Parameterization of a Photovoltaic and a Battery System Add-On for a Consumer Based on a Sequential Linear Program

This paper describes a procedure for optimal sizing of the investment in a renewable electricity source and electricity storage for a particular consumer with a known electricity consumption profile, under the given conditions of allowed return on investment period and with the optimal operation of the battery storage system included. The optimal size of the PV system in terms of its power production under standard test conditions is provided, as well as the optimal size of the battery storage system in terms of its power converter power rating and the storage capacity. The procedure is based on a sequential linear programming method which enables the computations tractability on regularly sized computers

Parameterization of a Photovoltaic and a Battery System Add-On for a Consumer Based on a Sequential Linear Program

This paper describes a procedure for optimal sizing of the investment in a renewable electricity source and electricity storage for a particular consumer with a known electricity consumption profile, under the given conditions of allowed return on investment period and with the optimal operation of the battery storage system included. The optimal size of the PV system in terms of its power production under standard test conditions is provided, as well as the optimal size of the battery storage system in terms of its power converter power rating and the storage capacity. The procedure is based on a sequential linear programming method which enables the computations tractability on regularly sized computers

Worst-Case Optimal Scheduling and Real-Time Control of a Microgrid Offering Active Power Reserve

This work is focused on optimization problems within the predictive control framework for determining and engaging the flexibility of a microgrid in grid-microgrid energy exchange. The microgrid has a controllable battery storage and other components represented with a residual power flow. All major economic constituents of the grid-connected microgrid operation are considered: day-ahead, intra-day, peak power and battery degradation costs, as well as rewards and penalties for providing flexibility. The problems are posed as linear worst-case minimization programs in which all flexibility activation scenarios are taken into account. An analysis is conducted for various combinations of flexibility reservation and activation prices that can be bid to a grid entity. The technical and economic feasibility of the flexibility provision is confirmed by the use of an online model predictive controller that optimally meets the requirements of grid flexibility according to the declared reserve in the environment of online occurring disturbances and events

Worst-Case Optimal Scheduling and Real-Time Control of a Microgrid Offering Active Power Reserve

This work is focused on optimization problems within the predictive control framework for determining and engaging the flexibility of a microgrid in grid-microgrid energy exchange. The microgrid has a controllable battery storage and other components represented with a residual power flow. All major economic constituents of the grid-connected microgrid operation are considered: day-ahead, intra-day, peak power and battery degradation costs, as well as rewards and penalties for providing flexibility. The problems are posed as linear worst-case minimization programs in which all flexibility activation scenarios are taken into account. An analysis is conducted for various combinations of flexibility reservation and activation prices that can be bid to a grid entity. The technical and economic feasibility of the flexibility provision is confirmed by the use of an online model predictive controller that optimally meets the requirements of grid flexibility according to the declared reserve in the environment of online occurring disturbances and events

Coordinated Energy Management of the Electric Railway Traction System: Croatian Railways Case Study

A railway energy management system based on hierarchical coordination of electric traction substation energy flows and on-route trains energy consumption is presented in the paper. The railway system is divided into energy-efficient individual trains energy consumption management as a lower level, and the energy-cost-efficient electric traction substation energy flows management as a higher level. The levels are coordinated through parametric hierarchical model predictive control with the main goal of additionally decreasing the operational costs of the overall system. Through interactions with the power grid at the higher level, the system can provide ancillary services and respond to various grid requests. At the same time, lower level trains driving profiles are adjusted to attain the minimum cost of system operation with timetables and on-route constraints respected. The developed algorithm is verified against a detailed real case study scenario with the presented results showing significant cost and energy consumption reduction

Coordinated Energy Management of the Electric Railway Traction System: Croatian Railways Case Study

A railway energy management system based on hierarchical coordination of electric traction substation energy flows and on-route trains energy consumption is presented in the paper. The railway system is divided into energy-efficient individual trains energy consumption management as a lower level, and the energy-cost-efficient electric traction substation energy flows management as a higher level. The levels are coordinated through parametric hierarchical model predictive control with the main goal of additionally decreasing the operational costs of the overall system. Through interactions with the power grid at the higher level, the system can provide ancillary services and respond to various grid requests. At the same time, lower level trains driving profiles are adjusted to attain the minimum cost of system operation with timetables and on-route constraints respected. The developed algorithm is verified against a detailed real case study scenario with the presented results showing significant cost and energy consumption reduction

Povezivanje identifikacije i optimalnog upravljanja s ograničenjima za po dijelovima afine sustave

In this paper we focus on identification and time optimal control of nonlinear processes modeled as piecewise affine systems. We combine the piecewise ARX process model identification based on clustering and the constrained time optimal controller design for discrete-time piecewise affine systems. The two procedures are improved and bound into a systematic procedure for design of high-performance nonlinear control systems: from the identification data to the closed-form time optimal controller. We successfully experimentally verify the procedure on the electronic throttle control system case study.U radu se razmatra identifikacija i upravljanje nelinearnih procesa modeliranih po dijelovima afinim modelom. Povezuju se postupak identifikacije po dijelovima ARX modela procesa temeljen na uskupljavanju i postupak sinteze eksplicitnog vremenski optimalnog regulatora uz prisutna ograničenja za vremenski diskretne po dijelovima afine sustave. Ovaj je pristup pogodan za sintezu nelinearnog sustava upravljanja visokih zahtjeva, te je u ovom radu eksperimentalno provjeren na primjeru sustava upravljanja elektroničkom zaklopkom automobila

Modular Hierarchical Model Predictive Control for Coordinated and Holistic Energy Management of Buildings – Battery Storage Considerations

In the paper, a modular building energy management strategy based on a three-level hierarchical model predictive control is applied to the daily operation scheduling of a full-scale building consisting of 248 offices. Such an approach provides a holistic energy management strategy and enables significant demand response ancillary services for buildings as prosumers, while retaining the independence of required expertise in very different building subsystems. The three-level coordination encompasses building zones, central medium conditioning and a microgrid subsystem. Compared to rule-based control, detailed realistic simulations for typical days in summer show that the indoor comfort is substantially improved with a considerable reduction of the overall building operation cost. The analysis also considers the margin of a battery storage system contribution to the operating costs reduction which underlines the potential of software-based coordination

Praćenje položaja mobilnog robota ultrazvučnim osjetilima

In order to perform useful tasks the mobile robot\u27s current pose must be accurately known. Problem of finding and tracking the mobile robot\u27s pose is called localization, and can be global or local. In this paper we address the problem of mobile robot\u27s local localization or pose tracking with prerequisites of known starting pose, robot kinematics and world model. Pose tracking is mostly based on odometry, which has the problem of accumulating errors in an unbounded fashion. To overcome this problem sensor fusion is commonly used. This paper describes a simple odometry calibration method and compares two fusion methods of calibrated odometry data and sonar range data fusion based on a Kalman Filter framework. One fusion method is based on the standard Extended Kalman Filter and another one, proposed in this paper, on the Unscented Kalman Filter. Occupancy grid map is used as the world model, which is beneficial because only sonars\u27 range measurement uncertainty has to be considered. If a feature-based map is used, as the world model, then an additional uncertainty regarding the feature/range reading assignment must be also considered. Experimental results obtained with the Pioneer 2DX mobile robot (manufacturer ActivMedia Robotics) show that better accuracy of pose estimation and smoother robot motion can be obtained with Unscented Kalman Filter.Mobilni robot mora u svakome trenutku znati svoj položaj, da bi mogao obavljati korisne zadaće. Problem pronalaženja i praćenja položaja mobilnog robota naziva se lokalizacijom, koja može biti globalna ili lokalna. U ovome se radu obrađuje lokalna lokalizacija, koja podrazumijeva praćenje položaja mobilnog robota uz pretpostavku da su poznati njegov početni položaj, kinematički model te model radnog prostora. Praćenje položaja se najčešće temelji na odometriji, kod koje je glavni problem neograničena akumulacija pogreške. Za rješavanje toga problema uobičajeno se koristi fuzija informacija većeg broja osjetila. Ovaj članak opisuje jednostavnu metodu kalibracije odometrije i uspoređuje dvije metode fuzije odometrijskih podataka s podacima iz ultrazvučnih osjetila (sonara) koji predstavljaju udaljenosti robota do okolnih prepreka. Primijenjene metode fuzije temeljene su na teoriji Kalmanova filtra. Jedna metoda koristi već standardni prošireni Kalmanov filtar, a druga, predložena u ovome radu, nederivacijski tzv. »Unscented« Kalmanov filtar. Za modeliranje prostora primijenjena je mrežasta karta popunjenosti, jer je u tom slučaju dovoljno uzeti u obzir samo nesigurnost mjerenja udaljenosti do najbližih prepreka za razliku od karata temeljenih na značajkama prostora kod kojih se mora uzeti u obzir i nesigurnost dodjeljivanja značajki izmjerenim udaljenostima. Eksperimenti napravljeni mobilnim robotom Pioneer 2DX (proizvođač ActivMedia Robotics) pokazuju da se veća točnost estimacije položaja i glađe gibanje mobilnog robota postižu primjenom nederivacijskog Kalmanova filtra

Modular Hierarchical Model Predictive Control for Coordinated and Holistic Energy Management of Buildings – Battery Storage Considerations

In the paper, a modular building energy management strategy based on a three-level hierarchical model predictive control is applied to the daily operation scheduling of a full-scale building consisting of 248 offices. Such an approach provides a holistic energy management strategy and enables significant demand response ancillary services for buildings as prosumers, while retaining the independence of required expertise in very different building subsystems. The three-level coordination encompasses building zones, central medium conditioning and a microgrid subsystem. Compared to rule-based control, detailed realistic simulations for typical days in summer show that the indoor comfort is substantially improved with a considerable reduction of the overall building operation cost. The analysis also considers the margin of a battery storage system contribution to the operating costs reduction which underlines the potential of software-based coordination