On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms

We study the interaction between a fleet of electric, self-driving vehicles servicing on-demand transportation requests (referred to as Autonomous Mobility-on-Demand, or AMoD, system) and the electric power network. We propose a model that captures the coupling between the two systems stemming from the vehicles' charging requirements and captures time-varying customer demand and power generation costs, road congestion, battery depreciation, and power transmission and distribution constraints. We then leverage the model to jointly optimize the operation of both systems. We devise an algorithmic procedure to losslessly reduce the problem size by bundling customer requests, allowing it to be efficiently solved by off-the-shelf linear programming solvers. Next, we show that the socially optimal solution to the joint problem can be enforced as a general equilibrium, and we provide a dual decomposition algorithm that allows self-interested agents to compute the market clearing prices without sharing private information. We assess the performance of the mode by studying a hypothetical AMoD system in Dallas-Fort Worth and its impact on the Texas power network. Lack of coordination between the AMoD system and the power network can cause a 4.4% increase in the price of electricity in Dallas-Fort Worth; conversely, coordination between the AMoD system and the power network could reduce electricity expenditure compared to the case where no cars are present (despite the increased demand for electricity) and yield savings of up $147M/year. Finally, we provide a receding-horizon implementation and assess its performance with agent-based simulations. Collectively, the results of this paper provide a first-of-a-kind characterization of the interaction between electric-powered AMoD systems and the power network, and shed additional light on the economic and societal value of AMoD.Comment: Extended version of the paper presented at Robotics: Science and Systems XIV, in prep. for journal submission. In V3, we add a proof that the socially-optimal solution can be enforced as a general equilibrium, a privacy-preserving distributed optimization algorithm, a description of the receding-horizon implementation and additional numerical results, and proofs of all theorem

On the interaction between Autonomous Mobility-on-Demand systems and the power network: models and coordination algorithms

We study the interaction between a fleet of electric, self-driving vehicles servicing on-demand transportation requests (referred to as Autonomous Mobility-on-Demand, or AMoD, system) and the electric power network. We propose a model that captures the coupling between the two systems stemming from the vehicles' charging requirements and captures time-varying customer demand and power generation costs, road congestion, battery depreciation, and power transmission and distribution constraints. We then leverage the model to jointly optimize the operation of both systems. We devise an algorithmic procedure to losslessly reduce the problem size by bundling customer requests, allowing it to be efficiently solved by off-the-shelf linear programming solvers. Next, we show that the socially optimal solution to the joint problem can be enforced as a general equilibrium, and we provide a dual decomposition algorithm that allows self-interested agents to compute the market clearing prices without sharing private information. We assess the performance of the mode by studying a hypothetical AMoD system in Dallas-Fort Worth and its impact on the Texas power network. Lack of coordination between the AMoD system and the power network can cause a 4.4% increase in the price of electricity in Dallas-Fort Worth; conversely, coordination between the AMoD system and the power network could reduce electricity expenditure compared to the case where no cars are present (despite the increased demand for electricity) and yield savings of up $147M/year. Finally, we provide a receding-horizon implementation and assess its performance with agent-based simulations. Collectively, the results of this paper provide a first-of-a-kind characterization of the interaction between electric-powered AMoD systems and the power network, and shed additional light on the economic and societal value of AMoD.Comment: Extended version of the paper presented at Robotics: Science and Systems XIV and accepted by TCNS. In Version 4, the body of the paper is largely rewritten for clarity and consistency, and new numerical simulations are presented. All source code is available (MIT) at https://dx.doi.org/10.5281/zenodo.324165

Towards ‘Smarter’ Systems: Key Cyber-Physical Performance-Cost Tradeoffs in Smart Electric Vehicle Charging with Distributed Generation

The growing penetration of electric vehicles (EV) into the market is driving sharper spikes in consumer power demand. Meanwhile, growing renewable distributed generation (DG) is driving sharper spikes in localised power supply. This leads to growing temporally unsynchronised spikes in generation and consumption, which manifest as localised over- or undervoltage and disrupt grid service quality. Smart Grid solutions can respond to voltage conditions by curtailing charging EVs or available DG through a network of cyber-enabled sensors and actuators. How to optimise efficiency, ensure stable operation, deliver required performance outputs and minimally overhaul existing hardware remains an open research topic. This thesis models key performance-cost tradeoffs relating to Smart EV Charging with DG, including architectural design challenges in the underpinning Information and Communications Technology (ICT). Crucial deployment optimisation balancing various Key Performance Indicators (KPI) is achieved. The contributions are as follows: • Two Smart EV Charging schemes are designed for secondary voltage control in the distribution network. One is optimised for the network operator, the other for consumers/generators. This is used to evaluate resulting performance implications via targeted case study. • To support these schemes, a multi-tier hierarchical distributed ICT architecture is designed that alleviates computation and traffic load from the central controller and achieves user fairness in the network. In this way it is scalable and adaptable to a wide range of network sizes. • Both schemes are modelled under practical latency constraints to derive interlocking effects on various KPIs. Multiple latency-mitigation strategies are designed in each case. • KPIs, including voltage control, peak shaving, user inconvenience, renewable energy input, CO2 emissions and EV & DG capacity are evaluated statistically under 172 days of power readings. This is used to establish key performancecost tradeoffs relevant to multiple invested bodies in the power grid. • Finally, the ICT architecture is modelled for growing network sizes. Quality-of- Service (QoS) provision is studied for various multi-tier hierarchical topologies under increasing number of end devices to gauge performance-cost tradeoffs related to demand-response latency and network deployment

Open-Source, Open-Architecture SoftwarePlatform for Plug-InElectric Vehicle SmartCharging in California

This interdisciplinary eXtensible Building Operating System–Vehicles project focuses on controlling plug-in electric vehicle charging at residential and small commercial settings using a novel and flexible open-source, open-architecture charge communication and control platform. The platform provides smart charging functionalities and benefits to the utility, homes, and businesses.This project investigates four important areas of vehicle-grid integration research, integrating technical as well as social and behavioral dimensions: smart charging user needs assessment, advanced load control platform development and testing, smart charging impacts, benefits to the power grid, and smart charging ratepayer benefits

Enhanced Electric Vehicle Integration in the UK Low Voltage Networks with Distributed Phase Shifting Control

Electric vehicles (EV) have gained global attention due to increasing oil prices and rising concerns about transportation-related urban air pollution and climate change. While mass adoption of EVs has several economic and environmental benefits, large-scale deployment of EVs on the low-voltage (LV) urban distribution networks will also result in technical challenges. This paper proposes a simple and easy to implement single-phase EV charging coordination strategy with three-phase network supply, in which chargers connect EVs to the less loaded phase of their feeder at the beginning of the charging process. Hence, network unbalance is mitigated and, as a result, EV hosting capacity is increased. A new concept, called Maximum EV Hosting Capacity (HC max) of low voltage distribution networks, is introduced to objectively assess and quantify the enhancement that the proposed phase-shifting strategy could bring to distribution networks. The resulting performance improvement has been demonstrated over three real UK residential networks through a comprehensive Monte Carlo simulation study using Matlab and OpenDSS tools. With the same EV penetration level, the under-voltage probability was reduced in the first network from 100% to 54% and in the second network from 100% to 48%. Furthermore, percentage voltage unbalance factors in the networks were successfully restored to their original values before any EV connection.Peer reviewedFinal Accepted Versio