Modelado Dinámico y Control de un Dispositivo Sumergido Provisto de Actuadores Hidrostáticos

Abstract

Marine currents represent the most predictable source of renewable energy. The greatest percentage of its energy is located in areas with high depths. In order to be able to operate at these depths, new devices are being developed, floating anchoring type. The economically viable harnessing of the tidal energy with these devices requires the development of control systems. These systems must allow the automatic change of orientation and depth of the generator to harness the energy in an optimal way. In this paper, a type of hydrostatic actuator based on the controlled handling of water ballast is selected. Next, a dynamic model, provided with two degrees of freedom, is presented for the control of a submerged device for the exploitation of tidal currents. From this model, a multivariate control law has been developed, based on a non-linear decoupling matrix and on the compensation of the terms of friction and compressibility. Finally, the controller's goodness has been validated by the development of several simulations.