wecopttool.pto.controller_pi

controller_pi(pto, wec, x_wec, x_opt, waves=None, nsubsteps=1, saturation=None)[source]

Proportional-integral (PI) 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.

  • waves (Dataset | None) – xarray.Dataset with the structure and elements shown by wecopttool.waves.

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

  • saturation (FloatOrArray | None) – Maximum and minimum control value. Can be symmetric ([ndof]) or asymmetric ([ndof, 2]).

Return type:

ndarray