Abstract
The PELs suite of simulation programs was continuously developed by PWP over the 17 year lifetime of the project. The programs use a variety of formulations adaptable to the task at hand, with respect to the computational effort and levels of detail required for modelling rigid bodies connected by a controlled joint
This report discusses the following topics:
- Significant and unforeseen findings
- Approaches to PELS verification studies
- Experimental validation studies
- Full scale validation studies
- Power comparisons
- Summary of experience from full scale testing of Pelamis P2 machines
Tank testing was used to validate the models, and this is covered in the Tank Testing section of this project.