & José A. Somolinos, 2019. "Influence of Automated Maneuvers on the Economic Feasibility of Tidal Energy Farms," Sustainability, MDPI, vol. 11(21), pages 1-22, October.
    3. Eva Segura & Rafael Morales & José A. Somolinos, 2019. "Increasing the Competitiveness of Tidal Systems by Means of the Improvement of Installation and Maintenance Maneuvers in First Generation Tidal Energy Converters—An Economic Argumentation," Energies, MDPI, vol. 12(13), pages 1-27, June.
    4. Segura, E. & Morales, R. & Somolinos, J.A., 2018. "Economic-financial modeling for marine current harnessing projects," Energy, Elsevier, vol. 158(C), pages 859-880.
    5. Segura, E. & Morales, R. & Somolinos, J.A. & López, A., 2017. "Techno-economic challenges of tidal energy conversion systems: Current status and trends," Renewable and Sustainable Energy Reviews, Elsevier, vol. 77(C), pages 536-550.
    6. del Horno, L. & Segura, E. & Morales, R. & Somolinos, J.A., 2020. "Exhaustive closed loop behavior of an one degree of freedom first-generation device for harnessing energy from marine currents," Applied Energy, Elsevier, vol. 276(C).
    7. Segura, E. & Morales, R. & Somolinos, J.A., 2018. "A strategic analysis of tidal current energy conversion systems in the European Union," Applied Energy, Elsevier, vol. 212(C), pages 527-551.

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