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Wave power
12.1 Introduction
Very large energy fluxes can occur in deep water sea waves. The power
in the wave is proportional to the square of the amplitude and to the
period of the motion. Therefore the long period ∼10 s, large amplitude
∼2 m waves have considerable interest for power generation, with energy
−1
fluxes commonly averaging between 50 and 70 kW m width of oncoming
wave.
The possibility of generating electrical power from these deep water
waves has been recognised for many years, and there are countless ideas
for machines to extract the power. For example, a wave power system
was used in California in 1909 for harbour lighting. Modern interest has
revived, particularly in Japan, the UK, Scandinavia and India, so research
and development has progressed to commercial construction for meaning-
ful power extraction. Very small scale autonomous systems are used for
marine warning lights on buoys and much larger devices for grid power
generation. The provision of power for marine desalination is an obvious
attraction. As with all renewable energy supplies, the scale of operation
has to be determined, and present trends support moderate power genera-
tion at about 100 kW–1 MW from modular devices each capturing energy
from about 5 to 25 m of wavefront. Initial designs are for operation at
shore-line or near to shore to give access and to lessen, hopefully, storm
damage.
It is important to appreciate the many difficulties facing wave power
developments. These will be analysed in later sections, but may be sum-
marised here:
10 times the height of the average wave. Thus the structures have to
withstand ∼100 times the power intensity to which they are normally
matched. Allowing for this is expensive and will probably reduce nor-
mal efficiency of power extraction.
3 Peak power is generally available in deep water waves from open-sea
swells produced from long fetches of prevailing wind, e.g. beyond the
Western Islands of Scotland (in one of the most tempestuous areas of
the North Atlantic) and in regions of the Pacific Ocean. The difficulties
of constructing power devices for these types of wave regimes, of main-
taining and fixing or mooring them in position, and of transmitting
power to land, are fearsome. Therefore more protected and accessible
areas near to shore are most commonly used.
4 Wave periods are commonly ∼ 5–10 s (frequency ∼ 01 Hz). It is
extremely difficult to couple this irregular slow motion to electrical
generators requiring ∼500 times greater frequency.
5 So many types of device may be suggested for wave power extraction
that the task of selecting a particular method is made complicated and
somewhat arbitrary.
6 The large power requirement of industrial areas makes it tempting to
seek for equivalent wave energy supplies. Consequently plans may be
scaled up so only large schemes are contemplated in the most demand-
ing wave regimes. Smaller sites of far less power potential, but more
reasonable economics and security, may be ignored.
7 The development and application of wave power has occurred with
spasmodic and changing government interest, largely without the ben-
efit of market incentives. Wave power needs the same learning curve of
steadily enlarging application from small beginnings that has occurred
with wind power.
The distinctive advantages of wave power are the large energy fluxes
available and the predictability of wave conditions over periods of days.
Waves are created by wind, and effectively store the energy for transmission
over great distances. For instance, large waves appearing off Europe will
have been initiated in stormy weather in the mid-Atlantic or as far as the
Caribbean.
The following sections aim to give a general basis for understanding wave
energy devices. First we outline the theory of deep water waves and calculate
the energy fluxes available in single frequency waves. Then we review the
patterns of sea waves that actually occur. Finally we describe attempts being
made to construct devices that efficiently match variable natural conditions.
With the complex theory of water waves we have sacrificed mathematical
rigor for, we hope, physical clarity, since satisfactory theoretical treatments
exist elsewhere.
402 Wave power
1 The surface waves are sets of unbroken sine waves of irregular wave-
length, phase and direction.
2 The motion of any particle of water is circular. Whereas the surface
form of the wave shows a definite progression, the water particles
themselves have no net progression.
3 Water on the surface remains on the surface.
4 The amplitudes of the water particle motions decrease exponentially
with depth. At a depth of /2 below the mean surface position, the
amplitude is reduced to 1/e of the surface amplitude (e = 272, base
of natural logarithms). At depths of /2 the motion is negligible, being
less than 5% of the surface motion.
5 The amplitude a of the surface wave is essentially independent of the
wavelength , velocity c or period T of the wave, and depends on
the history of the wind regimes above the surface. It is rare for the
amplitude to exceed one-tenth of the wavelength, however.
6 A wave will break into white water when the slope of the surface is
about 1 in 7, and hence dissipate energy potential.
Figure 12.1 Particle motion in water waves. (a) Deep water, circular motion of water
particles. (b) Shallow water, elliptical motion of water particles.
12.2 Wave motion 403
The formal analysis of water waves is difficult, but known; see Coulson
and Jeffrey (1977) for standard theory. For deep water waves, frictional,
surface tension and inertial forces are small compared with the two dom-
inant forces of gravity and circular motion. As a result, the water surface
always takes up a shape so that its tangent lies perpendicular to the resultant
of these two forces, Figure 12.2.
It is of the greatest importance to realize that there is no net motion
of water in deep water waves. Objects suspended in the water show the
motions of Figure 12.1, which contrasts deep water waves with the kinds
of motion occurring in shallower water.
A particle of water in the surface has a circular motion of radius a equal
to the amplitude of the wave (Figure 12.3). The wave height H from the
top of a crest to the bottom of a trough is twice the amplitude: H = 2a. The
angular velocity of the water particles is (radian per second). The wave
surface has a shape that progresses as a moving wave, although the water
itself does not progress. Along the direction of the wave motion the moving
shape results from the phase differences in the motion of successive particles
of water. As one particle in the crest drops to a lower position, another
particle in a forward position circles up to continue the crest shape and the
forward motion of the wave.
The resultant forces F on water surface particles of mass m are indicated
in Figure 12.4. The water surface takes up the position produced by this
resultant, so that the tangent to the surface is perpendicular to F . A particle
at the top of a crest, position P1, is thrown upwards by the centrifugal
force ma2 . A moment later the particle is dropping, and the position in
dh
= tan s (12.3)
dx
Figure 12.5 Accelerations and velocities of a surface water particle. (a) Water sur-
face. (b) Particle acceleration, general derivation. (c) Particle velocity.
12.2 Wave motion 405
dh
= a sin = a cos t (12.5)
dt
The solution of (12.4) and (12.5) is
2 x
h = a sin − t (12.6)
g
2
h = a sin x − ct
2
= a sin x − t = a sinkx − t (12.7)
2g
= (12.8)
2
This equation is important; it gives the relationship between the frequency
and the wavelength of deep water surface waves.
The period of the motion is T = 2/ = 2/2g/1/2 . So
12
2
T= (12.9)
g
i.e.
1
g 2 gT
c= =
2 2
The velocity c is called the phase velocity of the travelling wave made by
the surface motion. Note that the phase velocity c does not depend on the
amplitude a, and is not obviously related to the particle velocity v.
Example 12.1
What is the period and phase velocity of a deep water wave of 100 m
wavelength?
Solution
From (12.8),
So
12.3.1 Basics
The elementary theory of deep water waves begins by considering a single
regular wave. The particles of water near the surface will move in circular
orbits, at varying phase, in the direction of propagation x. In a vertical
column the amplitude equals half the crest to trough height at the surface,
and decreases exponentially with depth.
The particle motion remains circular if the sea bed depth D > 05, when
the amplitude becomes negligible at the sea bottom. For these conditions
(Figure 12.6(a)) it is shown in standard texts that a water particle whose
mean position below the surface is z moves in a circle of radius given by
r = a ekz (12.13)
12.3 Wave energy and power 407
Figure 12.6 Elemental motion of water, drawn to show the exponential decrease of
amplitude with depth.
Here k is the wave number, 2/, and z is the mean depth below the surface
(a negative quantity).
We consider elemental ‘strips’ of water across unit width of wavefront,
of height dz and ‘length’ dx at position x z (Figure 12.6(b)). The volume
per unit width of wavefront of this strip of density
is
dV = dx dz (12.14)
dm =
dV =
dx dz (12.15)
Let EK be the kinetic energy of the total wave motion to the sea bottom,
per unit length along the x direction, per unit width of the wave-front.
The total kinetic energy of a length dx of wave is EK dx. Each element
of water of height dz, length dx and unit width is in circular motion at
constant angular velocity , radius of circular orbit r, and velocity v = r
(Figure 12.6(b)). The contribution of this element to the kinetic energy in a
vertical column from the sea bed to the surface is EK dx, where
1 1
EK dx = mv2 =
dz dxr 2 2 (12.16)
2 2
Hence
1 2 2
EK =
r dz (12.17)
2
It is easiest to consider a moment in time when the element is at its mean
position, and all other elements in the column are moving vertically at the
same phase in the z direction (Figure 12.6(c)).
From (12.13) the radius of the circular orbits is given by
r = aekz (12.18)
408 Wave power
1
EK =
a2 e2kz 2 dz (12.19)
2
Since k = 2/, and from (12.8) 2 = 2g/, the kinetic energy per unit
width of wave-front per unit length of wave is
1 2 2g 1
EK =
a =
a2 g (12.21)
4 2 4
In Problem 12.1 it is shown that the potential energy per unit width of
wave per unit length is
1 2
EP =
a g (12.22)
4
E =
groot mean square amplitude2 (12.24)
The energy per unit wavelength in the direction of the wave, per unit
width of wavefront, is
1 2
E = E =
a g (12.25)
2
E =
a2 g 2 /2 (12.26)
12.3 Wave energy and power 409
1
E =
a2 g 2 T 2 (12.27)
4
It is useful to show the kinetic, potential and total energies in these various
forms, since all are variously used in the literature.
r = a ekz (12.28)
(a) z (b)
rω Displaced position
p1 p2 dz of rotating particle
Δz
r
ux ωt Average position
dx
Figure 12.7 Local pressure fluctuations in the wave. (a) Pressures in the wave.
(b) Local displacement of water particle.
410 Wave power
Therefore, from Figure 12.7(a), the power carried in the wave at x, per
unit width of wave-front at any instant, is given by
z=0
P = p1 − p2 ux dz (12.31)
z=−
Where p1 and p2 are the local pressures experienced across the element of
height dz and unit width across the wavefront. Thus p1 − p2 is the pressure
difference experienced by the element of width y=1 m in a horizontal
direction. The only contribution to the energy flow that does not average to
zero at a particular average depth in the water is associated with the change
in potential energy of particles rotating in the circular paths; see Coulson
and Jeffrey (1977). Therefore by conservation of energy
p1 − p2 =
gz (12.32)
p1 − p2 =
ga ekz sin t (12.33)
ga2 z=0 2kz
ga2 1
P = e dz = (12.35)
2 z=− 2 2k
c= = (12.36)
k T
So the power carried forward in the wave per unit width across the wave-
front becomes
ga2 c
ga2
P = = (12.37)
2 2 4T
From (12.23) and (12.37) the power P equals the total energy (kinetic plus
potential) E in the wave per unit area of surface, times c/2. c/2 is called the
group velocity of the deep water wave, i.e. the velocity at which the energy
12.3 Wave energy and power 411
in the group of waves is carried forward. Thus, with the group velocity
u = c/2,
P = Eu = Ec/2 (12.38)
where E =
ga2 /2.
From (12.8),
k = 2 /g (12.39)
Example 12.2
What is the power in a deep water wave of wavelength 100 m and
amplitude 1.5 m?
Solution
From (12.12) for Example 12.1, c = 125 m s−1 . With (12.38),
where u is the group velocity of the energy and c is the phase velocity.
The sea water waves have an amplitude a = 15 m H = 3 m; realistic
for Atlantic waves, so in (12.37)
1 −3 −1
P = 1025 kg m 98 m s−2 15 m2 65 m s−1 = 73 kW m
2
Alternatively, P is obtained directly from 12.41b.
From Example 12.2, we can appreciate that there can be extremely large
power densities available in the deep water waves of realistic ocean swells.
Figure 12.8 Simulated wave height record at one position (with an exaggerated set
of crests to explain terminology).
12.4 Wave patterns 413
from upwards to downwards, and vice versa for a trough. Modern recorders
use digital methods for computer-based analysis of large quantities of data.
If H is the height difference between a crest and its succeeding trough,
there are various methods of deriving representative values, as defined in
the following.
The basic variables measured over long intervals of time are:
12
n
Hs = 4arms = 4 h2 /n (12.43)
i=1
where arms is the root mean square displacement of the water surface
from the mean position, as calculated from n measurements at equal
time intervals. Care has to be taken to avoid sampling errors, by record-
ing at a frequency at least twice that of the highest wave frequency
present.
4 Hmax is the measured or most probable maximum height of a wave.
Over 50 years Hmax may equal 50 times Hs and so this necessitates
considerable overdesign for structures in the sea.
5 Tz , the mean zero crossing period is the duration of the record divided by
the number of upward crossings of the mean water level. In Figure 12.8,
Tz =
/3.
6 Tc , the mean crest period, is the duration of the record divided by the
number N of crests. In Figure 12.8, Tc =
/10; in practice N is very
large, so reducing the error in Tc .
7 The spectral width parameter gives a measure of the variation in wave
pattern:
Figure 12.9 Distribution of power per frequency interval in a typical Atlantic deep water
wave pattern (Shaw 1982). The smoothed spectrum is used to find Te , the
energy period.
From (12.41) the power per unit width of wave-front in a pure sinusoidal
deep water wave is
g 2 a2 T
g 2 H 2 T
P = = (12.45)
8 32
where the trough to crest height is H = 2a. The root mean square
√
(rms) wave displacement for a pure sinusoidal wave is amax = a/ 2, so
in (12.45)
g 2 a2rms T
P = (12.46)
4
Figure 12.10 Scatter diagram of significant wave height Hs against zero crossing period
Tz . The numbers on the graph denote the average number of occurrences
of each Hs Tz in each 1000 measurements made over one year. The most
frequent occurrences are at Hs ∼ 3 m Tz ∼ 9 s, but note that maximum
likely power occurs at longer periods.
- - - - - these waves have equal maximum gradient or slope
1/n the maximum gradient of such waves, e.g. 1 in 20
_____ lines of constant wave power, kW m−1
Data for 58 N19 W in the mid-Atlantic. After Glendenning (1977).
Figure 12.11 Average annual wave energy MWh m−1 in certain sea areas of the world. After NEL (1976).
12.4 Wave patterns 417
In practice, sea waves are certainly not continuous single frequency sine
waves. The power per unit width of wavefront is therefore written in the
form of (12.46) as
g 2 Hs2 Te
P = (12.47)
64
Here Hs is the significant wave height defined by (12.43), and Te , called the
‘energy period’, is the period of the dominant power oscillations given by
the peak in the power spectrum, see Figure 12.9. For many seas
Te ≈ 112Tz (12.48)
Figure 12.12 Contours of average wave energy off north-west Europe. Numbers indicate
annual energy in the unit of MWh, and power intensity (bracketed) in the
unit of kW m−1 . Note that local effects are not indicated.
418 Wave power
g 2 H1/3
2
Tz
P ≈ ≈ 490 W m−1 m−2 s−1 H1/3
2
Tz (12.49)
64
However, with modern equipment and computer analysis, more sophis-
ticated methods can be used to calculate (1) arms and hence Hs and (2), Tz
or Te . Thus
12.5 Devices
As a wave passes a stationary position the surface changes height, water
near the surface moves as it changes kinetic and potential energy, and the
pressure under the surface changes. A great variety of devices have been
suggested for extracting energy using one or more of these variations as
input to the device. Included are devices that catch water at the crest of
the waves, and allow it to run back into the mean level or troughs after
extracting potential energy.
The Engineering Committee on Oceanic Resources (2003) described over
40 devices that have reached a stage of ‘advanced development’. Of these
over one-third are, or have been, ‘operational’, but only as one-off pilot
projects. We describe here a representative sample, classified by their general
principles. Wave-power has yet to reach the stage of widespread deployment
of commercial devices that wind-power has attained.
12.5 Devices 419
turbine house
P
Figure 12.13 Schematic diagram of the Tapchan wave capture system built in Norway
(see text). Waves flow over the top of the tapered channel into the
reservoir. Water flows from the pipe P near the top of the reservoir,
though the conventional small-head hydro turbines, see Section 8.5,
and then out to the sea at Q.
420 Wave power
sound
wells baffle
turbine
rock
water
Figure 12.14 Schematic diagram of an on-shore wave power system using an oscillat-
ing water column. Based on the LIMPET device operational on the island
of Islay, west of Scotland, for grid connected electricity generation.
12.5 Devices 421
turbine
buoyancy
air
chamber Stabiliser
chamber
Figure 12.15 The Whale device – a prototype floating wave-power system deployed off
Gokasho Bay, Japan in 1998. The device is 50 m long and has 120 kWe
generating capacity [after ‘Japan’s Marine Science and Technology Center
( JAMSTEC)’].
422 Wave power
wave
direction
Figure 12.16 Sketch of the Pelamis wave-power device, as seen from the side (not to
scale in the vertical direction). Motion at the hinges produces hydraulic
power fed to electrical generators. Note that the motion is not purely
vertical; the device also ‘wriggles’ from side to side. The device is
loosely moored to the sea floor by the mooring ropes as indicated. See
<www.oceanpd.com/Pelamis/>.
Problems
12.1 By considering elements of water lifted from depth z below the mean
sea level to a height z above this level in a crest, show that the potential
energy per unit length per unit width of wave front in the direction of
the wave is
1 2
EP =
a g
4
12.2 Figure 12.17(a) shows a conceptually simple device for extracting
power from the horizontal movement of water in waves. A flat vane
hinged about a horizontal axis at A (about /8 below the mean sur-
face level) oscillates as indicated as waves impinge on it. Experiment
indicates that such a device can extract about 40% of the energy in
the incoming waves; about 25% of the energy is transmitted onwards
(i.e. to water downstream of the vane) about 20% is reflected.
Salter (1974) designed the ‘vane’ shown in Figure 12.17(b) with
a view to minimising these losses. It rotates about the central axis
at O. Its stern is a half-cylinder (radius a) centred at O (lower dot-
ted line continues the circular locus), but from the bottom point the
shape changes into a surface which is another cylinder centred at
O , above O. This shape continues until it reaches an angle to the
vertical, at which point it develops into a straight tangent which is
continued to above the surface. For the case shown OO = 05a and
= 15 .
a By considering the movement of water particles that would occur
in the wave in the absence of the device and relating this to the
shape of the device, show that for wavelengths from ∼4a to ∼12a
the device can absorb ∼70% of the incoming energy.
b By 2004, this device, known as a Duck because of its bobbing
motion, had undergone extensive laboratory and theoretical devel-
opment. Figure 12.17(c) indicates how a full scale (a ∼ 8 m) system
might look in cross-section. The outer body moves (oscillates) rel-
ative to the inner cylinder. Suggest and justify (i) a way in which
the inner cylinder could be made into a sufficiently stable reference
point (ii) a way in which the irregular oscillatory motion could be
harnessed into useable energy for distribution to the shore.
Problems 425
θ o' +
o+
wave (b)
direction
(a) A
buoyancy
tanks
(c)
power
canister ballast
steel water-
spine filled
bearing
Figure 12.17 (a) A vane oscillates as waves impinge on it from the left. (b) A more
efficient ‘vane’ (Salter’s duck) designed to extract more energy from
the waves. See Problem 12.2 concerning its geometry. (c) A scheme
for extracting energy from a full-scale duck (∼10 m diameter).
unidirectional
rotation blade direction
symmetrical velocity of rotation
aerofoil
air flow
velocity
alternating
air flow
(a) (b)
Figure 12.18 Wells turbine. (a) Sketch. (b) Motion of a turbine blade (as seen by a fixed
observer).
turbine
housing
shore
or breakwater
Parabolic
wall
OWC
chamber
Figure 12.19 Oscillating water column device with parabolic focussing, seen from
above (after Energetech <www.energetech.com.au>.
Bibliography 427
Bibliography
General
Barber, N.F. (1969) Water Waves, Wykecham, London.
Coulson, C.A. and Jeffrey, A. (1977) Waves, Longman, London. An excellent
theoretical text, partly considering water waves.
Energy Technology Support Unit (1992) Wave Energy Review, ETSU, AEA Harwell,
UK. Energy Technology Support Unit (1999) A Brief Overview of Wave Energy,
ETSU, AEA Harwell, UK. Continues the saga of UK wave power development.
Engineering Committee on Oceanic Resources (2003) Wave Energy Conversion,
Elsevier. Excellent survey of state of the art with supporting theory and good
descriptions of current installations and prototypes.
Falnes, J. and Loveset, J. (1991) Ocean wave energy, Energy Policy, 19, 768–775
Lighthill, M.J. (1978) Waves in Fluids, Cambridge University Press. Advanced text
with clear physical description.
Ross, D. (1995) Power from the Waves, Oxford University Press. Journalistic
account of the history of wave energy, especially including the machinations of
wave-energy politics in the UK. Incorporates and extends the author’s earlier
book ‘Energy from the Waves’ (1979), Pergamon.
Salter, S.H. (1974) Wave power, Nature, 249, 720–4. Now seen as a classic paper
for wave power. Later papers deal with the ‘Salter Duck’ developments.
Specific references
Glendenning, I. (1977) Energy from the sea, Chemistry and Industry, July, 592–599.
NEL (1976) The Development of Wave Power – A Techno-economic Study, by
Leishman, J. M. and Scobie, G. of the National Engineering Laboratory, East
Kilbride, Glasgow, Report EAU M25.
Shaw, R. (1982) Wave Energy – A Design Challenge, Ellis Horwood, Chichester,
and Halsted Press, New York.
Commercial activity is being encouraged within the ambit of the British Wind
Energy Association (BWEA)<www.bwea.com/marine.> since this is of interest
to companies involved in offshore wind power.
The websites of device developers are often informative, e.g. Ocean Power
Delivery (re the Pelamis) www.oceanpd.com Wavegen (re the Limpet) www.
wavegen.co.uk
For more of an overview see the European Union energy site http://europa.
eu.int/comm/energy_transport/atlas/htmlu/wave.html