wecopttool.controllers.unstructured_controller.force

unstructured_controller.force(pto, wec, x_wec, x_opt, wave=None, nsubsteps=1)[source]

Unstructured numerical optimal controller that returns a time history of PTO forces.

Parameters:

  • pto (PTO) – wecopttool.pto.PTO object.

  • wec (WEC) – wecopttool.WEC object.

  • x_wec (ndarray) – WEC dynamic state.

  • x_opt (ndarray) – Optimization (control) state.

  • wave (Dataset | None) – 2D xarray.DataArray containing the wave’s complex amplitude for a single realization as a function of wave angular frequency omega (rad/s) and direction wave_direction (rad).

  • nsubsteps (int | None) – Number of steps between the default (implied) time steps. A value of 1 corresponds to the default step length.

Return type:

ndarray