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Optimal Operation of Power System

BITS Pilani, K K Birla Goa Campus

Unit Commitment

Introduction
Gen 1

F1
P1
Gen 2

F2

----

----

P2

PD

Gen N

FN
PN

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This problem is divided into two sub-problems


1) Unit Commitment sub-problem
2) Economic Dispatch sub-problem

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Definition
The process of determining a schedule of
generating units that yields the minimum total
production cost and satisfies all constraints is
called Unit Commitment (UC).

Formulation of UC problem
A.

Objective function
N

Min

F [ Fi ( pi ,t ) I i ,t SU i I i ,t (1 I i ,t 1 )]
i 1 t 1

Fi ( pi ,t ) ai bi pi ,t ci p

2
i ,t

HSU i ;
SU i

CSU i ;

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Ti ,toff Ti ,down Ti ,cold


Ti ,toff Ti ,down Ti ,cold

Constraints
The UC problem is subjected to
1) Equality constraint
2) Inequality constraints
3) Spinning reserve constraint
4) Ramp rate limits
5) Minimum up and minimum down time
6) Must run units

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Existing methods
1.
2.
3.
4.
5.

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Priority List method


Dynamic Programming
Lagrangian relaxation method
Stochastic search methods
Hybrid methods

Priority list method


The units will be committed based on the
average full load cost.
The average Full Load Cost=
The generating units are arranged in ascending
order based on the average full-load cost
(AFLC) of the generating units.
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Steps
Compute the ALFC for all units and find
priority list

Commit the units according to priority list


until reach the power demand

Example
Cost data of four units system

The priority order for the four


units is
unit 3, unit 2, unit 1, unit 4

Limitations
However, the UC solution may not be the
optimal schedule because start-up cost and
ramp rate constraints are not included in
determining the priority commitment order.
AFLC does not adequately reflect the operating
cost of generating units when they do not
operate at the full.
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13

DYNAMIC PROGRAMMING
The dynamic programming (DP) method
consists in implicitly enumerating feasible
schedule alternatives and comparing them in
terms of operating costs.
Thus DP has many advantages over the
enumeration method, such as reduction in the
dimensionality of the problem.

There are two DP algorithms.


--Forward dynamic programming
--Backward dynamic programming

FDP is often adopted in the unit commitment


Why FDP?
Initial state and conditions are known.
The start - up cost of a unit is a function of the
time.

In the FDP approach, the previous information


of the unit can be used to compute the
transition cost between hour t-1 and hour t such
as the start-up cost as well as to check the unit
constraints like the unit minimum uptime and
down-time.

The recursive formula to compute the minimum


cost during interval k with combination l is given
by
Fcost (k , l ) Min[ Pcost (k , l ) S (k 1, l : k , l ) Fcost (k 1, l )]

Fcost (k , l )

Least total cost to arrive at state (k,l)

Pcost (k , l )

Fuel cost of generation at state (k,l)

S (k 1, l : k , l )

Start up cost from (k-1,l) state to (k,l)

Start

K=1

Dynamic Programming

Perform economic dispatch for all


possible combination at interval k
Fcos t (l , k ) Min[ Pcos t ( K , l ) S cos t ( K 1, L : K , l )]

K=K+1

Fcos t (l , k ) Min[ Pcos t ( K , l ) S cos t ( K 1, L : K , l ) Fcos t ( K 1, L)]

Save N lowest cost strategy

K=M
(last hour)

Trace the optimal schedule

Stop

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19

LIMITATIONS
The DP does not take into account the coupling
of adjacent time periods.
The DP does not handle the minimum up and
down time constraints unless some heuristic
procedures were included.
The DP suffers from Curse of dimensionality.

Lagrangian Relaxation method


Lagrangian Relaxation (LR) method can eliminate the
dimensionality problem encountered in the Dynamic
Programming by temporarily relaxing coupling
constraints and separately considering each unit.

The LR method decomposes the Unit Commitment


problem into one dual sub-problem and one primal subproblem based on the dual optimization theory.
The primal sub-problem is the objective function of the
UC problem.

The dual sub-problem incorporates the objective function


and the constraints multiplied with the Lagrange
multipliers.
The dual and primal sub-problems
independently in an iterative process.

are

solved

Instead of solving the primal sub-problem to receive the


minimum cost, the dual sub-problem is usually solved to
receive the maximum cost by maximizing the Lagrangian
function with respect to the Lagrange multipliers.

Dual optimization theory


Min f = (0.25 x21+15)U1 + (0.255 x22+15)U2
subject to:
x1U1 +x2U2 =5
0 < x1 < 10
0 < x2 < 10 U1 ana U2 may be only 0 or 1

L = (0.25 x21+15)U1 + (0.255 x22+15)U2 +


l(5 x1U1 - x2U2)
Pick a value for l and keep it fixed

Minimize for U1 and U2 separately


0 = d/dx1(0.25x21 + 15 - x1l1)
0 = d/dx2(0.255x22 + 15 - x2l1)

0 = d/dx1(0.25x21 + 15 - x1l1)
if the value of x1 satisfying the above falls
outside the 0 < x1 < 10, we force x1 to the
limit.
If the term in the brackets is > 0, set U1 to 0,
otherwise keep it 1
0 = d/dx2(0.255x22 + 15 - x2l1)
same as above

Now assume the variables x1, x2, U1, U2 fixed


Try to maximize L by moving l1 around
dL/dl = (5 x1U1 - x2U2)
l2 l1 dL/dl (a)
if dL/dl 0, a 0.2
if dL/dl < 0, a 0.005
After we found l2, repeat the whole process
starting at step 1

Lagrangian Relaxation for Unit


Commitment problem
Primal sub problem
The primal sub-problem
is to find the minimum cost of committed units
subjected to various constraints.
T

J min [ Fc ( P ) SU (1 U )]U
*

t 1 n1

t
i ,n

t
n

t
i ,n

t
i ,n

t
i ,n

Dual sub-problem
The dual sub problem is to
find the maximum cost received by maximizing the
Lagrangian function with respect to the Lagrange
multipliers

To incorporate the power balance equation and


spinning reserve constraint into the UC problem,
the Lagrangian function is defined as
T

( P,U , l , u ) min [ Fcit,n ( Pnt ) SU it,n (1 U it,n )]U it,n


t 1 n 1

t 1

n 1

l ( PDt PntU nt )
T

t 1

n 1

( PDt R t Pnt,maxU nt )

The data for the three - unit, four - hour unit commitment
problem are as below, which is solved with Lagrange relaxation
technique

Limitations
Inappropriate method of updating the
Lagrangain multipliers may cause the solution
adjustment to oscillate around the global
optimum.
LR method tends to over-commit generating
units when identical generating units with the
same cost characteristics exist in the system.

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