A three dimensional time-domain model, based on Cummins equation, has been developed for an axisymmetric point absorbing wave energy converter (WEC) with an irregular cross section. This model incorporates a number of nonlinearities to accurately account for the dynamics of the device: hydrostatic restoring, motion constraints, saturation of the power-take-off force, and kinematic nonlinearities. Here, an interpolation model of the hydrostatic restoring reaction is developed and compared with a surface integral based method. The effects of these nonlinear hydrostatic models on device dynamics are explored by comparing predictions against those of a linear model. For the studied WEC, the interpolation model offers a large improvement over a linear model and is roughly two orders-of-magnitude less computationally expensive than the surface integral based method.

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