Home energy management systems: A review of modelling and complexity
TL;DR: A set of HEMS challenges such as forecast uncertainty, modelling device heterogeneity, multi-objective scheduling, computational limitations, timing considerations and modelling consumer well-being are discussed.
Abstract: Innovations in the residential sector are required to reduce environmental impacts, as the sector is a contributor to greenhouse gas emissions. The increasing demand for electricity and the emergence of smart grids have presented new opportunities for home energy management systems (HEMS) in demand response markets. HEMS are demand response tools that shift and curtail demand to improve the energy consumption and production profile of a dwelling on behalf of a consumer. HEMS usually create optimal consumption and productions schedules by considering multiple objectives such as energy costs, environmental concerns, load profiles and consumer comfort. The existing literature has presented several methods, such as mathematical optimization, model predictive control and heuristic control, for creating efficient operation schedules and for making good consumption and production decisions. However, the effectiveness of the methods in the existing literature can be difficult to compare due to diversity in modelling parameters, such as appliance models, timing parameters and objectives. The present chapter provides a comparative analysis of the literature on HEMS, with a focus on modelling approaches and their impact on HEMS operations and outcomes. In particular, we discuss a set of HEMS challenges such as forecast uncertainty, modelling device heterogeneity, multi-objective scheduling, computational limitations, timing considerations and modelling consumer well-being. The presented work is organized to allow a reader to understand and compare the important considerations, approaches, nomenclature and results in prominent and new literary works without delving deeply into each one.
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TL;DR: In this article, a survey of demand response potentials and benefits in smart grids is presented, with reference to real industrial case studies and research projects, such as smart meters, energy controllers, communication systems, etc.
Abstract: The smart grid is conceived of as an electric grid that can deliver electricity in a controlled, smart way from points of generation to active consumers. Demand response (DR), by promoting the interaction and responsiveness of the customers, may offer a broad range of potential benefits on system operation and expansion and on market efficiency. Moreover, by improving the reliability of the power system and, in the long term, lowering peak demand, DR reduces overall plant and capital cost investments and postpones the need for network upgrades. In this paper a survey of DR potentials and benefits in smart grids is presented. Innovative enabling technologies and systems, such as smart meters, energy controllers, communication systems, decisive to facilitate the coordination of efficiency and DR in a smart grid, are described and discussed with reference to real industrial case studies and research projects.
1,901 citations
TL;DR: In this paper, a brief overview on the architecture and functional modules of smart HEMS is presented, and various home appliance scheduling strategies to reduce the residential electricity cost and improve the energy efficiency from power generation utilities are also investigated.
Abstract: With the arrival of smart grid era and the advent of advanced communication and information infrastructures, bidirectional communication, advanced metering infrastructure, energy storage systems and home area networks would revolutionize the patterns of electricity usage and energy conservation at the consumption premises. Coupled with the emergence of vehicle-to-grid technologies and massive distributed renewable energy, there is a profound transition for the energy management pattern from the conventional centralized infrastructure towards the autonomous responsive demand and cyber-physical energy systems with renewable and stored energy sources. Under the sustainable smart grid paradigm, the smart house with its home energy management system (HEMS) plays an important role to improve the efficiency, economics, reliability, and energy conservation for distribution systems. In this paper, a brief overview on the architecture and functional modules of smart HEMS is presented. Then, the advanced HEMS infrastructures and home appliances in smart houses are thoroughly analyzed and reviewed. Furthermore, the utilization of various building renewable energy resources in HEMS, including solar, wind, biomass and geothermal energies, is surveyed. Lastly, various home appliance scheduling strategies to reduce the residential electricity cost and improve the energy efficiency from power generation utilities are also investigated.
565 citations
TL;DR: A systematic review of the smart home literature and survey the current state of play from the users' perspective, which presents a comprehensive view of smart home definitions and characteristics.
376 citations
TL;DR: A comprehensive and comparative review of the LF and dynamic pricing schemes in smart grid environment, including Real Time Pricing (RTP), Time of Use (ToU) and Critical Peak Pricing (CPP) are presented.
Abstract: Load forecasting (LF) plays important role in planning and operation of power systems. It is envisioned that future smart grids will utilize LF and dynamic pricing based techniques for effective Demand Side Management (DSM). This paper presents a comprehensive and comparative review of the LF and dynamic pricing schemes in smart grid environment. Real Time Pricing (RTP), Time of Use (ToU) and Critical Peak Pricing (CPP) are discussed in detail. Two major categories of LF: mathematical and artificial intelligence based computational models are elaborated with subcategories. Mathematical models including auto recursive, moving average, auto recursive moving average, auto recursive integrated moving average, exponential smoothing, iterative reweighted mean square, multiple regression, etc. used for effective DSM are discussed. Neural networks, fuzzy logic, expert systems of the second major category of LF models have also been described.
333 citations
TL;DR: In this article, the authors present a review of the literature on human dimensions of building energy use to assess the state-of-the-art in this topic area and highlight research needs for fully integrating human dimensions into the building design and operation processes with the goal of reducing energy use in buildings while enhancing occupant comfort and productivity.
Abstract: The “human dimensions” of energy use in buildings refer to the energy-related behaviors of key stakeholders that affect energy use over the building life cycle. Stakeholders include building designers, operators, managers, engineers, occupants, industry, vendors, and policymakers, who directly or indirectly influence the acts of designing, constructing, living, operating, managing, and regulating the built environments, from individual building up to the urban scale. Among factors driving high-performance buildings, human dimensions play a role that is as significant as that of technological advances. However, this factor is not well understood, and, as a result, human dimensions are often ignored or simplified by stakeholders. This paper presents a review of the literature on human dimensions of building energy use to assess the state-of-the-art in this topic area. The paper highlights research needs for fully integrating human dimensions into the building design and operation processes with the goal of reducing energy use in buildings while enhancing occupant comfort and productivity. This research focuses on identifying key needs for each stakeholder involved in a building’s life cycle and takes an interdisciplinary focus that spans the fields of architecture and engineering design, sociology, data science, energy policy, codes, and standards to provide targeted insights. Greater understanding of the human dimensions of energy use has several potential benefits including reductions in operating cost for building owners; enhanced comfort conditions and productivity for building occupants; more effective building energy management and automation systems for building operators and energy managers; and the integration of more accurate control logic into the next generation of human-in-the-loop technologies. The review concludes by summarizing recommendations for policy makers and industry stakeholders for developing codes, standards, and technologies that can leverage the human dimensions of energy use to reliably predict and achieve energy use reductions in the residential and commercial buildings sectors.
258 citations
Cites background from "Home energy management systems: A r..."
...The fast pace of research and development investments in technologies that leverage such data-rich environments [132], such as home energy monitoring systems [143,152], smart meters [140], and personalized environmental controls [7], indicates the growth of the building efficiency market towards human-driven technology innovations....
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References
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TL;DR: This review focuses on model predictive control of constrained systems, both linear and nonlinear, and distill from an extensive literature essential principles that ensure stability to present a concise characterization of most of the model predictive controllers that have been proposed in the literature.
8,064 citations
TL;DR: A survey of current continuous nonlinear multi-objective optimization concepts and methods finds that no single approach is superior and depends on the type of information provided in the problem, the user's preferences, the solution requirements, and the availability of software.
Abstract: A survey of current continuous nonlinear multi-objective optimization (MOO) concepts and methods is presented. It consolidates and relates seemingly different terminology and methods. The methods are divided into three major categories: methods with a priori articulation of preferences, methods with a posteriori articulation of preferences, and methods with no articulation of preferences. Genetic algorithms are surveyed as well. Commentary is provided on three fronts, concerning the advantages and pitfalls of individual methods, the different classes of methods, and the field of MOO as a whole. The Characteristics of the most significant methods are summarized. Conclusions are drawn that reflect often-neglected ideas and applicability to engineering problems. It is found that no single approach is superior. Rather, the selection of a specific method depends on the type of information that is provided in the problem, the user’s preferences, the solution requirements, and the availability of software.
4,263 citations
Book•
26 Jan 2012
TL;DR: In this article, the authors present a model predictive controller for a water heating system, which is based on the T Polynomial Process (TOP) model of the MPC.
Abstract: 1 Introduction to Model Predictive Control.- 1.1 MPC Strategy.- 1.2 Historical Perspective.- 1.3 Industrial Technology.- 1.4 Outline of the Chapters.- 2 Model Predictive Controllers.- 2.1 MPC Elements.- 2.1.1 Prediction Model.- 2.1.2 Objective Function.- 2.1.3 Obtaining the Control Law.- 2.2 Review of Some MPC Algorithms.- 2.3 State Space Formulation.- 3 Commercial Model Predictive Control Schemes.- 3.1 Dynamic Matrix Control.- 3.1.1 Prediction.- 3.1.2 Measurable Disturbances.- 3.1.3 Control Algorithm.- 3.2 Model Algorithmic Control.- 3.2.1 Process Model and Prediction.- 3.2.2 Control Law.- 3.3 Predictive Functional Control.- 3.3.1 Formulation.- 3.4 Case Study: A Water Heater.- 3.5 Exercises.- 4 Generalized Predictive Control.- 4.1 Introduction.- 4.2 Formulation of Generalized Predictive Control.- 4.3 The Coloured Noise Case.- 4.4 An Example.- 4.5 Closed-Loop Relationships.- 4.6 The Role of the T Polynomial.- 4.6.1 Selection of the T Polynomial.- 4.6.2 Relationships with Other Formulations.- 4.7 The P Polynomial.- 4.8 Consideration of Measurable Disturbances.- 4.9 Use of a Different Predictor in GPC.- 4.9.1 Equivalent Structure.- 4.9.2 A Comparative Example.- 4.10 Constrained Receding Horizon Predictive Control.- 4.10.1 Computation of the Control Law.- 4.10.2 Properties.- 4.11 Stable GPC.- 4.11.1 Formulation of the Control Law.- 4.12 Exercises.- 5 Simple Implementation of GPC for Industrial Processes.- 5.1 Plant Model.- 5.1.1 Plant Identification: The Reaction Curve Method.- 5.2 The Dead Time Multiple of the Sampling Time Case.- 5.2.1 Discrete Plant Model.- 5.2.2 Problem Formulation.- 5.2.3 Computation of the Controller Parameters.- 5.2.4 Role of the Control-weighting Factor.- 5.2.5 Implementation Algorithm.- 5.2.6 An Implementation Example.- 5.3 The Dead Time Nonmultiple of the Sampling Time Case.- 5.3.1 Discrete Model of the Plant.- 5.3.2 Controller Parameters.- 5.3.3 Example.- 5.4 Integrating Processes.- 5.4.1 Derivation of the Control Law.- 5.4.2 Controller Parameters.- 5.4.3 Example.- 5.5 Consideration of Ramp Setpoints.- 5.5.1 Example.- 5.6 Comparison with Standard GPC.- 5.7 Stability Robustness Analysis.- 5.7.1 Structured Uncertainties.- 5.7.2 Unstructured Uncertainties.- 5.7.3 General Comments.- 5.8 Composition Control in an Evaporator.- 5.8.1 Description of the Process.- 5.8.2 Obtaining the Linear Model.- 5.8.3 Controller Design.- 5.8.4 Results.- 5.9 Exercises.- 6 Multivariable Model Predictive Control.- 6.1 Derivation of Multivariable GPC.- 6.1.1 White Noise Case.- 6.1.2 Coloured Noise Case.- 6.1.3 Measurable Disturbances.- 6.2 Obtaining a Matrix Fraction Description.- 6.2.1 Transfer Matrix Representation.- 6.2.2 Parametric Identification.- 6.3 State Space Formulation.- 6.3.1 Matrix Fraction and State Space Equivalences.- 6.4 Case Study: Flight Control.- 6.5 Convolution Models Formulation.- 6.6 Case Study: Chemical Reactor.- 6.6.1 Plant Description.- 6.6.2 Obtaining the Plant Model.- 6.6.3 Control Law.- 6.6.4 Simulation Results.- 6.7 Dead Time Problems.- 6.8 Case Study: Distillation Column.- 6.9 Multivariable MPC and Transmission Zeros.- 6.9.1 Simulation Example.- 6.9.2 Tuning MPC for Processes with OUD Zeros.- 6.10 Exercises.- 7 Constrained Model Predictive Control.- 7.1 Constraints and MPC.- 7.1.1 Constraint General Form.- 7.1.2 Illustrative Examples.- 7.2 Constraints and Optimization.- 7.3 Revision of Main Quadratic Programming Algorithms.- 7.3.1 The Active Set Methods.- 7.3.2 Feasible Direction Methods.- 7.3.3 Initial Feasible Point.- 7.3.4 Pivoting Methods.- 7.4 Constraints Handling.- 7.4.1 Slew Rate Constraints.- 7.4.2 Amplitude Constraints.- 7.4.3 Output Constraints.- 7.4.4 Constraint Reduction.- 7.5 1-norm.- 7.6 Case Study: A Compressor.- 7.7 Constraint Management.- 7.7.1 Feasibility.- 7.7.2 Techniques for Improving Feasibility.- 7.8 Constrained MPC and Stability.- 7.9 Multiobjective MPC.- 7.9.1 Priorization of Objectives.- 7.10 Exercises.- 8 Robust Model Predictive Control.- 8.1 Process Models and Uncertainties.- 8.1.1 Truncated Impulse Response Uncertainties.- 8.1.2 Matrix Fraction Description Uncertainties.- 8.1.3 Global Uncertainties.- 8.2 Objective Functions.- 8.2.1 Quadratic Cost Function.- 8.2.2 ?-? norm.- 8.2.3 1-norm.- 8.3 Robustness by Imposing Constraints.- 8.4 Constraint Handling.- 8.5 Illustrative Examples.- 8.5.1 Bounds on the Output.- 8.5.2 Uncertainties in the Gain.- 8.6 Robust MPC and Linear Matrix Inequalities.- 8.7 Closed-Loop Predictions.- 8.7.1 An Illustrative Example.- 8.7.2 Increasing the Number of Decision Variables.- 8.7.3 Dynamic Programming Approach.- 8.7.4 Linear Feedback.- 8.7.5 An Illustrative Example.- 8.8 Exercises.- 9 Nonlinear Model Predictive Control.- 9.1 Nonlinear MPC Versus Linear MPC.- 9.2 Nonlinear Models.- 9.2.1 Empirical Models.- 9.2.2 Fundamental Models.- 9.2.3 Grey-box Models.- 9.2.4 Modelling Example.- 9.3 Solution of the NMPC Problem.- 9.3.1 Problem Formulation.- 9.3.2 Solution.- 9.4 Techniques for Nonlinear Predictive Control.- 9.4.1 Extended Linear MPC.- 9.4.2 Local Models.- 9.4.3 Suboptimal NPMC.- 9.4.4 Use of Short Horizons.- 9.4.5 Decomposition of the Control Sequence.- 9.4.6 Feedback Linearization.- 9.4.7 MPC Based on Volterra Models.- 9.4.8 Neural Networks.- 9.4.9 Commercial Products.- 9.5 Stability and Nonlinear MPC.- 9.6 Case Study: pH Neutralization Process.- 9.6.1 Process Model.- 9.6.2 Results.- 9.7 Exercises.- 10 Model Predictive Control and Hybrid Systems.- 10.1 Hybrid System Modelling.- 10.2 Example: A Jacket Cooled Batch Reactor.- 10.2.1 Mixed Logical Dynamical Systems.- 10.2.2 Example.- 10.3 Model Predictive Control of MLD Systems.- 10.3.1 Branch and Bound Mixed Integer Programming.- 10.3.2 An Illustrative Example.- 10.4 Piecewise Affine Systems.- 10.4.1 Example: Tankwith Different Area Sections.- 10.4.2 Reach Set, Controllable Set, and STG Algorithm.- 10.5 Exercises.- 11 Fast Methods for Implementing Model Predictive Control.- 11.1 Piecewise Affinity of MPC.- 11.2 MPC and Multiparametric Programming.- 11.3 Piecewise Implementation of MPC.- 11.3.1 Illustrative Example: The Double Integrator.- 11.3.2 Nonconstant References and Measurable Disturbances.- 11.3.3 Example.- 11.3.4 The 1-norm and ?-norm Cases.- 11.4 Fast Implementation of MPC forUncertain Systems.- 11.4.1 Example.- 11.4.2 The Closed-Loop Min-max MPC.- 11.5 Approximated Implementation for MPC.- 11.6 Fast Implementation of MPC and Dead Time Considerations.- 11.7 Exercises.- 12 Applications.- 12.1 Solar Power Plant.- 12.1.1 Selftuning GPC Control Strategy.- 12.1.2 Gain Scheduling Generalized Predictive Control.- 12.2 Pilot Plant.- 12.2.1 Plant Description.- 12.2.2 Plant Control.- 12.2.3 Flow Control.- 12.2.4 Temperature Control at the Exchanger Output.- 12.2.5 Temperature Control in the Tank.- 12.2.6 Level Control.- 12.2.7 Remarks.- 12.3 Model Predictive Control in a Sugar Refinery.- 12.4 Olive Oil Mill.- 12.4.1 Plant Description.- 12.4.2 Process Modelling and Validation.- 12.4.3 Controller Synthesis.- 12.4.4 Experimental Results.- 12.5 Mobile Robot.- 12.5.1 Problem Definition.- 12.5.2 Prediction Model.- 12.5.3 Parametrization of the Desired Path.- 12.5.4 Potential Function for Considering Fixed Obstacles.- 12.5.5 The Neural Network Approach.- 12.5.6 Training Phase.- 12.5.7 Results.- A Revision of the Simplex Method.- A.1 Equality Constraints.- A.2 Finding an Initial Solution.- A.3 Inequality Constraints.- B Dynamic Programming and Linear Quadratic Optimal Control.- B.1 LinearQuadratic Problem.- B.2 InfiniteHorizon.- References.
3,913 citations
TL;DR: This paper presents an autonomous and distributed demand-side energy management system among users that takes advantage of a two-way digital communication infrastructure which is envisioned in the future smart grid.
Abstract: Most of the existing demand-side management programs focus primarily on the interactions between a utility company and its customers/users. In this paper, we present an autonomous and distributed demand-side energy management system among users that takes advantage of a two-way digital communication infrastructure which is envisioned in the future smart grid. We use game theory and formulate an energy consumption scheduling game, where the players are the users and their strategies are the daily schedules of their household appliances and loads. It is assumed that the utility company can adopt adequate pricing tariffs that differentiate the energy usage in time and level. We show that for a common scenario, with a single utility company serving multiple customers, the global optimal performance in terms of minimizing the energy costs is achieved at the Nash equilibrium of the formulated energy consumption scheduling game. The proposed distributed demand-side energy management strategy requires each user to simply apply its best response strategy to the current total load and tariffs in the power distribution system. The users can maintain privacy and do not need to reveal the details on their energy consumption schedules to other users. We also show that users will have the incentives to participate in the energy consumption scheduling game and subscribing to such services. Simulation results confirm that the proposed approach can reduce the peak-to-average ratio of the total energy demand, the total energy costs, as well as each user's individual daily electricity charges.
2,715 citations
TL;DR: If U is an ellipsoidal uncertainty set, then for some of the most important generic convex optimization problems (linear programming, quadratically constrained programming, semidefinite programming and others) the corresponding robust convex program is either exactly, or approximately, a tractable problem which lends itself to efficientalgorithms such as polynomial time interior point methods.
Abstract: We study convex optimization problems for which the data is not specified exactly and it is only known to belong to a given uncertainty set U, yet the constraints must hold for all possible values of the data from U. The ensuing optimization problem is called robust optimization. In this paper we lay the foundation of robust convex optimization. In the main part of the paper we show that if U is an ellipsoidal uncertainty set, then for some of the most important generic convex optimization problems (linear programming, quadratically constrained programming, semidefinite programming and others) the corresponding robust convex program is either exactly, or approximately, a tractable problem which lends itself to efficientalgorithms such as polynomial time interior point methods.
2,501 citations