arXiv subjects

Göran Andersson

Publications and source records attributed to Göran Andersson.

At least 19 recordsLinked to original sources

arXiv2020

An Uncertainty Management Framework for Integrated Gas-Electric Energy Systems

In many parts of the world, electric power systems have seen a significant shift towards generation from renewable energy and natural gas. Because of their ability to flexibly adjust power generation in real time, gas-fired power plants are frequently seen as the perfect partner for variable renewable generation. However, this reliance on gas generation increases interdependence and propagates uncertainty between power grids and gas pipelines, and brings coordination and uncertainty management challenges. To address these issues, we propose an uncertainty management framework for uncertain, but bounded gas consumption by gas-fired power plants. The admissible ranges are computed based on a joint optimization problem for the combined gas and electricity networks, which involves chance-constrained scheduling for the electric grid and a novel robust optimization formulation for the natural gas network. This formulation ensures feasibility of the integrated system with a high probability, while providing a tractable numerical formulation. A key advance with respect to existing methods is that our method is based on a physically accurate, validated model for transient gas pipeline flows. Our case study benchmarks our proposed formulation against methods that ignore how reserve activation impacts the fuel use of gas power plants, and only consider predetermined gas consumption. The results demonstrate the importance of considering uncertainty to avoid operating constraint violations and curtailment of gas to the generators.

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arXiv2019

Chance-Constrained AC Optimal Power Flow: Reformulations and Efficient Algorithms

Higher levels of renewable electricity generation increase uncertainty in power system operation. To ensure secure system operation, new tools that account for this uncertainty are required. In this paper, we formulate a chance-constrained AC optimal power flow problem, which guarantees that generation, power flows and voltages remain within their bounds with a pre-defined probability. We then propose an accurate, yet tractable analytical reformulation of the chance constraints. The reformulation maintains the full, non-linear AC power flow equations for the forecasted operating point, and models the impact of uncertainty through a linearization around this point. We discuss different solution algorithms, including one-shot optimization with and without recourse, and an iterative algorithm which enables scalable implementations. We further discuss how more general chance constraint reformulations can be incorporated within the iterative solution algorithm. In a case study based on four different IEEE systems, we compare the performance of the solution algorithms, and demonstrate scalability of the iterative scheme. We further show that the analytical reformulation accurately and efficiently enforces chance constraints in both in- and out-of-sample tests, and that the analytical approach outperforms two alternative, sample based chance constraint reformulations.

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arXiv2017

Optimal Placement and Sizing of Distributed Battery Storage in Low Voltage Grids using Receding Horizon Control Strategies

In this paper we present a novel methodology for leveraging Receding Horizon Control (RHC), also known as Model Predictive Control (MPC) strategies for distributed battery storage in a planning problem using a Benders decomposition technique. Longer prediction horizons lead to better storage placement strategies but also higher computational complexity that can quickly become computationally prohibitive. The here proposed MPC strategy in conjunction with a Benders decomposition technique effectively reduces the computational complexity to a manageable level. We use the CIGRE low voltage (LV) benchmark grid as a case study for solving an optimal placement and sizing problem for different control strategies with different MPC prediction horizons. The objective of the MPC strategy is to maximize the photovoltaic (PV) utilization and minimize battery degradation in a local residential area, while satisfying all grid constraints. For this case study we show that the economic value of battery storage is higher when using MPC based storage control strategies than when using heuristic storage control strategies, because MPC strategies explicitly exploit the value of forecast information. The economic merit of this approach can be further increased by explicitly incorporating a battery degradation model in the MPC strategy.

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arXiv2017

Modeling and Optimal Operation of Distributed Battery Storage in Low Voltage Grids

Due to high power in-feed from photovoltaics, it can be expected that more battery systems will be installed in the distribution grid in near future to mitigate voltage violations and thermal line and transformer overloading. In this paper, we present a two-stage centralized model predictive control scheme for distributed battery storage that consists of a scheduling entity and a real-time control entity. To guarantee secure grid operation, we solve a robust multi-period optimal power flow (OPF) for the scheduling stage that minimizes battery degradation and maximizes photovoltaic utilization subject to grid constraints. The real-time controller solves a real-time OPF taking into account storage allocation profiles from the scheduler, a detailed battery model, and real-time measurements. To reduce the computational complexity of the controllers, we present a linearized OPF that approximates the nonlinear AC-OPF into a linear programming problem. Through a case study, we show, for two different battery technologies, that we can substantially reduce battery degradation when we incorporate a battery degradation model. A further finding is that we can reduce battery losses by 30% by using the detailed battery model in the real-time control stage.

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arXiv2017

Battery Degradation Maps for Power System Optimization and as a Benchmark Reference

This paper presents a novel method to describe battery degradation. We use the concept of degradation maps to model the incremental charge capacity loss as a function of discrete battery control actions and state of charge. The maps can be scaled to represent any battery system in size and power. Their convex piece-wise affine representations allow for tractable optimal control formulations and can be used in power system simulations to incorporate battery degradation. The map parameters for different battery technologies are published making them an useful basis to benchmark different battery technologies in case studies.

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arXiv2016

Fast and Reliable Primary Frequency Reserves From Refrigerators with Decentralized Stochastic Control

Due to increasing shares of renewable energy sources, more frequency reserves are required to maintain power system stability. In this paper, we present a decentralized control scheme that allows a large aggregation of refrigerators to provide Primary Frequency Control (PFC) reserves to the grid based on local frequency measurements and without communication. The control is based on stochastic switching of refrigerators depending on the frequency deviation. We develop methods to account for typical lockout constraints of compressors and increased power consumption during the startup phase. In addition, we propose a procedure to dynamically reset the thermostat temperature limits in order to provide reliable PFC reserves, as well as a corrective temperature feedback loop to build robustness to biased frequency deviations. Furthermore, we introduce an additional randomization layer in the controller to account for thermostat resolution limitations, and finally, we modify the control design to account for refrigerator door openings. Extensive simulations with actual frequency signal data and with different aggregation sizes, load characteristics, and control parameters, demonstrate that the proposed controller outperforms a relevant state-of-the-art controller.

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arXiv2016

Experimental Demonstration of Frequency Regulation by Commercial Buildings - Part I: Modeling and Hierarchical Control Design

This paper is the first part of a two-part series in which we present results from an experimental demonstration of frequency regulation in a commercial building test facility. In Part I, we introduce the test facility and develop relevant building models. Furthermore, we design a hierarchical controller that consists of three levels: a reserve scheduler, a building climate controller, and a fan speed controller for frequency regulation. We formulate the reserve scheduler as a robust optimization problem and introduce several approximations to reduce its complexity. The building climate controller is comprised of a robust model predictive controller and a Kalman filter. The frequency regulation controller consists of a feedback and a feedforward loop, provides fast responses, and is stable. Part I presents building model identification and controller tuning results, whereas Part II reports results from the operation of the hierarchical controller under frequency regulation.

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arXiv2016

Experimental Demonstration of Frequency Regulation by Commercial Buildings - Part II: Results and Performance Evaluation

This paper is the second part of a two-part series presenting the results from an experimental demonstration of frequency regulation in a commercial building test facility. In Part I, we developed relevant building models and designed a hierarchical controller for reserve scheduling, building climate control and frequency regulation. In Part II, we introduce the communication architecture and experiment settings, and present extensive experimental results under frequency regulation. More specifically, we compute the day-ahead reserve capacity of the test facility under different assumptions and conditions. Furthermore, we demonstrate the ability of model predictive control to satisfy comfort constraints under frequency regulation, and show that fan speed control can track the fast-moving RegD signal of the Pennsylvania, Jersey, and Maryland Power Market (PJM) very accurately. In addition, we report the observed effects of frequency regulation on building control and provide suggestions for realworld implementation projects. Our results show that hierarchical control is appropriate for frequency regulation from commercial buildings.

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arXiv2016

Optimal Sizing and Placement of Distributed Storage in Low Voltage Networks

This paper proposes a novel algorithm to optimally size and place storage in low voltage (LV) networks based on a linearized multiperiod optimal power flow method which we call forward backward sweep optimal power flow (FBS-OPF). We show that this method has good convergence properties, its solution deviates slightly from the optimum and makes the storage sizing and placement problem tractable for longer investment horizons. We demonstrate the usefulness of our method by assessing the economic viability of distributed and centralized storage in LV grids with a high photovoltaic penetration (PV). As a main result, we quantify that for the CIGRE LV test grid distributed storage configurations are preferable, since they allow for less PV curtailment due to grid constraints.

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arXiv2016

Chance Constrained Optimal Power Flow with Curtailment and Reserves from Wind Power Plants

Over the past years, the share of electricity production from wind power plants has increased to significant levels in several power systems across Europe and the United States. In order to cope with the fluctuating and partially unpredictable nature of renewable energy sources, transmission system operators (TSOs) have responded by increasing their reserve capacity requirements and by requiring wind power plants to be capable of providing reserves or following active power set-point signals. This paper addresses the issue of efficiently incorporating these new types of wind power control in the day-ahead operational planning. We review the technical requirements the wind power plants must fulfill, and propose a mathematical framework for modeling wind power control. The framework is based on an optimal power flow formulation with weighted chance constraints, which accounts for the uncertainty of wind power forecasts and allows us to limit the risk of constraint violations. In a case study based on the IEEE 118 bus system, we use the developed method to assess the effectiveness of different types of wind power control in terms of operational cost, system security and wind power curtailment.

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arXiv2015

Distributed Secondary Frequency Control through MTDC Transmission Systems

In this paper, we present distributed controllers for sharing primary and secondary frequency control reserves for asynchronous AC transmission systems, which are connected through a multi-terminal HVDC grid. By using Lyapunov arguments, the equilibria of the closed-loop system are shown to be globally asymptotically stable. We quantify the static errors of the voltages and frequencies, and give upper bounds for these errors. It is also shown that the controllers have the property of power sharing, i.e., primary and secondary frequency control reserves are shared fairly amongst the AC systems. The proposed controllers are applied to a high-order dynamic model of of a power system consisting of asynchronous AC grids connected through a six-terminal HVDC grid.

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arXiv2015

Distributed Primary Frequency Control through Multi-Terminal HVDC Transmission Systems

This paper presents a decentralized controller for sharing primary AC frequency control reserves through a multi-terminal HVDC grid. By using Lyapunov arguments, the proposed controller is shown to stabilize the equilibrium of the closed-loop system consisting of the interconnected AC and HVDC grids, given any positive controller gains. The static control errors resulting from the proportional controller are quantified and bounded by analyzing the equilibrium of the closed-loop system. The proposed controller is applied to a test grid consisting of three asynchronous AC areas interconnected by an HVDC grid, and its effectiveness is validated through simulation.

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arXiv2015

Coordinated Frequency Control through MTDC Transmission Systems

In this paper we propose a distributed dynamic controller for sharing frequency control reserves of asynchronous AC systems connected through a multi-terminal HVDC (MTDC) grid. We derive sufficient stability conditions, which guarantee that the frequencies of the AC systems converge to the nominal frequency. Simultaneously, the global quadratic cost of power generation is minimized, resulting in an optimal distribution of generation control reserves. The proposed controller also regulates the voltages of the MTDC grid, asymptotically minimizing a quadratic cost function of the deviations from the nominal voltages. The proposed controller is tested on a high-order dynamic model of a power system consisting of asynchronous AC grids, modelled as IEEE 14 bus networks, connected through a six-terminal HVDC grid. The performance of the controller is successfully evaluated through simulation.

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arXiv2015

Distributed Frequency Control through MTDC Transmission Systems

In this paper we propose distributed dynamic controllers for sharing both frequency containment and restoration reserves of asynchronous AC systems connected through a multi-terminal HVDC (MTDC) grid. The communication structure of the controller is distributed in the sense that only local and neighboring state information is needed, rather than the complete state. We derive sufficient stability conditions, which guarantee that the AC frequencies converge to the nominal frequency. Simultaneously, a global quadratic power generation cost function is minimized. The proposed controller also regulates the voltages of the MTDC grid, asymptotically minimizing a quadratic cost function of the deviations from the nominal DC voltages. The results are valid for distributed cable models of the HVDC grid (e.g. $π$-links), as well as AC systems of arbitrary number of synchronous machines, each modeled by the swing equation. We also propose a decentralized, communication-free version of the controller. The proposed controllers are tested on a high-order dynamic model of a power system consisting of asynchronous AC grids, modelled as IEEE 14 bus networks, connected through a six-terminal HVDC grid. The performance of the controller is successfully evaluated through simulation.

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arXiv2015

Polyhedral Computation Based Transfer Capacities in Multi-Area Power Systems

This paper proposes a new methodology to maximize the feasible set of power injections and cross-border power transfers in meshed multi-area power systems. The approach used polyhedral computation schemes and is an extension to the classic procedure for cross-border transfer capacity assessment in the European power network, including the computation of bilateral cross-border transfer capacities as well as multilateral flow-based approaches. The focus is the characterization of inter-area exchange limits required for secure power system operation in the presence of physical transmission constraints, while maximizing the utilization factors of the transmission lines. The numerical examples include a case study of the ENTSO-E transmission system.

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arXiv2015

Security Constrained Optimal Power Flow with Distributionally Robust Chance Constraints

The growing amount of fluctuating renewable infeeds and market liberalization increases uncertainty in power system operation. To capture the influence of fluctuations in operational planning, we model the forecast errors of the uncertain in-feeds as random variables and formulate a security constrained optimal power flow using chance constraints. The chance constraints limit the probability of violations of technical constraints, such as generation and transmission limits, but require a tractable reformulation. In this paper, we discuss different analytical reformulations of the chance constraints, based on a given set of assumptions concerning the forecast error distributions. In particular, we discuss reformulations that do not assume a normal distribution, and admit an analytical reformulation given only a mean vector and covariance matrix. We illustrate our method with a case study of the IEEE 118 bus system, based on real data from the European system. The different reformulations are compared in terms of both achieved empirical violation probability and operational cost, which allows us to provide a suggestion for the most appropriate reformulation in an optimal power flow setting. For a large number of uncertainty sources, it is observed that the distributions of the line flows and generator outputs can be close to normal, even though the power injections are not normally distributed.

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arXiv2015

A Fully Controllable Power System - Concept for FACTS and HVDC Placement

This paper puts forward the vision of fully decoupling market operations from security considerations through controllable power flows. In "A Fully Controllable Power System", power system security is no longer dependent on the location of the power injection points. In the ideal case, this leads to the elimination of redispatching costs, which amount to several million dollars per year in large systems. This paper determines the upper and lower bounds for the number of controllable lines and number of controllers to achieve this decoupling in any system. It further introduces the notion of the controllability vector CV, which expresses the effect of any controller on the AC line flows. Based on two alternative definitions for controllability, two controller placement algorithms to maximize controllability are presented and their results are compared.

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arXiv2015

Robust Energy-Constrained Frequency Reserves from Aggregations of Commercial Buildings

It has been shown that the heating, ventilation, and air conditioning (HVAC) systems of commercial buildings can offer ancillary services to power systems without loss of comfort. In this paper, we propose a new control framework for reliable scheduling and provision of frequency reserves by aggregations of commercial buildings. The framework incorporates energy-constrained frequency signals, which are adopted by several transmission system operators for loads and storage devices. We use a hierarchical approach with three levels: (i) reserve capacities are allocated among buildings (e.g., on a daily basis) using techniques from robust optimization, (ii) a robust model predictive controller optimizes the HVAC system consumption typically every 30 minutes, and (iii) a feedback controller adjusts the consumption to provide reserves in real time. We demonstrate how the framework can be used to estimate the reserve capacities in simulations with typical Swiss office buildings and different reserve product characteristics. Our results show that an aggregation of approximately 100 buildings suffices to meet the 5 MW minimum bid size of the Swiss reserve market.

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