Towards Ocean Grazer's Modular Power Take-Off System Modeling: A Port-Hamiltonian Approach

J. J. Barradas-Berglind, M. Muñoz Arias, Y. Wei, W.A. Prins, A.I. Vakis, B. Jayawardhana

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This paper presents a modular modeling framework for the Ocean Grazer's Power Take-Off (PTO) system, which operates as an array of point-absorber type devices connected to a hydraulic system. The modeling is based on the port-Hamiltonian (PH) framework that enables energy-based analysis and control of the PTO system. Firstly, a modular model of a point-absorber hydraulic system, which represents the main building block of the PTO, is presented. The model consists of wave-mechanical and hydraulic subsystems that are interconnected with a transformer-type interconnection. Secondly, we show passivity of the point-absorber hydraulic element and the accumulation of potential energy, which is due to the novel pumping mechanism of the point-absorber. Finally, we illustrate these properties through simulation results.
Original languageEnglish
Title of host publication 20th World Congress of the International Federation of Automatic Control
EditorsDenis Dochain, Didier Henrion, Dimitri Peaucelle
Number of pages7
Publication statusPublished - Jul-2017
EventIFAC 2017 World Congress: The 20th World Congress of the International Federation of Automatic Control - Toulouse, France
Duration: 9-Jul-201714-Jul-2017

Publication series

NameIFAC- PapersOnLine


ConferenceIFAC 2017 World Congress
Internet address


  • ocean grazer
  • Port Hamiltonian modeling

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