Symphony：波浪能系统的简单相位控制
Symphony: Simple Phase Control for Wave Energy Systems
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中文总结 AI 辅助
Symphony是一种新型非优化控制器，采用分层结构设计，在多数评估场景中实现了超90%的功率吸收，兼具简单性与接近最优的性能，适用于波浪能系统的能量最大化控制。
中文摘要 AI 辅助
尽管波浪能转换器的控制技术已取得显著进展，但高效实现实时能量最大化控制仍是一项挑战。本文通过引入Symphony解决这一障碍，这是一种受波浪能装置相位控制技术启发的新型非基于优化（NOB）控制器。Symphony是一种次优控制，继承了NOB控制器的所有优势，如设计、实现、调优和使用的简单性，同时额外提供硬运动约束参考轨迹，在评估的海况中，即使存在测量噪声和模型不确定性，也能实现接近最优的性能。Symphony采用分层结构设计：通过依赖需要激振力估计的隐式高斯微分方程，上层回路提供接近最优的运动约束速度轨迹和前馈控制项；随后，用户可灵活调整的下层回路通过结合反馈和前馈项跟踪期望速度轨迹。本文以功率吸收为指标评估Symphony的性能，考虑测量噪声和辐射模型不确定性，在不同峰值波周期下使用多个海况实现获得统计上具有代表性的结果。本文呈现的结果证明了Symphony的潜力，在大多数评估场景中，其实现的功率吸收达到了基于频谱（优化-based）控制方案的90%以上。
英文摘要
Despite significant advancements in controlling wave energy converters, efficiently achieving real-time energy-maximising control remains a challenge. This paper addresses this obstacle by introducing Symphony, a novel non-optimisation-based (NOB) controller inspired by phase control techniques for wave energy devices. Symphony is a suboptimal control that inherits all the advantages of NOB controllers, such as simplicity of design, implementation, tuning, and use, while additionally providing hard-motion-constrained reference trajectories and close-to-optimal performance across the evaluated sea states, even in the presence of measurement noise and model uncertainty. Symphony is designed using a hierarchical structure: By relying on an implicit Gaussian differential equation that requires an excitation force estimate, an upper loop provides a close-to-optimal motion-constrained velocity trajectory and a feedforward control term. Then, a user-flexible lower loop tracks the desired velocity trajectory by combining feedback and feedforward terms. In this paper, Symphony performance is assessed in terms of power absorption. Statistically representative results are obtained using multiple sea-state realisations across varying peak wave periods, considering measurement noise and radiation model uncertainty. The results presented in this paper demonstrate the potential of Symphony, which achieves, in most of the evaluated scenarios, more than 90\% of the power absorption obtained by a spectral (optimisation-based) control solution.
