2017 14th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications

and Information Technology (ECTI-CON)

Analysis of Power Generation for Direct Wave

Energy Converter

Joon Sung Park, Jin-Hong Kim, Byong Jo Hyon, Jun-Hyuk Choi

Korea Electronics Technology Institute (KETI)
203-101 Bucheon Technopark, Yakdae-dong, Wonmi-gu, Bucheon, Gyeonggi-do, Korea
Email: parkjs@keti.re.kr

Abstract— This paper analyzes power generation from sea made very complex and include often all parts. A model like
waves by using power conditioning system and linear permanent that would take a long time to simulate and its complexity
magnet generator. A buoy is placed on the ocean surface and could increase the possibility for errors. Instead, a simpler
connected to the linear generator. The wave energy is carried out model is used in this paper, where the generator is represented
from the movement of a buoy. An electrical conversion system is by its electrical components. The model has been constructed
needed between the generator and the grid. For an analysis of the in MATLAB-Simulink, which is a common used simulation
power system, the modeling of the linear generator and converter program for electrical systems. The purpose of the study is to
system was proceeded, under the irregular wave condition. This investigate Power Conditioning System(PCS) and to see how
paper aims at studying the electrical part of the wave energy
the power is produced.
converter and study what impact the electrical system will have
on the generator.
II. MODELING AND SYSTEM CONFIGURATION
Keywords—Wave energy converte (WEC), Power conditioning
system (PCS), Linear generator, Power generation A. Dynamic Model of WEC
Figure 1 shows the wave generation model. The forces
I. INTRODUCTION acting on the wave generation system were analyzed in [2] and
For the purpose of saving resources and preventing global [3], and detail motion equation of the wave generation system
warming, the use of renewable energy is becoming more wide was also derived. Based on the motion equation, a simplified
spread. New approaches, for replacing of method for power motion equation was given in [1], which is suitable for power
generation using fossil fuels, are being conducted actively. system analysis. The simplified motion equation is given by
Among various energy resources, offshore energy development d 2 y (t ) dy (t ) dy (t )
is still progressing slowly. Sea wave energy of marine energy Fwave = ( M + ma ) +b + Ky (t ) + c (1)
dt 2 dt dt
can be easily seen and utilized widely. The sea wave power
generation system is utilized with offshore wind generation d 2 y (t ) dy (t )
= ( M + ma ) + (b + c) + Ky (t )
system because the place for the development of sea wave dt 2 dt
generation is usually consistent with the location of offshore where y (t ) is the displacement of the translator, M is the mass
wind power system. It is possible to develop a small scale and
the sea wave generation system can be used as a breakwater. of the translator, ma is the added mass, b is the radiation
damping coefficient, K is the spring constant, cdy (t ) / dt is the
In this paper, we applied the linear permanent magnet
generator (LPMG) for the sea wave generation. The wave generator electromagnetic force, and Fwave is the sum of the
energy is carried out from the movement of a buoy. The buoy forces.
is connected to the moving part of the generator. When the
buoy moves with the waves, the permanent magnetized
translator gets a linear motion in the generator and a voltage is
induced in the stator winding. Since the motion of the translator
is correlated with the wave motion, the voltage produced by the
wave energy converter has an irregular amplitude and
frequency and has to be converted before it connected to the
grid. For an analysis of the power system, the modeling of the
linear generator and converter system was proceeded. This
paper aims at studying the electrical part of the wave energy
converter and study what impact the electrical system will have
on the generator. Models for studying wave power are often Fig. 1. Wave generation model

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 2017 14th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications
and Information Technology (ECTI-CON)

B. Model of Linear Generator modeling of the rotating synchronous machine, as the dq

reference frame is fixed in the rotor, rotating speed of the dq
reference frame is equal to the rotating speed of the rotor
Because of the different motion of rotor, the dq transformation
should be changed to (2).
The stator voltage equation of a permanent magnet
synchronous generator in the synchronous reference frame is
described by [5]

dψ d
υ d = − Rid − + ωψ q
dt
Fig. 2. Equivalent circuit of linear permanent magnet generator and
converter
dψ q
υ q = − Riq − − ωψ d
dt
Figure 2 shows the equivalent circuit of a linear permanent (3)
ψ d = Ld id −ψ PM
magnet generator (LPMG) and a converter. The LPMG is
represented by a back EMF, inductances and resistances. The ψ q = Lq i q
voltage sources represent converter. It is well-known that the
3
dynamic analysis of a permanent magnet synchronous P = ωψ PM iq
generator is normally established in the dq reference frame. 2
But, the models shown in figure 2 are represented in abc frame. where υd and υq are the d and q axis stator voltage, respectively,
So, the model of the LPMG in abc reference frame should be id and iq are the d axis and q axis stator current, ω is the
transformed into dq reference frame using dq transformation. angular speed of the stator variables, ψPM is the flux from
Figure 3 shows the transformation between abc frame and permanent magnet, P is the active power.
dq reference frame. The voltage equation shown in (3) is appropriate for a
rotating permanent machine, not a linear permanent machine.
The rotor of the rotating permanent magnet generator rotates in
the generator, while the rotor, called translator, of the linear
permanent magnet generator reciprocates. Due to motion’s
difference, the speed term should be considered. When the
rotor of the linear permanent magnet generator moves in one
direction, ω can be given by
π (4)
ω = υt
τp
where vt is the linear speed of the linear generator, τp is the
pole pitch. Using eqation (4), the voltage equation of the
LMPG in the reference frame is derived [6],[7]

Fig. 3. Transformation from abc to dq frame dψ d π

υ d = − Rid − + υt ψ q
dt τp
The transformation from variables in the abc frame to the
variables in the dq reference frame is chosen as follows dψ q π
υ q = − Riq − − υt ψd
f dq = Tf abc dt τp
(5)
ψ d = Ld id − ψ PM
 2π 2π 
 cos(α ) cos(α −
3
) cos(α + )
3 
ψ q = Lq i q
(2)
2  2π 2π  3 π
T = − sin(α ) − sin(α − ) − sin(α + ) F= [id iq ( Ld − Lq ) − ψ PM i q ]
3 3 3  2τp
 1 1 1 
  where F is the force from generator.
2 2 2
The type of this permanent generator is a surface permanent
where α=(π/τp)x, x is the translator position of LMPG. The dq magnet generator. In case of a surface permanent magnet
reference frame is fixed in the translator and reciprocates with generator, the d axis inductance (Ld) is the same as the q axis
the translator. The amplitude of speed varies and the direction inductance (Lq). So, the reluctance torque is not used in this
of the motion of the dq reference frame changes along with the type of generator. The reluctance torque term, idiq(Ld-Lq), is
reciprocating motion of the translator. However, in the

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 2017 14th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications
and Information Technology (ECTI-CON)
canceled. Therefore, the generating force in (5) can be written
as
3π
F =− ψ PM iq
2τp
In (6), the generating force is related to just q axis current.
Since the generating force is proportional to the q axis current,
the command value of the d and q axis current can be derived
as
id* = 0
F (7)
iq* = −
3 π
ψ PM
2τp
where * represents the command value of the current
controller.
C. Generator Side converter Control
Figure 4 shows the control block diagram for the generator
side converter’s controller. The generator side converter
controller aims to extract the maximum power from the wave
force. Because of wave force, a buoy moves and the translator
of generator reciprocates. The position and speed of translator
is calculated from measured position sensor values. And then,
the generating force command is estimated from the calculated
position values. The current command is determined by force
command and the current controller generates the voltage
reference. The PWM duties are determined normally by the
space vector PWM (SVM) method from the voltage references
v*d and v*q in the dq reference frame. The gate driver controls
switches of IGBTs by gating signals from PWM duties.
Fig. 4. Generator side converter control block diagrm
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(6)
Fig. 5. Generator side current controller
Figure 5 shows generator side current controller.
Commonly, two proportional –integral (PI) controllers are used
to control the currents. The outputs of current controller are
voltage references, which are removed decoupling term.
Feedback currents are measured by phase current sensor and
transformed to dq reference frame using the position of
translators. The d axis current command i*d and the q axis
current command i*q are obtained as shown in (7). Especially,
the q axis current plays a very important role in extracting the
maximum power from wave. By controlling the d and q axis
current in reference frame, the proper power generation from
wave can be performed.
To extract maximum power from wave, the damping force
from the generator should be controlled equaling to that of the
wave. But, for this control, the appropriate model of parameters
in (1) should be considered and updated using algorithm in [9]
and [10].
III. SIMULATION RESULTS
Fig. 6. Equivalent circuit of wave generator and PCS
The waveform of buoy speed is not uniform because of
irregular sea wave. And a ripple frequency of output power is
two times compared to the sea wave, because the power is
generated at non-zero speed region. The simulation was
conducted to estimate the output power of the PCS and verify
the output characteristics. Figure 6 shows the equivalent circuit
of the wave generator and PCS. The LPMG can be represented
by the equivalent circuit of back-EMF, inductance, and
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 2017 14th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications
and Information Technology (ECTI-CON)

resistance component. The converter was expressed as a IV. CONCLUSION

voltage source. In this paper, we described the power generation from sea
wave by using the linear generator. For the evaluation, the
TABLE I. SPECIFICATION OF LINEAR GENERATOR wave generation modeling and the simulation were performed.
Unit
The simulation was performed in the irregular wave condition.
Parameter Specification
The maximum phase voltage was all came to 600[V] and the
Phase resistance Ω 0.6458 maximum phase currents was all came to 150[A]. The average
Phase inductance mH 2.8 power by irregular buoy speed was 10[kW]. The simulation
Back EMF constant V/m/s 178.7436 results will be used when the converter is designed.
Pole pitch M 0.1
Generator length M 9 ACKNOWLEDGMENT
Stator length m 2 This work was supported by the Korea Institute of Energy
Technology Evaluation and Planning(KETEP) and the
Table I shows parameters for simulation of the LPMG. The Ministry of Trade, Industry & Energy(MOTIE) of the Republic
simulation was performed in irregular wave condition. Figure 7 of Korea (No. 20162010103830).
shows the irregular buoy speed by irregular wave velocity.
Irregular buoy speed varies from -3.73 [m/s] to 3.52 [m/s]. REFERENCES
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(b) Phase voltage

(c) Output power

Fig. 8. Simulation results by irregular buoy speed

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