Improving the optimization in model predictive controllers:Scheduling large groups of electric vehicles

In parking lots with large groups of electric vehicles (EVs), charging has to happen in a coordinated manner, among others, due to the high load per vehicle and the limited capacity of the electricity grid. To achieve such coordination, model predictive control can be applied, thereby repeatedly solving an optimization problem. Due to its repetitive nature and its dependency on the time granularity, optimization has to be(computationally) efficient.The work presented here focuses on that optimization sub-routine, its computational efficiency and how to speed up the optimization for large groups of EVs. In particular, we adapt FOCS, an algorithm that can solve the underlying optimization problem, to better suit the repetitive set-up of model predictive control by adding a pre-mature stop feature. Based on real-world data, we empirically show that the added feature speeds up the median computation time for 1-minute granularity by up to 44%.Furthermore, since FOCS is an algorithm that uses maximum flow methods as a subroutine, the impact of choosing various maximum flow methods on the runtime is investigated. Finally, we compare FOCS to a commercially available solver, concluding that FOCS outperforms the state-of-the-art when making a full-day schedule for large groups of EVs

A Class of Convex Quadratic Nonseparable Resource Allocation Problems with Generalized Bound Constraints

We study a convex quadratic nonseparable resource allocation problem that arises in the area of decentralized energy management (DEM), where unbalance in electricity networks has to be minimized. In this problem, the given resource is allocated over a set of activities that is divided into subsets, and a cost is assigned to the overall allocated amount of resources to activities within the same subset. We derive two efficient algorithms with $O(n \log  n)$ worst-case time complexity to solve this problem. For the special case where all subsets have the same size, one of these algorithms even runs in linear time given the subset size. Both algorithms are inspired by well-studied breakpoint search methods for separable convex resource allocation problems. Numerical evaluations on both real and synthetic data confirm the theoretical efficiency of both algorithms and demonstrate their suitability for integration in DEM systems

On a reduction for a class of resource allocation problems

In the resource allocation problem (RAP), the goal is to divide a given amount of resource over a set of activities while minimizing the cost of this allocation and possibly satisfying constraints on allocations to subsets of the activities. Most solution approaches for the RAP and its extensions allow each activity to have its own cost function. However, in many applications, often the structure of the objective function is the same for each activity and the difference between the cost functions lies in different parameter choices such as, e.g., the multiplicative factors. In this article, we introduce a new class of objective functions that captures the majority of the objectives occurring in studied applications. These objectives are characterized by a shared structure of the cost function depending on two input parameters. We show that, given the two input parameters, there exists a solution to the RAP that is optimal for any choice of the shared structure. As a consequence, this problem reduces to the quadratic RAP, making available the vast amount of solution approaches and algorithms for the latter problem. We show the impact of our reduction result on several applications and, in particular, we improve the best known worst-case complexity bound of two important problems in vessel routing and processor scheduling from $O(n^2)$ to $O(n \log n)$

ODDO: Online Duality-Driven Optimization

Motivated by energy management for micro-grids, we study convex optimization problems with uncertainty in the objective function and sequential decision making. To solve these problems, we propose a new framework called ``Online Duality-Driven Optimization'' (ODDO). This framework distinguishes itself from existing paradigms for optimization under uncertainty in its efficiency, simplicity, and ability to solve problems without any quantitative assumptions on the uncertain data. The key idea in this framework is that we predict, instead of the actual uncertain data, the optimal Lagrange multipliers. Subsequently, we use these predictions to construct an online primal solution by exploiting strong duality of the problem. We show that the framework is robust against prediction errors in the optimal Lagrange multipliers both theoretically and in practice. In fact, evaluations of the framework on problems with both real and randomly generated input data show that ODDO can achieve near-optimal online solutions, even when we use only elementary statistics to predict the optimal Lagrange multipliers

A fast algorithm for quadratic resource allocation problems with nested constraints

We study the quadratic resource allocation problem and its variant with lower and upper constraints on nested sums of variables. This problem occurs in many applications, in particular battery scheduling within decentralized energy management (DEM) for smart grids. We present an algorithm for this problem that runs in $O(n \log n)$ time and, in contrast to existing algorithms for this problem, achieves this time complexity using relatively simple and easy-to-implement subroutines and data structures. This makes our algorithm very attractive for real-life adaptation and implementation. Numerical comparisons of our algorithm with a subroutine for battery scheduling within an existing tool for DEM research indicates that our algorithm significantly reduces the overall execution time of the DEM system, especially when the battery is expected to be completely full or empty multiple times in the optimal schedule. Moreover, computational experiments with synthetic data show that our algorithm outperforms the currently most efficient algorithm by more than one order of magnitude. In particular, our algorithm is able to solves all considered instances with up to one million variables in less than 17 seconds on a personal computer

Quadratic nonseparable resource allocation problems with generalized bound constraints

We study a quadratic nonseparable resource allocation problem that arises in the area of decentralized energy management (DEM), where unbalance in electricity networks has to be minimized. In this problem, the given resource is allocated over a set of activities that is divided into subsets, and a cost is assigned to the overall allocated amount of resources to activities within the same subset. We derive two efficient algorithms with $O(n\log n)$ worst-case time complexity to solve this problem. For the special case where all subsets have the same size, one of these algorithms even runs in linear time given the subset size. Both algorithms are inspired by well-studied breakpoint search methods for separable convex resource allocation problems. Numerical evaluations on both real and synthetic data confirm the theoretical efficiency of both algorithms and demonstrate their suitability for integration in DEM systems

Relating Electric Vehicle Charging to Speed Scaling with Job-Specific Speed Limits

Due to the ongoing electrification of transport in combination with limited power grid capacities, efficient ways to schedule the charging of electric vehicles (EVs) are needed for the operation of, for example, large parking lots. Common approaches such as model predictive control repeatedly solve a corresponding offline problem. In this work, we first present and analyze the Flow-based Offline Charging Scheduler (FOCS), an offline algorithm to derive an optimal EV charging schedule for a fleet of EVs that minimizes an increasing, convex and differentiable function of the corresponding aggregated power profile. To this end, we relate EV charging to processor speed scaling models with job-specific speed limits. We prove our algorithm to be optimal and derive necessary and sufficient conditions for any EV charging profile to be optimal. Furthermore, we discuss two online algorithms and their competitive ratios for a specific class objective functions. In particular, we show that if those algorithms are applied and adapted to the presented EV scheduling problem, the competitive ratios for Average Rate and Optimal Available match those of the classical speed scaling problem. Finally, we present numerical results using real-world EV charging data to put the theoretical competitive ratios into a practical perspective

Offline and online scheduling of electric vehicle charging with a minimum charging threshold

The increasing penetration of electric vehicles (EVs) requires the development of smart charging strategies that accommodate the increasing load of these EVs on the distribution grid. Many existing charging strategies assume that an EV is allowed to charge at any rate up to a given maximum rate. However, in practice, charging at low rates is inefficient and often even impossible. Therefore, this paper presents an efficient algorithm for scheduling an EV within a decentralized energy management system that allows only charging above a given threshold. We show that the resulting optimal EV schedule is characterized by an activation level and a fill-level. Moreover, based on this result, we derive an online approach that does not require predictions of uncontrollable loads as input, but merely a prediction of these two characterizing values. Simulation results show that the online algorithm is robust against prediction errors in these values and can produce near-optimal online solutions

Testing Grid-Based Electricity Prices and Batteries in a Field Test

Using the flexibility of batteries and households, the overall stress on the network can be reduced, reinforcements to the grid can be postponed or even avoided, and losses can be minimized. However, the current pricing mechanisms do not stimulate to obtain these goals. Within the GridFlex Heeten project, we calculate and send these control signals to 24 household batteries and send incentive signals to households. Determining the control and incentive signals depends on the criteria we take for our optimization. Therefore, the entire network, including geographical layout is modelled and described in a simulation tool called DEMKit