The utilization of wave energy is expected since ocean wave energy has a high potential. The improvement of the feasibility of wave energy converters requires control that maximizes the electric output energy, including the copper loss under a displacement constraint. Several model-based and model-free reactive controls have been developed. Although model-based reactive control attains high performance, it struggles to deal with modeling errors and forecasting wave excitation forces. On the other hand, the model-free reactive control can adapt to dynamic modeling, including modeling errors; however, it requires a vast amount of learning data and considerable time and effort to consider the displacement constraint. Model-based and model-free reactive controls each have advantages and disadvantages. Combined model-based and model-free reactive controls are desirable to freely switch between the model-based and model-free reactive controls based on various ocean situations. In this study, two equivalent model-based and model-free reactive controls that can consider the copper loss and displacement constraints without forecasting the wave excitation forces were proposed. The model-free reactive control was compared with the model-based reactive control and a conventional control using numerical simulations in irregular waves. The results of the simulation show that the proposed model-based reactive control achieves superior performance compared to that of the conventional control. The proposed model-free reactive control achieved comparable performance to that of the proposed model-based reactive control under various wave conditions. Moreover, the proposed model-free reactive control decreased the required training trials. The development of the two equivalent control schemes will lead to the proposal of combined model-based and model-free reactive controls in the future.

由于海浪能具有很高的潜力，因此预计波浪能的利用。波能转换器可行性的提高需要控制以最大化电输出能量，包括位移约束下的铜损。已经开发了几种基于模型和无模型的反应控制。尽管基于模型的反应控制获得了高性能，但它难以处理建模误差和预测波浪激励力。另一方面，无模型反应控制可以适应动态建模，包括建模误差；然而，它需要大量的学习数据和大量的时间和精力来考虑位移约束。基于模型和无模型的反应控制各有优缺点。基于模型和无模型的反应控制相结合，可以根据各种海洋情况在基于模型和无模型的反应控制之间自由切换。在这项研究中，提出了两种等效的基于模型和无模型的反应控制，它们可以在不预测波浪激励力的情况下考虑铜损和位移约束。将无模型反应控制与基于模型的反应控制和在不规则波中使用数值模拟的常规控制进行了比较。仿真结果表明，与传统控制相比，所提出的基于模型的反应控制实现了优越的性能。在各种波浪条件下，所提出的无模型反应控制实现了与所提出的基于模型的反应控制相当的性能。而且，提议的无模型反应控制减少了所需的训练试验。两种等效控制方案的发展将导致未来组合基于模型和无模型的反应控制的提议。