wecopttool.pto

Provide power take-off (PTO) forces and produced energy functions for common PTO control approaches.

The PTO produced energy can be used as the objective function for the control optimization. The PTO force can be included as an additional force in the WEC dynamics.

Contains:

  • The PTO class

  • Controller functions

Classes

PTO

A power take-off (PTO) object to be used in conjunction with a wecopttool.WEC object.

Functions

controller_unstructured

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

controller_pid

Proportional-integral-derivative (PID) controller that returns a time history of PTO forces.

controller_pi

Proportional-integral (PI) controller that returns a time history of PTO forces.

controller_p

Proportional (P) controller that returns a time history of PTO forces.