Research Article

Mathematical Framework for Hydromechanical Time-Domain

Simulation of Wave Energy Converters

1
J. Seixas de Medeiros and S. Brizzolara2
1
Massachusetts Institute of Technology, 77 Massachusetts Avenue, Room 5-423, Cambridge, MA 02139, USA
2
Virginia Tech, Randolph Hall, RM 332-4, 460 Old Turner St., Blacksburg, VA 24061, USA

Correspondence should be addressed to J. Seixas de Medeiros; joaosm@mit.edu

Received 1 September 2017; Accepted 7 December 2017; Published 17 January 2018

Academic Editor: Renata Archetti

Copyright © 2018 J. Seixas de Medeiros and S. Brizzolara. This is an open access article distributed under the Creative Commons
Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is
properly cited.

Efficient design of wave energy converters based on floating body motion heavily depends on the capacity of the designer
to accurately predict the device’s dynamics, which ultimately leads to the power extraction. We present a (quasi-nonlinear)
time-domain hydromechanical dynamic model to simulate a particular type of pitch-resonant WEC which uses gyroscopes for
power extraction. The dynamic model consists of a time-domain three-dimensional Rankine panel method coupled, during time
integration, with a MATLAB algorithm that solves for the equations of the gyroscope and Power Take-Off (PTO). The former acts
as a force block, calculating the forces due to the waves on the hull, which is then sent to the latter through TCP/IP, which couples
the external dynamics and performs the time integration using a 4th-order Runge-Kutta method. The panel method, accounting for
the gyroscope and PTO dynamics, is then used for the calculation of the optimal flywheel spin, PTO damping, and average power
extracted, completing the basic design cycle of the WEC. The proposed numerical method framework is capable of considering
virtually any type of nonlinear force (e.g., nonlinear wave loads) and it is applied and verified in the paper against the traditional
frequency domain linear model. It proved to be a versatile tool to verify performance in resonant conditions.

1. Introduction The most common approach to study the body’s motion

→
󳨀󳨀
is to assume harmonic inputs (i.e., force 𝑋𝑖 cos( 𝑘→
𝑥 − 𝜔𝑡 + 𝜖𝑓 )
We will first introduce the standard mathematical approach →󳨀→
followed to evaluate performance of wave energy converters 󳨀
due to an incident regular wave 𝐴 cos( 𝑘 𝑥 − 𝜔𝑡)), for which
(WECs), whose design requires early quantification of the the linear equation of motion, with frequency 𝜔, becomes
new device’s power extraction capabilities. Concepts which 6
rely on a floating body’s motion in waves for power extraction ∑ 𝜉𝑗 [−𝜔2 (𝑀𝑖𝑗 + 𝑎𝑖𝑗 (𝜔)) + 𝑖𝜔𝑏𝑖𝑗 (𝜔) + 𝑐𝑖𝑗 ] = 𝐴𝑋𝑖 . (1)
have taken advantage of methods created to simulate motion 𝑗=1
of ships and offshore structures. The very first objective is The linearization of the motion allows a decomposition
to tune the converter’s natural frequency (of its translation of the total fluid potential as a summation of the classical
and rotation considered motions) with the predominant wave radiation and diffraction wave potentials [1]. The former
period from the operating site spectrum. Traditionally, the models the waves generated by the moving body (with the
waves and equations of motion are linearized (i.e., small same frequency as the incident wave) in calm water. It can
wave amplitude and body motion compared to the device’s be represented by the summation of each degree of freedom
nominal size), potential flow is assumed with Laplace as (DoF) displacement, subject to its own body BC [2].
the governing equation (i.e., ∇2 𝜙 = 0), and the resulting
linear Boundary Value Problem (BVP) to be solved for is 𝜕𝜙𝑆
𝜙 = 𝜙𝑅 + 𝜙𝐷 = 𝜙𝑅 + 𝜙𝐼 + 𝜙𝑆 , where = 0. (2)
summarized in Table 1. 𝜕𝑛
2 Mathematical Problems in Engineering

Table 1: Boundary Value Problem (BVP) for a floating body in finite and infinite depth.

Boundary condition Finite depth (−ℎ < 𝑧 < 0) Infinite depth (ℎ → ∞)

𝜕𝜙
Bottom = 0 at 𝑧 = −ℎ ∇𝜙 → 0 as 𝑧 → −∞
𝜕𝑧
𝜕𝜙 𝜕𝜂
Free-surface kinematic = = 0 at 𝑧 = 0
𝜕𝑧 𝜕𝑡
𝜕𝜙
Free-surface dynamic + 𝑔𝜂 = 0 at 𝑧 = 0
𝜕𝑡
𝜕𝜙
Floating body = V𝑛 at 𝑆𝑏
𝜕𝑛
Radiation condition 𝜙, ∇𝜙 → 0 as |𝑥, 𝑦| → ∞

∞
The radiation potential is 𝑏𝑖𝑗 (𝜔) = ∫ 𝐾 (𝑡) cos (𝜔𝑡) 𝑑𝜔,
0
6
𝜙𝑅 = 𝑖𝜔∑ 𝜉𝑗 𝜙𝑗 , 2 ∞
𝐾𝑖𝑗 (𝜏) = ∫ 𝑏 (𝜔) cos (𝜔𝑡) 𝑑𝜔.
𝑗=1
(3) 𝜋 0 𝑖𝑗
𝜕𝜙𝑗 (6)
= 𝑛𝑗 , Finally, to solve the BVP stated in Table 1 and find the
𝜕𝑛
potential 𝜙 on the body, the second Green identity is used.
where 𝑛𝑗 is the normal vector → 󳨀𝑛 pointing out of the body and
WAMIT, an industry standard frequency domain Boundary
into the fluid for 𝑗 = 1, 2, 3 and →󳨀
𝑥 ×→ 󳨀𝑛 for 𝑗 = 4, 5, 6. The Element Method (BEM) code, presents the equation in the
added-mass and damping come from the real and imaginary form below, solving it for discretized panels of the body
components of the radiation forces [2]. The exciting forces →
󳨀
wetted surface with center at 𝜉󸀠 [9].
may be calculated straight from Haskind relations [3]. All of
→󳨀 󳨀
these integral equations come from Green’s second identity
→
󳨀 𝜕𝐺 (𝜉󸀠 ;→ 𝑥) →
󳨀
[4]. 𝛼 (→
󳨀𝑥 ) 𝜙 (→󳨀
𝑥 ) + ∬ 𝜙 (𝜉 ) 󸀠
𝑑 𝜉󸀠
𝑆𝑏 𝜕𝑛→ 󳨀󸀠
𝑖 𝜕𝜙 𝜉
𝑎𝑖𝑗 − ( ) 𝑏𝑖𝑗 = 𝜌 ∬ 𝜙𝑗 𝑖 𝑑𝑆, (7)
𝜔 𝑆𝑏 𝜕𝑛 →
󳨀󸀠
(4) 𝜕𝜙 ( 𝜉 ) → 󳨀 󳨀 → 󳨀
𝜕𝜙 𝜕𝜙 =∬ 𝐺 ( 𝜉󸀠 ;→𝑥 ) 𝑑 𝜉󸀠 ,
𝑋𝑖 = −𝑖𝜔𝜌 ∬ ( 𝑖 𝜙𝐼 − 𝜙𝑖 𝐼 ) 𝑑𝑆. 𝑆𝑏 𝜕𝑛→󳨀󸀠
𝑆𝑏 𝜕𝑛 𝜕𝑛 𝜉

To bridge frequency and time domain, Cummins devel- →

󳨀󸀠
𝜉 = 𝜉̂𝑖 + 𝜂𝑗̂ + 𝜁̂𝑘, (8)
oped general equations of motion in time domain [5]. These
equations are based on impulsive motion, decomposing the →
󳨀
𝑥 = 𝑥̂𝑖 + 𝑦𝑗̂ + 𝑧̂𝑘. (9)
flow around the body into two components, one due to
an impulsive displacement on the body and the other one The solid angle can be calculated by noting that a uniform
representing the decaying wave motion generated by such potential applied over a closed body produces no flux (i.e.,
displacement. For a body translating on the water surface, the 𝜙𝑛 = 0) [10]:
equation of motion becomes →
󳨀 󳨀
𝜕𝐺 ( 𝜉󸀠 ;→
𝑥) →󳨀
6 𝛼 (→
󳨀
𝑥) = − ∬ 𝑑 𝜉󸀠 . (10)
∑ [(𝑀𝑖𝑗 + 𝑎𝑖𝑗𝑜 ) 𝜉𝑗̈ + 𝑏𝑖𝑗𝑜 𝜉𝑗̇ + 𝑐𝑖𝑗 𝜉𝑗 𝜕𝑉 𝜕𝑛→
󳨀󸀠
𝜉
𝑖=1
(5) →
󳨀 󳨀
𝑡 The Green function 𝐺( 𝜉󸀠 ;→ 𝑥 ) used by WAMIT is the wave
+∫ 𝐾𝑖𝑗 (𝑡 − 𝜏) 𝜉𝑗̇ (𝜏) 𝑑𝜏] = 𝑓𝑘 (𝑡) . source potential, where 𝐽𝑜 (𝑥) is the zero-order Bessel function
−∞ →󳨀
and →
󳨀
𝑥 and 𝜉󸀠 are the position vectors of the point considered
The kernel of the convolution integral is related to the
and the source, respectively [9].
frequency dependent quantities through Fourier Transform
→󳨀 1 1
[5–8]. It is the radiation impulse response function and tells 𝐺 (→
󳨀
𝑥 ; 𝜉󸀠 ) = + 󸀠󸀠
us how the history of radiation forces influences the body 𝑟 𝑟
motion for some time (i.e., fluid memory effects). ∞
(𝑘 + 𝐾) cosh 𝑘 (𝑧 + ℎ) cosh 𝑘 (𝜁 + ℎ) −𝑘ℎ
+ 2∫ 𝑑𝑘 𝑒 𝐽𝑜 (𝑘𝑅) ,
∞ 0 𝑘 sinh 𝑘ℎ − 𝐾 cosh 𝑘ℎ (11)
1
𝑎𝑖𝑗 (𝜔) = 𝑎𝑖𝑗𝑜 − ∫ 𝐾 (𝑡) sin (𝜔𝑡) , 2
𝜔 0 𝑟2 = (𝑥 − 𝜉)2 + (𝑦 − 𝜂) + (𝑧 − 𝜁)2 ,

𝑎𝑖𝑗𝑜 = lim 𝑎𝑖𝑗 (𝜔) ,

2
𝑟󸀠󸀠2 = (𝑥 − 𝜉)2 + (𝑦 − 𝜂) + (𝑧 + 𝜁 + ℎ)2 .
𝜔→∞
Mathematical Problems in Engineering 3

(a) (b)
Figure 1: (a) ISWEC hull, with its taper from bottom to top. (b) IOwec hull, with additional tapper at the stern and bow.

With the computation of the hydrodynamic coefficients

of (1) from the solution of the BVP through (7), the transfer T6 −T6

function, or Response Amplitude Operator (RAO), can be  −

calculated and the body’s response to a given sea state 𝑆(𝜔) T5 T5

calculated through a simple multiplication [11]. This is what
justifies the predominance of frequency versus time-domain
approaches.
The frequency domain approach has seen consistent use
for WEC dynamics analysis. More recently, Rhinefrank et
al. have applied such methodology to evaluate the motion
of their respective devices [12–14]. The first, in particular, Figure 2: Pair of gyroscopes spinning counter to each other. The
improved the model of their cylinder-shaped WEC by intro- yaw torque is canceled, while the pitch is doubled.
ducing viscous effects in the form of Morrison’s equation.
Equation (5) is widely used, together with frequency
domain BEM, to describe the motion of WECs in time a collaboration project between the University of Torino,
domain. This is a very powerful approach for most situ- Wave4Energy, and iShip lab at MIT (now moved to Virginia
ations, yielding accurate results in many cases with small Tech). This concept was developed and first presented as
computational time. Works such as the two-body heave a contender in the Department of Energy Wave Energy
converter from Andres et al., the SEAREV from Babarit et Prize (WEP) [21]. It is an evolution of the ISWEC, another
al., and heaving WEC are all examples of recent successful gyroscope driven WEC designed in Italy [22], by modifying
use of linear time-domain approach for WEC design [15– the simple hull shape with the intent of increasing the
19]. However, the description of the problem through Fourier resonance period of the ISWEC up to the predominant
Transform makes it impossible to incorporate nonlinear wave period of 8 s given by the WEP [23]. Figures 1(a) and
(potential flow wave-dependent) effects into these models. 1(b) shows the hull change, from the ISWEC to the IOwec
In this work, we approach the design of a gyroscope shape.
powered WEC using Kring’s time-domain Rankine panel Inside the IOwec, due to the precession motion of the
method AEGIR, which solves for both the body and free- spinning masses, the gyroscope roll will induce torques in
surface motions directly [8]. To model this, the state-space both pitch and yaw directions. The former activates the
vector and external forces calculated by AEGIR at every time angular motion of the PTO shaft and it is used to directly
step will have to be corrected to account for the spinning produce electric power from a variable frequency alternator.
flywheel dynamics. The change in angular momentum of the The latter, however, is extremely undesirable, as it excites the
gyroscope will induce torques in all 3 directions, coupling yaw motion of the hull. In this case an offset between the
all the rotation degrees of freedom (DoF). The corrections prevalent sea direction and the hull’s longitudinal symmetry
and time marching were implemented in a MATLAB code, plane will always exist, and part of the wave energy will be
which constantly shares information with AEGIR through transmitted to undesirable modes in the horizontal diametral
TCP/IP protocol. This numerical model is the initial (linear) plane (i.e., sway, roll, and yaw).
framework for future inclusion of effects such as fully non- To eliminate the yaw torque, a pair of counterrotating
linear boundary conditions, pressure integration up to the gyroscopes is used. Both flywheels will generate the same
deformed free-surface [17], and retention of high-order terms pitch torque, with equal magnitude and direction, but for
in the Bernoulli equation for pressure calculation [20]. yaw the torque will be opposite, negating the 𝑧-axis induced
rotation completely (Figure 2). In fact, the counterrotating
2. The IOwec Case Study gyroscope pair is also desirable to create redundancy in the
power extraction system. This means the device will continue
The WEC analyzed in this paper is the Inertial Ocean to extract a reduced amount of energy, even if one of the
Wave Energy Converter (IOwec), which originated from gyroscopes fails.
4 Mathematical Problems in Engineering

Table 2: IOwec main dimensions.

Part Dimension Value Unit
z0 𝐿 45 m
y0 x0 𝐵 20 m
𝐷 10 m
𝑇𝑑 7 m
SF Hull 𝑉𝐶𝐺 −1.485 m
Δ 5217.87 ton
𝑅𝑥𝑥 8.45 m
SB
𝑅𝑦𝑦 14.65 m
𝑅𝑧𝑧 3.84 m
S∞ 𝑑 6.8 m
𝑚𝑓 140 ton
Figure 3: Domain boundary surfaces 𝑆𝐹 , 𝑆∞ , and 𝑆𝐵 , along with the 𝐼𝑥𝑥 5.17 ⋅ 105 kg⋅m2
inertial frame of reference 𝑥𝑦𝑧0 [8].
𝐼𝑦𝑦 5.17 ⋅ 105 kg⋅m2
Gyroscope
𝐽 1.02 ⋅ 106 kg⋅m2
𝐼𝑥𝑓 3.82 ⋅ 103 kg⋅m2
The gyroscopes were sized to have the largest diameter 𝐼𝑦𝑓 3.32 ⋅ 104 kg⋅m2
possible, while leaving sufficient clearance on the sides,
𝐼𝑧𝑓 3 ⋅ 104 m
bottom, and top to allow for a complete 360∘ turn. Table 2
lists IOwec’s principal characteristics. The VCG is measured
from the free surface, with positive values above the waterline, z1
while the rest of the vertical quantities are measured from the 6
5
keel. y1
z2
y2
2.1. Floating Body’s Mathematical Model. Consider an unre- x2 4
stricted, stationary, floating body, free to move in its six, 
x1
rigid-body degrees of freedom about a noninertial frame of
reference 𝑥𝑦𝑧0 fixed to its equilibrium position in calm water
(Figure 3) [8]. We assume small body motions with respect
to the equilibrium position and small wave disturbance with
respect to the body’s nominal size. The problem is linearized,
allowing the application of potential flow together with Figure 4: Hull and gyroscope Frames of Reference. 𝜃 is the rotation
impulse theory and the decomposition of the forcing into along the PTO axis and only unconstrained DoF of the gyroscope.
impulsive (local) and wave (memory) forces, as proposed by
Cummins [5].
𝑇𝑦1 = (𝐼𝑦 cos2 𝜃 + 𝐼𝑧 sin2 𝜃) 𝜉5̈ + (𝐼𝑦 − 𝐼𝑧 ) sin 𝜃 cos 𝜃𝜉6̈
(𝑀𝑖𝑗 + 𝑎𝑖𝑗𝑜 ) 𝜉𝑗̈ (𝑡) + 𝑐𝑖𝑗 𝜉𝑗
+ (2𝐼𝑧 − 𝐼𝑥 − 𝐼𝑦 ) 𝜉5̇ 𝜃̇ cos 𝜃 sin 𝜃 + (sin2 𝜃 − cos2 𝜃) (14)
𝑡 (12)
= 𝑋𝑗 (𝑡) − ∫ 𝐾 (𝑡 − 𝜏) 𝜉𝑗̇ (𝜏) 𝑑𝜏, ⋅ 𝐽𝜉6̇ 𝜃̇ + (𝐼𝑥 + 𝐼𝑦 ) cos2 𝜃𝜉6̇ 𝜃̇ − 𝐽𝜑̇𝜃̇ cos 𝜃,
−∞

where 𝐾(𝑡) is the velocity impulse function and 𝑋𝑗 (𝑡) is the 𝑇𝑧1 = (𝐼𝑦 − 𝐼𝑧 ) sin 𝜃 cos 𝜃𝜉5̈ + (𝐼𝑦 sin2 𝜃 + 𝐼𝑧 cos2 𝜃) 𝜉6̈
excitation force in the 𝑗th mode. The hydrostatic restoring
coefficients 𝑐𝑖𝑗 are easily calculated following classical naval − (𝐼𝑥 + 𝐼𝑦 − 𝐼𝑧 ) 𝜉5̇ 𝜃sin
̇ 2 𝜃 − (𝐼 + 𝐼 − 2𝐼 ) 𝜉 ̇ 𝜃̇ sin 𝜃 (15)
𝑥 𝑦 𝑧 6
architecture theory [24]. Figure 4 shows the body-fixed 𝑥𝑦𝑧1
reference frame, where (12) is applicable, as well as the ⋅ cos 𝜃 − 𝐼𝑧 𝜉5̇ 𝜃cos
̇ 2 𝜃 − 𝐽𝜑̇𝜃̇ sin 𝜃.
gyroscope’s local frame 𝑥𝑦𝑧2 .
The fully nonlinear gyroscopes equations of motion are It is important to notice how, in our present model, we
[25] chose a linear PTO and disregarded possible control dynam-
ics. Nonetheless, such extra complications of a particular
system may be easily included in our framework through
𝐼𝑥 𝜃̈ = (𝐼𝑦 − 𝐼𝑧 ) careful consideration of the dynamics. Recent works have
considered, for example, mooring forces, nonlinear PTOs,
⋅ [𝜉5̇ 𝜉6̇ (cos2 𝜃 − sin2 𝜃) + (𝜉62̇ − 𝜉52̇ ) sin 𝜃 cos 𝜃] (13) and control techniques such as latching [26–31].
The mathematical formulations regarding the hull are
− 𝐽𝜑̇ (𝜉5̇ cos 𝜃 + 𝜉6̇ sin 𝜃) − 𝑘𝑙 𝜃 − 𝑐𝑙 𝜃,̇ written in a state-space format in AEGIR, so the MATLAB
Mathematical Problems in Engineering 5

→
󳨀
code which implements the gyroscope and PTO mechanics 𝑑→󳨀
𝑦 → 󳨀 →󳨀 𝑦 1 (𝑡) 𝜉𝑗̇ (𝑡)
must also follow the same convention. Going down the = 𝑓 (𝑡) with 𝑦 (𝑡) = [→
󳨀 ] = [ ]. (16)
𝑑𝑡 𝑦 2 (𝑡) 𝜉𝑗 (𝑡)
same path as outlined by Kring, the six-DoF, second-order
equations of motion can be modified into twelve of first →
󳨀𝑎
Gyroscopic terms 𝑇 𝑖 (𝑡), proportional to the hull’s accel-
degree, with the state vector →
󳨀
𝑦 written as a combination of
eration, will go alongside mass terms, just like the added-
displacements and velocities [8]. mass. The forcing vector becomes

𝑛 −1 𝑛
𝑡
󳨀󳨀󳨀→ [− [𝑀 + 𝑎𝑜 + ∑𝑇𝑖𝑎 (𝑡)] [𝐶→
󳨀 𝑦 1 (𝜏) 𝑑𝜏 + ∑𝑇𝑖V (→
𝑦 2 (𝑡) + ∫ 𝐾 (𝑡 − 𝜏)→
󳨀 󳨀
𝑦 1 , 𝑡)]]
𝑓 (𝑡) = [ 0 ], (17)
𝑖=1 𝑖=1
→
󳨀𝑦 (𝑡)
[ 1 ]

where 𝑛 is the total number of gyroscopes inside the hull. the Fourier Transform and move into frequency domain to
Both acceleration and velocity proportional gyroscope torque express
matrices, coming from (14) and (15), are nonzero only for
pitch and yaw. 𝐽𝜑𝑖𝜔
Θ= Ξ. (20)
𝐼𝑥 𝜔2 − 𝑖𝜔𝑐𝑙 − 𝑘𝑙 5
0 ⋅⋅⋅ 0
2
[. Introducing the PTO natural frequency as 𝜔PTO = 𝑘𝑙 /𝐽
[. .. ] ]
[. . ] and substituting it in (20) [22],
𝑦̇ 1 , 𝑡) = [
𝑇𝑖𝑎 (→
󳨀 d
],
[ 𝑎
𝑇55,𝑖 𝑎 ]
𝑇56,𝑖
[ ] 𝐽𝜑𝑖𝜔
Θ= Ξ. (21)
[0 ⋅ ⋅ ⋅
𝑎
𝑇65,𝑖 𝑎
𝑇66,𝑖 ] (𝐼𝑥 𝜔2 2
− 𝐽𝜔PTO ) − 𝑖𝜔𝑐𝑙 5
(18)
0 It is clear now that we must tune 𝜔PTO to match the
[ . ] relevant incident wave frequency. The ideal PTO spring
[ . ]
V →󳨀 [ . ] constant becomes
𝑇𝑖 ( 𝑦 1 , 𝑡) = [ ] ,
[𝑇V ]
[ 5,𝑖 ] 𝑘𝑙 = 𝐼𝑥 ⋅ 𝜔2 . (22)
[𝑇6,𝑖 ]
V
The hull is designed to have a pitch resonance period 𝑇𝑝 =
where, from (13), (14), and (15), 8 s in order to match the predominant sea given by the WEP
committee. Equation (22) can then be used to size our PTO
𝑎 spring. At this stage, we will consider only the hull resonance
𝑇55,𝑖 = 𝐼𝑦 cos2 𝜃 + 𝐼𝑧 sin2 𝜃,
frequency as reference for the PTO tuning, since the motion
𝑎 response is greatly magnified around that frequency. The
𝑇56,𝑖 = (𝐼𝑦 − 𝐼𝑧 ) sin 𝜃 cos 𝜃,
reactive control constant becomes
𝑎
𝑇65,𝑖 = (𝐼𝑦 − 𝐼𝑧 ) sin 𝜃 cos 𝜃, kg ⋅ m2
𝑘𝑙 = 𝐼𝑥 ⋅ 𝜔𝑛2 ≃ 604, 921.50 . (23)
𝑎 2 2 s2
𝑇66,𝑖 = 𝐼𝑦 sin 𝜃 + 𝐼𝑧 cos 𝜃,
The power is extracted by the PTO through the linear
𝑇5V = − (2𝐼𝑧 − 𝐼𝑥 − 𝐼𝑦 ) 𝜉5̇ 𝜃̇ cos 𝜃 sin 𝜃 damping coefficient 𝑐𝑙 . The power metric utilized for this work
(19) is the average power extracted over one wave period, which
− (sin2 𝜃 − cos2 𝜃) 𝐽𝜉6̇ 𝜃̇ can be written as [22, 25]

− (𝐼𝑥 + 𝐼𝑦 ) cos2 𝜃𝜉6̇ 𝜃̇ + (−1)𝑖 𝐽𝜑̇𝜃̇ cos 𝜃, 1 󵄨 󵄨2 1

𝑃𝐸 (𝜔) = 𝑐𝑙 󵄨󵄨󵄨󵄨𝜃󵄨󵄨󵄨󵄨̇ = 𝑐𝑙 𝜔2 Θ2 . (24)
2 2
𝑇6V = (𝐼𝑥 + 𝐼𝑦 − 𝐼𝑧 ) 𝜉5̇ 𝜃sin
̇ 2𝜃
Substituting (21) into (24) and considering an optimum
reactive control, the power extracted becomes
+ (𝐼𝑥 + 𝐼𝑦 − 2𝐼𝑧 ) 𝜉6̇ 𝜃̇ sin 𝜃 cos 𝜃
𝐽𝜑𝜔2 Ξ5 Θ
+ 𝐼𝑧 𝜉5̇ 𝜃cos
̇ 2 𝜃 + (−1)𝑖 𝐽𝜑̇𝜃̇ sin 𝜃. 𝑃𝐸 (𝜔) = . (25)
2
Assuming (13) can be linearized by getting rid of all We now have derived a direct way to estimate what would
higher-order terms in 𝜉𝑗 and 𝜃 while, at the same time, be the power prediction of the device by just knowing the
assuming small roll angles for the gyroscope, we may apply hull and gyroscope motions. Also, the optimum reactive
6 Mathematical Problems in Engineering

control can be designed for every incoming wave frequency, (3) Body boundary condition is
guaranteeing resonance. It is important to note that the
𝜕𝜙𝑙 𝜕𝛿 →
damping would always be optimized for such condition. = ⋅ 󳨀𝑛 − ∇𝜓 ⋅ →
󳨀𝑛 applied on 𝑆𝐵 . (35)
Finally, we must choose a first guess for the nominal spin 𝜕𝑛 𝜕𝑡
rate of the gyroscopes. Scaling the ISWEC’s spin of 2150 RPM Equations (33) and (34) will be our evolution equations
from its 0.56 m length we find for the free-surface deformation 𝜂 and wave potential 𝜓.
Before, however, we must calculate the unknown 𝜙𝑙 and the
0.56 derivatives of 𝜓, as we are only given the value of the wave
𝜑 = 𝜑ISWEC √ ≃ 240 RPM. (26)
45 potential at 𝑆𝐹 and the derivative of the local potential at 𝑆𝐵 .
→
󳨀 󳨀
Our numerical model later showed us this value is too The displacement 𝛿 (→ 𝑥 , 𝑡) of any point within the rigid
→
󳨀
high, taking us too long to converge to the optimal quantity. body can be described by combining translation 𝜉 𝑇 (𝑡) and
We then define our first guess as half of the ISWEC’s scaled →
󳨀
rotation 𝜉 𝑅 (𝑡) [8].
value.
→
󳨀 → →󳨀 →
󳨀
𝜑 = 120 RPM. (27) 𝛿 (󳨀𝑥 , 𝑡) = 𝜉 𝑇 (𝑡) + 𝜉 𝑅 (𝑡) × →
󳨀
𝑥. (36)
Substituting (36) into (35) yields the body boundary
3. The Time-Domain Boundary Value Problem condition in Ogilvie and Tuck’s notation, minus the 𝑚-terms.
These omitted terms would be fundamental if our body had
Here, we also consider the fluid flow incompressible, irro- a translation velocity [8, 32].
tational, and inviscid so the flow can be represented by
𝜕𝜙𝑙 6 𝜕𝜉𝑗
a velocity potential Ψ(→󳨀
𝑥 , 𝑡), which must satisfy Laplace’s = ∑( ). (37)
2
equation (i.e., ∇ Ψ = 0). The flow pressure can also be 𝜕𝑛 𝑗=1 𝜕𝑡
calculated in the 𝑥𝑦𝑧𝑜 frame Bernoulli’s equation [2]. The
Particularly for the pressure calculation, the linearized
fully nonlinear kinematic and dynamic free-surface, body
Bernoulli equation can be decomposed into local 𝑝𝑙 , memory
boundary, and radiation conditions are, respectively [8],
𝑝𝑚 , and hydrostatic 𝑝ℎ components. The total pressure is
𝑑 𝑝 = 𝑝𝑙 + 𝑝𝑚 + 𝑝ℎ [8].
( + ∇Ψ (→
󳨀
𝑥 , 𝑡) ⋅ ∇) [𝑧 − 𝜂 (𝑥, 𝑦, 𝑡)] = 0
𝑑𝑡 (28) 𝜕𝜙𝑙
𝑝𝑙 = −𝜌 ,
𝜕𝑡
on 𝑧 = 𝜂 (𝑥, 𝑦, 𝑡) ,
𝜕𝜓 (38)
Ψ 1 𝑝𝑚 = −𝜌 ,
= −𝑔𝜂 − ∇Ψ ⋅ ∇Ψ on 𝑧 = 𝜂 (𝑥, 𝑦, 𝑡) , (29) 𝜕𝑡
𝑑𝑡 2
→
󳨀 𝑝ℎ = −𝜌𝑔𝑧.
𝜕Ψ ( 𝑥 , 𝑡) →󳨀 󳨀
= 𝑉𝐵 ⋅ →
𝑛 on 𝑆𝐵 , (30) Finally, the force acting on the body is the integration of
𝜕𝑛 the pressure on 𝑆𝐵 .
∇Ψ 󳨀→ 0 at 𝑆∞ . (31)
𝐹𝑗 = ∬ 𝑝 ⋅ 𝑛𝑗 𝑑𝑆 for 𝑗 = 1, . . . , 6. (39)
The total disturbance potential Ψ(→
󳨀 𝑆𝐵
𝑥 , 𝑡) can be written as
a superposition of two flows, the local 𝜙𝑙 (i.e., instantaneous
3.1. The Local Flow Contribution. The local flow can be
fluid response due to the impulsive body motion) and the
decomposed into terms proportional to the acceleration,
memory 𝜓 (i.e., wave) [5, 8].
velocity, and displacement of the body. Only the ones due to
𝑥 , 𝑡) = 𝜙𝑙 (→
Ψ (→
󳨀 󳨀
𝑥 , 𝑡) + 𝜓 (→
󳨀 acceleration are nonzero for a stationary body (i.e., the basis
𝑥 , 𝑡) . (32)
flow is absent), yielding the 𝑎0 term written in [8]
To arrive at the linear boundary conditions we apply a 0
Taylor expansion about the mean body position for the body 𝑎𝑗𝑘 = 𝜌 ∬ (N𝑘 ) 𝑛𝑗 𝑑𝑆, (40)
𝑆𝐵
condition and about 𝑧 = 0 for the free surface, keeping only
its linear terms [8]. where
N𝑘 = 0 on 𝑧 = 0
(1) Kinematic free-surface condition is
N𝑘
𝜕𝜂 𝜕𝜙𝑙 𝜕𝜓 = 𝑛𝑘 on 𝑆𝐵
= + applied on 𝑧 = 0. (33) 𝜕𝑛
𝜕𝑡 𝜕𝑧 𝜕𝑧
for 𝑘 = 1, . . . , 6 (41)
(2) Dynamic free-surface condition is
(𝑛1 , 𝑛2 , 𝑛3 ) = →
󳨀𝑛
𝜕 1
𝜕𝑡
(𝜙𝑙 + 𝜓) = −𝑔𝜂 − ∇𝜙𝑙 ⋅ ∇𝜙𝑙
2
applied on 𝑧 = 0. (34) (𝑛4 , 𝑛5 , 𝑛6 ) = →
󳨀
𝑥 ×→
󳨀𝑛 .
Mathematical Problems in Engineering 7

3.2. The Memory Flow Contribution. If an incident wave { 1 3𝑙𝑝 2 3𝑙𝑝 𝑙𝑝

{
{ (𝑥 + ) , on − < 𝑥 < −
is imposed in the domain, it is represented as an extra {
{ 2𝑙2 2 2 2
{
{ 𝑝
component of the memory flow (𝜓 = 𝜓 + Ψ𝐼 and 𝜂 = 𝜂 + 𝜂𝐼 ). {
{ 2
{1 3𝑙𝑝 𝑙𝑝 𝑙𝑝
The body boundary condition becomes [8] 𝑏 (𝑥) = { 2 (−𝑥2 + ) , on − < 𝑥 < (47)
{
{ 𝑙𝑝 4 2 2
{
{
𝜕𝜓 Ψ {
{ 3𝑙 2
𝑙 3𝑙
=− 𝐼 on 𝑆𝐵 . (42) { 1
{ 𝑝 𝑝 𝑝
𝜕𝑛 𝜕𝑛 { 2 (−𝑥 + ) , on <𝑥< ,
2𝑙
{ 𝑝 2 2 2
The free-surface conditions outlined in (33) and (34) where 𝑙𝑝 is the panel width. Applying such basis function
have the unknown velocity potentials. They will be solved on (33), (34), and (43) yields the discrete formulation of the
by AEGIR at every time step, calculating the free-surface kinematic and dynamic boundary conditions and boundary
deformation [8]. integral formulation, respectively. The first two are time
dependent, while the last is a linear system of equations
3.3. The Boundary Integral Formulation. As stated before, we (𝐴𝑥 = 𝑏) whose size depends on the number of panels in
are only given the value of the wave potential at 𝑆𝐹 and the the problem [8].
derivative of the local potential at 𝑆𝐵 . To calculate for the
derivatives of 𝜓, Green’s second identity is applied to the 𝜕𝜂𝑗 𝜕𝜙𝑙 𝜓𝑗
𝐵𝑖𝑗 = + 𝐵 ,
Boundary Value Problem, yielding a very similar equation to 𝜕𝑡 𝜕𝑧 𝜕𝑧 𝑖𝑗
(7) [8]:
𝜕𝜓𝑗
𝐵𝑖𝑗 = −𝜂𝑗 𝑔𝐵𝑖𝑗 , (48)
→
󳨀󸀠
𝜕Ψ ( 𝑥 ) 𝜕𝑡
2𝜋Ψ (→
󳨀 𝑥 ;→
𝐺 (→
󳨀 󸀠 󳨀
𝑥) − ∬ 𝑥 ) 𝑑𝑥󸀠 𝜕𝜓𝑗
𝑆𝐹 ∪ 𝑆𝐵 𝜕𝑛 2𝜋𝜓𝑗 𝐵𝑖𝑗 + 𝜓𝑗 𝐷𝑖𝑗 − 𝑆𝑖𝑗 = 0,
(43) 𝜕𝑧
𝜕𝐺 ( 𝑥 ;→
→󳨀
󳨀󸀠
𝑥) where 𝐷𝑖𝑗 and 𝑆𝑖𝑗 are the dipole and source influence
Ψ (→
󳨀 󸀠
+∬ 𝑥 ) 𝑑𝑥󸀠 = 0.
𝑆𝐹 ∪ 𝑆𝐵 𝜕𝑛 coefficients, respectively:

Finally, AEGIR is called a Rankine panel method due 𝐵𝑖𝑗 = 𝐵𝑗 (→

󳨀
𝑥 𝑖 ) = 𝐵𝑖−𝑗 ,
to its choice on the Rankine source potential as the known
𝑥 𝑖 ;→
𝑑𝐺 (→
󳨀 󳨀 󸀠
function in the integral: ∞ 𝑥 )
𝐵𝑗 (→
󳨀 𝑑→
󳨀
󸀠 󸀠
𝐷𝑖𝑗 = ∬ 𝑥 ) 𝑥 = 𝐷𝑖−𝑗 , (49)
−∞ 𝑑𝑛
1
→
󳨀󸀠
𝐺 ( 𝑥 ;→
󳨀
𝑥) = 󵄨 󸀠 󵄨󵄨
. ∞
󵄨󵄨→
󵄨󵄨󳨀𝑥 −→󳨀 (44)
𝐵𝑗 (→
󳨀
𝑥 ) 𝐺 (→
󳨀
𝑥 𝑖 ;→
󳨀
𝑥 ) 𝑑→
󳨀
󸀠 󸀠 󸀠
𝑥 󵄨󵄨󵄨 𝑆𝑖𝑗 = ∬ 𝑥 = 𝑆𝑖−𝑗 .
󵄨 󵄨 −∞

4. Numerical Model 4.2. Temporal Discretization

4.1. Spatial Discretization. AEGIR is a high-order panel 4.2.1. Free-Surface Boundary Conditions. The free-surface
method, meaning the surfaces are broken down into the temporal discretization uses an “implicit” method, which is a
desired number of discrete quadrilateral facets and repre- mix of explicit and implicit Euler schemes [8]. The following
sented mathematically as nonuniform basic spline surfaces discretization is used to integrate equations (48) in time:
(NURBS). The variables of interest become
𝜂𝑗𝑛+1 − 𝜂𝑗𝑛 𝜕𝜙𝑙 𝜕𝜓𝑗
𝑛

𝑥 , 𝑡) ≃ ∑𝜓𝑗 (𝑡) 𝐵𝑗 (→
𝜓 (→
󳨀 󳨀
𝑥) , Δ𝑡
𝐵𝑖𝑗 =
𝜕𝑧
+ 𝐵 ,
𝜕𝑧 𝑖𝑗
𝑗
𝜓𝑗𝑛+1 − 𝜓𝑗𝑛
𝑥 , 𝑡) ≃ ∑𝜂𝑗 (𝑡) 𝐵𝑗 (→
𝜂 (→
󳨀 󳨀
𝑥) , 𝐵𝑖𝑗 = −𝜂𝑗𝑛+1 𝑔𝐵𝑖𝑗 , (50)
(45) Δ𝑡
𝑗
𝜕𝜓𝑗𝑛+1
𝜕𝜓 → 2𝜋𝜓𝑗𝑛+1 𝐵𝑖𝑗 + 𝜓𝑗𝑛+1 𝐷𝑖𝑗 −
𝑥 , 𝑡) ≃ ∑ (𝜓𝑧 )𝑗 (𝑡) 𝐵𝑗 (→
(󳨀 󳨀
𝑥) 𝜕𝑧
𝑆𝑖𝑗 = 0,
𝜕𝑛 𝑗
where 𝑛 is the variable value at the current (𝑛th) time step.
with
4.2.2. Body Motion. The time marching scheme for the body
𝐵 (𝑥, 𝑦) = 𝑏 (𝑥) 𝑏 (𝑦) . (46) motion is the Runge-Kutta 4th order. It consists of four steps,
the first is a forward Euler of half step, and the second is an
The basis function within a panel is a second-order B- implicit Euler corrector, still with half step, but now using the
spline, meaning first and second derivatives can be obtained previous prediction as current state vector. The third is a full-
analytically [8]: step midpoint rule, using the predicted value. Finally, the last
8 Mathematical Problems in Engineering

AEGIR

M6×6 C6×6 a0

Time loop
MATLAB

→
 →

F I (t + Δt/2) T y (t + Δt/2)
→
 →

F m (t + Δt/2) T z (t + Δt/2)
→
y (t + Δt/2) →
y (t + Δt/2)
ℎ

→
∗ →
∗
F I (t + Δt/2) T y (t + Δt/2)
→
∗ →
∗
F m (t + Δt/2) T z (t + Δt/2)
→
y ∗ (t + Δt/2) →
y ∗ (t + Δt/2)
ℎ

→
∗ →
∗
F I (t + Δt) T y(t + Δt)
→
∗ →
∗
F m (t + Δt) T z (t + Δt)
→
y ∗ (t + Δt) →
y ∗(t + Δt)
ℎ

→
 →

F I (t + Δt) T y (t + Δt)
→
 →

F m (t + Δt) T z (t + Δt)
→
y (t + Δt) →
y (t + Δt)
ℎ

P(t + Δt)

→󳨀 →󳨀
Figure 5: Schematics describing the information change between AEGIR and the MATLAB code for each time step, where 𝐹 𝐼 (𝑡) and 𝐹 𝑚 (𝑡)
are the incident and memory force vectors, respectively.

consists of a Simpson’s rule which uses all previous steps to (4) Simpson’s rule corrector is
build the true state vector [33]. Using a multipoint method
allows the use of larger time-steps while still maintaining →
󳨀
𝑦 𝑛+1
numerical stability, while, in particular for the Runge-Kutta,
not needing extra points for calculation. =→
󳨀
𝑦𝑛
(54)
→
󳨀 →
󳨀∗ →
󳨀 ∗∗ →
󳨀∗
(1) Forward Euler predictor is Δ𝑡 𝑑 𝑦 𝑛 𝑑 𝑦 𝑛+1/2 𝑑 𝑦 𝑛+1/2 𝑑 𝑦 𝑛+1
+ ( + + + ).
→
󳨀 6 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
→
󳨀 Δ𝑡 𝑑 𝑦 𝑛
𝑦 𝑛+1/2 = →
󳨀
∗
𝑦𝑛 + . (51)
2 𝑑𝑡
Figure 5 better illustrates the information exchange
between AEGIR and the MATLAB code. The latter calculates
(2) Implicit Euler corrector is the true state vector from AEGIR’s bare hull estimation.
→
󳨀∗
Δ𝑡 𝑑 𝑦 𝑛+1/2
𝑦 𝑛+1/2 = →
→
󳨀 󳨀
∗∗ 4.2.3. Radiation Condition. Finally, in a discrete scenario, our
𝑦𝑛 + . (52)
2 𝑑𝑡 domain is bounded. This means the radiation condition (see
(31)) must be imposed on the edges of the domain. This is
achieved in AEGIR by placing “numerical beaches” which
(3) Midpoint rule predictor is
artificially damp the outgoing waves far from the body [8, 34].

𝑑→
󳨀 ∗∗
→
󳨀 ∗ →󳨀 𝑦 𝑛+1/2 𝑑𝜓
𝑦 𝑛+1 = 𝑦 𝑛 + Δ𝑡 . (53) = −𝑔𝜂,
𝑑𝑡 𝑑𝑡
Mathematical Problems in Engineering 9

0.037
0.0365

5 (rad)
0.036
0.0355
0.035
0.0345
110 110.5 111 111.5 112
Simulation time (s)
0.04

0.02

5 (rad)
Figure 6: NURBS representation of IOwec’s hull. 0

−0.02
Table 3: Initial domain size.
Extent Direction Reference Value Unit −0.04
0 50 100 150
Upstream 𝜆 112.5 m
Simulation time (s)
Domain Downstream −3 ⋅ 𝜆 −337.5 m
Side 3⋅𝐿 135 m Initial domain
1.5 × Ｃnitial domain
Upstream - 45 m
2 × Ｃnitial domain
Beach Downstream - 112.5 m
Side - 54 m Figure 7: Domain sensitivity analysis.

0.0115
𝑑𝜂 𝑑𝜓 ]2
= − 2]𝜂 + 𝜓,
5 (rad)
𝑑𝑡 𝑑𝑧 𝑔 0.011

(55)
0.0105
86.6 86.8 87 87.2 87.4
0.02 Simulation time (s)
where ] is an artificial viscosity imposed on the waves for their
decay near the edges. 0.01
5 (rad)

0
5. Results
−0.01
5.1. Sensibility Analysis. All the analyses carried out are
done with monochromatic waves in head seas, with periods −0.02
ranging from 5 s to 12 s. The numerical simulation has to 0 50 100 150
prove its stability and convergence within the wave range. Simulation time (s)
Considering infinite depth (i.e., linear dispersion relation
0.5 × Ｇesh density
𝜔2 = 𝑔𝑘, where 𝜔 and 𝑘 are the wave frequency and number, 1.0 × Ｇesh density
resp.), the wave lengths range from 39 m to 225 m, the higher 1.5 × Ｇesh density
one driving the domain size. Time step and mesh density
must then be fine enough to perceive the one with the lowest Figure 8: Free-surface mesh sensitivity analysis.
period (i.e., 𝑇 = 5 s).

5.1.1. Domain Size. Figure 6 shows the final geometry utilized 5.1.2. Mesh Density. Three mesh density factors of 0.5, 1.0,
for the sensibility analyses. and 1.5, corresponding to panel sizes of 3.75 m and 2.50 m
The domain initial sizing was based on the model length and 1.25 m, respectively, were tested against the smallest wave
and the longest wave to be simulated, which has a period of (39 m). For this run, the same ramp time and time-step size
12 s and length 𝜆 = 225 m. Table 3 presents the values used. presented in Section 5.1.1 were used. Since no noticeable
To be certain the domain was sized correctly, the longest difference was observed between the two finest meshes, and
wave (𝑇 = 12 s) with amplitude 𝐴 = 1 m was simulated for three the coarsest ones diverged about 2.36% (Figure 8), the 2.5 m
domain sizes of 1.0, 1.5, and 2.0 times the dimension of the panel width was chosen for subsequent runs.
initial one. The pitch motion is plotted against the simulation
time in Figure 7. For this run a 60 s of ramp time and 0.1 s time 5.1.3. Time Step. The simulation time step has to be chosen
step was used, which should be more than enough for the to accurately solve the smallest wave period. To select a
considered wave. Also, a simulation time of 150 s was enough proper step, four values were tested while simulating the
to achieve steady state motion. No noticeable difference was 𝑇 = 5 s wave: 0.05 s, 0.1 s, 0.2 s, and 0.5 s. Figure 9 shows
observed between the first two multipliers, while the last the pitch motion versus simulation time for each step, with
diverged in less than 0.2%. The domain size corresponding the exception of 0.5 s which diverged. The largest one (i.e.,
to the 1.5 multiplier was selected. 0.2 s) had a deviation of only 0.35% from the smallest one.
10 Mathematical Problems in Engineering

0.0116

0.0114
5 (rad)

0.0112

0.011
101.6 101.8 102 102.2
Simulation time (s)
0.02
Figure 10: Free-surface and body surfaces after meshing.
0.01
5 (rad)

0 1.2

1
−0.01
0.8
−0.02

Ξ3 /A
0 50 100 150 0.6
Simulation time (s)
0.4
Δt = 0.05 Ｍ 0.2
Δt = 0.1 Ｍ
Δt = 0.2 Ｍ 0
0 1 2 3 4 5 6
Figure 9: Time-step sensitivity analysis. /L

WAMIT
Table 4: Final domain size. AEGIR
Extent Direction Reference Value Unit Figure 11: Heave RAO comparison between WAMIT and AEGIR
Upstream 1.5 ⋅ 𝜆 168.75 m for the bare hull case (i.e., no gyroscope).
Domain Downstream −4.5 ⋅ 𝜆 −506.25 m
Side 4.5 ⋅ 𝐿 202.5 m 4
Upstream - 67.5 m
Beach Downstream - 202.5 m 3
Side - 81 m
Ξ5 /kA

Ramp time - 60 s 2
Time
Time step - 0.2 s
1

Therefore, a good compromise between accuracy and speed 0

0 1 2 3 4 5 6
for our simulations is achieved with Δ𝑡 = 0.2 s, which was
/L
chosen for all subsequent runs.
Finally, Table 4 summarizes the domain size, mesh WAMIT
density, and time step chosen based on the aforementioned AEGIR
sensibility analyses. Figure 10 shows the free surface and body Figure 12: Pitch RAO comparison between WAMIT and AEGIR for
surfaces after meshing. the bare hull case (i.e., no gyroscope).

5.2. Bare Hull Motion. Before assessing the gyroscope dy-

namics and power extraction we will take a look into the integrated on the hull, describes a force out of phase with the
hull’s bare motion. Figures 11 and 12 show the heave and pitch motion. Breaking the force into a component in phase with
RAO, respectively. The former has an excellent agreement the acceleration and another in phase with the velocity yields
with WAMIT results, while the latter is just slightly off at the the added-mass and damping components, respectively. The
resonant peak. diagonal coefficients are
WAMIT solves the radiation potential and, through (4),
calculate the added-mass, damping, and exciting forces [9]. 𝑋𝑖 cos (𝜖𝑓 − 𝜖𝑚 )
𝑎𝑖𝑖 = ,
Figures 13 and 14 show the comparison between AEGIR Ξ𝑖 𝜔2
and WAMIT exciting force and moment, which are in (56)
good agreement, with minimal discrepancy between both 𝑋𝑖 sin (𝜖𝑓 − 𝜖𝑚 )
methods. 𝑏𝑖𝑖 = − .
Ξ𝑖 𝜔
We now oscillate the hull under a prescribed motion
of amplitude 𝐴 and frequency 𝜔 on an undisturbed free Figures 15(a)–15(d) show both AEGIR and WAMIT
surface. It will generate outgoing waves whose pressure, when added-mass and damping coefficients for heave and pitch.
Mathematical Problems in Engineering 11

2 0.04

1.5 0.03

X5 = X5 /gAL3
X3 = X3 /gAL2

1 0.02

0.5 0.01

0 0
0 2 4 6 8 0 2 4 6 8
/L /L

WAMIT WAMIT
AEGIR AEGIR

Figure 13: Heave scattering force coefficient. Figure 14: Pitch scattering moment coefficient.

We can see an excellent agreement for the former, while We can observe, from Figure 18, a shift of the peak energy
pitch presents higher damping at resonance and a slight extracted towards smaller waves as the damping is increased,
offset on the added-mass for 𝜆/𝐿 starting at 3. This means due to the decrease of gyroscopic roll. An optimum damping
the memory potential in AEGIR, which accounts for the of 5𝑐𝑙 is attained, after which the device quickly loses energy
radiation problem, yields a slightly different solution than extraction efficiency, especially for longer waves.
WAMIT. The extra damping may explain why the pitch RAO The effects of damping are evident on the hull’s pitch
peak is a bit smaller for AEGIR. as well. The optimum damping guarantees that its natural
frequency remains at 8 s, while minimizing the motion as
5.3. Gyroscope Spin Sensibility. The base spin rate was defined much as possible. Figure 19 shows how the pitch RAO changes
by (27). We would now like to determine the optimal PTO for all the damping variation.
damping. Equation (25), which only uses hull pitch and Reporting power extracted by itself is not a good repre-
gyroscope roll amplitudes, will be utilized to estimate the sentation of IOwec’s capabilities, especially since it varies with
averaged power extraction over one wave period. Figure 16 the wave amplitude. A better way to quantify efficiency is to
shows such power by different multipliers of the base spin plot the capture width, which is the ratio between the average
rate. powers extracted and incoming from a 2D section of the wave
We can notice that, starting from low spin rates, the profile.
power extracted increases until an optimum value. After that 𝑡+𝑇
𝑃𝐸 (𝑡) 32𝜋
the peak extraction moves to longer waves, until it is not 𝐶𝑊 = = ∫ 𝑃 (𝑡) 𝑑𝑡. (59)
noticeable within the selected wave bandwidth. Increasing F 𝜌𝑔2 𝑇2 𝐻2 𝑡
the flywheel spin makes the system stiffer, moving the hull’s
natural frequency towards longer waves, as can be seen in Figure 20 shows the IOwec is able to, at resonance, extract
Figure 17. a monochromatic wave 25 m wide, 1.25 times its beam.
The best spin found, considering our 8 s resonant period, In all cases, the yaw torques induced by both counter-
is 1.25𝜑̇ (i.e., 150 RPM). This rate will be used for the rotating flywheels are seen to cancel one another. Figure 21
subsequent runs. shows the torques from both gyroscopes for the 𝑇 = 8 s wave,
with frequency exactly twice that of the wave.
5.4. PTO Damping Sensibility. Maintaining the same PTO
spring, optimized for the hull natural frequency, and with 6. Conclusions
the chosen spin rate, we can do a sensibility analysis with the
PTO damping. Equation (24) can be utilized, using the power We presented the mathematical formulation of the hydrome-
predicted during the spin analysis, to estimate the required chanics time-domain simulation model for a gyroscopic,
damping. pitch-resonant, floating WEC. First the initial design of the
WEC to be simulated was outlined, the hull was sized to
2𝑃𝐸 (𝜔) guarantee resonance for the most energetic wave period given
𝑐𝑙 = ≃ 455, 667.00 kg ⋅ m2 /s. (57) by the WEP committee, while the gyroscopes’ diameter was
𝜔2 Θ2
maximized while guaranteeing clearance. A maximization of
The actual instantaneous power extracted can now be the flywheel size allowed the use of a smaller nominal spin of
integrated to calculate the average power: 120 RPM, which is easier to maintain.
Next, the Boundary Value Problem was outlined under a
1 𝑇 2̇ potential flow assumption. Green’s second identity provided
𝑃𝐸 (𝑡) = ∫ 𝑐 𝜃 𝑑𝑡. (58)
𝑇 0 𝑙 a boundary integral equation to be solved for the unknown
12 Mathematical Problems in Engineering

0.1 0.05

0.09 0.04
A33 = A 33 /L3

B33 = B33 /L3

0.08 0.03

0.07 0.02

0.06 0.01

0.05 0
0 2 4 6 8 0 2 4 6 8
/L /L
WAMIT WAMIT
AEGIR AEGIR
(a) (b)
−3
×10
×10−3
1.5

1
B55 = B55 /L5
A55 = A 55 /L5

3.5

3
0.5

2.5

0
0 2 4 6 8 0 2 4 6 8
/L /L

WAMIT WAMIT
AEGIR AEGIR
(c) (d)

Figure 15: (a) Heave added-mass coefficient. (b) Heave damping coefficient. (c) Pitch added-mass coefficient. (d) Pitch damping coefficient.

derivatives of 𝜓 on the free surface, which, after being be reformulated for any different type of external mechanics
discretized into quadratic panels, allowed for the calculation (e.g., a pendulum), making this a very versatile framework for
of the potential on the surface of the hull. The free-surface designers and engineers.
boundary conditions and body equation of motion can then One could also envision the extension of the present
be integrated in time, giving values for 𝜓, 𝜂 and the body’s method to account for nonlinear effects (while also abandon-
state vector for the next time step. ing the state-space format), particularly important around
The time-domain numerical method, after validation resonance. The higher-order terms of the free-surface bound-
against a state-of-the-art frequency domain panel method, ary conditions could be retained for a more accurate repre-
was fitted with the gyroscope and PTO dynamics, allowing sentation of steeper wave profiles. Integration of pressures on
for a quick evaluation of the optimal flywheel spin, PTO the hull could also be done up to the deformed free-surface,
damping, and average power extracted. In fact, the gyro- while also retaining the nonlinear Bernoulli terms. An even
scope mathematical model presented in Section 2.1 could better extension would be a Mixed Eulerian-Lagrangian
Mathematical Problems in Engineering 13

6 10
Average power extracted (kW)

Average power extracted (kW)

5 8
4
6
3
4
2

1 2

0 0
0 1 2 3 4 5 0 1 2 3 4 5
/L /L

0.50̇ 1.75̇ 0.50cl 3.50cl

1.00 ̇ 2.50̇ 0.75cl 4.00cl
1.25 ̇ 3.75̇ 1.00cl 5.00cl
1.50̇ 7.50̇ 1.50cl 6.00cl
2.00cl 8.00cl
Figure 16: Average power extracted for different multiples of the 3.00cl
base spin rate. This is estimated through (25), since we still do not
know the appropriate PTO damping. The waves have amplitude of Figure 18: Average power extracted over one wave period. The
0.1 m. optimum damping identified is 2𝑐𝑙 , after which the device quickly
loses efficiency for longer lengths. All waves have amplitude of 0.1 m.
3
3
2.5
2.5
2
Ξ5 = Ξ5 /kA

2
Ξ5 = Ξ5 /kA

1.5
1.5
1
1
0.5
0.5
0
0 1 2 3 4 5 0
/L 0 1 2 3 4 5
/L
0.50̇ 1.75̇
1.00 ̇ 2.50̇ 0.50cl 3.50cl
1.25 ̇ 3.75̇ 0.75cl 4.00cl
1.50̇ 7.50̇ 1.00cl 5.00cl
1.50cl 6.00cl
Figure 17: Pitch RAO for different multipliers of the basis spin rate. 2.00cl 8.00cl
We can see a shift in the natural frequency towards longer waves as 3.00cl
the spin is increased and the system gets stiffer.
Figure 19: Pitch RAO for all the damping values considered. The
optimal damping of 2𝑐𝑙 tries to minimize the motion throughout all
wave lengths, while still retaining the natural frequency at 8 s.
approach, in which collocation points are translated at each
time step to the regions of higher gradient of the free-surface,
guaranteeing better resolution at highly nonlinear areas [35– 25
38].
Next steps of the IOwec design must include thorough 20
Capture width (m)

and consistent experimental testing of a scale model of the

WEC, including flywheel and PTO systems. This will provide 15
much needed data for further validation of the present linear
10
numerical model and future implementation of nonlinear
mechanics. 5

Symbols 0
0 1 2 3 4 5
/L
𝑎𝑖𝑗 : Added-mass matrix
𝑎𝑖𝑗𝑜 : Added-mass matrix due to impulsive Figure 20: Capture width of the IOwec. The device is able to, at
motion of the body resonance, extract a wave front equivalent to 1.25 times its beam.
14 Mathematical Problems in Engineering

×105 𝜖𝑓 : Force signal phase angle

4 𝜖𝑚 : Motion signal phase angle
Flywheel yaw torque (N·m)

Ψ: Total disturbance velocity potential of the

2
Boundary Value Problem
𝜙: Velocity potential of the fluid
0
𝜙𝐷: Diffracted wave potential
−2 𝜑: Flywheel spin rotation
𝜙𝐼 : Incident wave potential
−4 𝜙𝑙 : Local flow potential. One of the three
0 20 40 60 80 100 120 140 components of the total disturbance
Simulation time (s) potential
𝜙𝑅 : Radiated wave potential
Counterclockwise spin
Clockwise spin 𝜙𝑆 : Scattered wave potential
𝜓: Wave flow potential. One of the three
Figure 21: Yaw torque from both counterrotating gyroscopes for components of the total disturbance
the 𝑇 = 8 s wave. Their summation goes perfectly to zero, and the potential
frequency is exactly twice that of the wave. 𝜌: Fluid density
𝜃: Gyroscope roll rotation
𝜉𝑗 : Body displacement for the 𝑗th degree of
𝐴: Wave amplitude freedom due to wave excitation
B: Hull’s maximum beam 𝜉𝑗̇ : Body velocity for the 𝑗th degree of
𝑏𝑖𝑗 : Damping matrix freedom due to wave excitation
𝑏𝑖𝑗𝑜 : Damping matrix due to body impulsive 𝜉𝑗̈ : Body acceleration for the 𝑗th degree of
motion freedom due to wave excitation.
𝑐𝑖𝑗 : Restoring forces matrix
𝑐𝑙 : Power Take-Off linear damping constant
D: Hull’s depth
Conflicts of Interest
𝑑: Gyroscope diameter The authors declare that they have no conflicts of interest
𝑓𝑘 (𝑡): Wave force signal exciting the body motion regarding the publication of this paper.
𝑔: Gravitational acceleration
ℎ: Water depth (𝑦 < 0)
𝐻: Wave height Acknowledgments
𝐼𝑥𝑥 : Gyroscope’s flywheel roll inertia
The authors would like to thank Navatek, especially Dr. David
𝐼𝑦𝑦 : Gyroscope’s flywheel pitch inertia
Kring, for generously offering AEGIR, as well as instructions
𝐽: Gyroscope’s flywheel spin inertia
on how to couple external dynamics to it. The present work
𝐼𝑥𝑓 : Gyroscope frame roll inertia was made possible through the financial support of the Brazil-
𝐼𝑦𝑓 : Gyroscope frame pitch inertia ian Council for Scientific and Technological Development
𝐼𝑧𝑓 : Gyroscope frame yaw inertia (CNPq).
𝑘: Wave number
𝑘𝑙 : Power Take-Off spring constant
L: Length Over All, the hull’s maximum length
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