Model Predictive Control of Microgrids PDF
Preview Model Predictive Control of Microgrids
Advances in Industrial Control Carlos Bordons Félix Garcia-Torres Miguel A. Ridao Model Predictive Control of Microgrids Advances in Industrial Control Series Editors MichaelJ.Grimble,IndustrialControlCentre,UniversityofStrathclyde,Glasgow, UK Antonella Ferrara, Department of Electrical, Computer and Biomedical Engineering, University of Pavia, Pavia, Italy Editorial Board Graham Goodwin, School of Electrical Engineering and Computing, University of Newcastle, Callaghan, NSW, Australia Thomas J. Harris, Department of Chemical Engineering, Queen’s University, Kingston, ON, Canada Tong Heng Lee, Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore OmP.Malik,SchulichSchoolofEngineering,UniversityofCalgary,Calgary,AB, Canada Kim-Fung Man, City University Hong Kong, Kowloon, Hong Kong Gustaf Olsson, Department of Industrial Electrical Engineering and Automation, Lund Institute of Technology, Lund, Sweden Asok Ray, DepartmentofMechanical Engineering, Pennsylvania State University, University Park, PA, USA Sebastian Engell, Lehrstuhl für Systemdynamik und Prozessführung, Technische Universität Dortmund, Dortmund, Germany Ikuo Yamamoto, Graduate School of Engineering, University of Nagasaki, Nagasaki, Japan Advances in Industrial Control is a series of monographs and contributed titles focusing on the applications of advanced and novel control methods within applied settings. This series has worldwide distribution to engineers,researchers andlibraries. The series promotes the exchange of information between academia and industry, to whichendthebooksalldemonstratesometheoreticalaspectofanadvancedornewcontrol method and show how it can be applied either in a pilot plant or in some real industrial situation.Thebooksaredistinguishedbythecombinationofthetypeoftheoryusedandthe typeofapplicationexemplified.Notethat“industrial”herehasaverybroadinterpretation;it applies not merely to the processes employed in industrial plants but to systems such as avionicsandautomotivebrakesanddrivetrain.Thisseriescomplementsthetheoreticaland more mathematical approachof Communications andControl Engineering. Indexed bySCOPUS andEngineeringIndex. Proposalsforthisseries,composedofaproposalformdownloadedfromthispage,adraft Contents,atleasttwosamplechaptersandanauthorcv(withasynopsisofthewholeproject, if possible)canbesubmitted toeither of the: SeriesEditors Professor MichaelJ.Grimble Department ofElectronic andElectrical Engineering, Royal CollegeBuilding,204 George Street, Glasgow G11XW,United Kingdom e-mail: [email protected] Professor Antonella Ferrara Department ofElectrical, Computer andBiomedical Engineering, University of Pavia, ViaFerrata 1,27100Pavia, Italy e-mail: [email protected] or the In-house Editor Mr. OliverJackson SpringerLondon,4 Crinan Street,London,N1 9XW,UnitedKingdom e-mail: [email protected] Proposals arepeer-reviewed. Publishing Ethics Researchersshouldconducttheirresearchfromresearchproposaltopublicationinlinewith best practices and codes of conduct of relevant professional bodies and/or national and international regulatory bodies.Formore details onindividualethics mattersplease see: https://www.springer.com/gp/authors-editors/journal-author/journal-author-helpdesk/ publishing-ethics/14214 More information about this series at http://www.springer.com/series/1412 é Carlos Bordons F lix Garcia-Torres (cid:129) (cid:129) Miguel A. Ridao Model Predictive Control of Microgrids 123 Carlos Bordons Félix Garcia-Torres SystemsEngineeringandAutomaticControl Microgrids Laboratory Universidad deSevilla CentroNacional del Hidrógeno Seville,Spain Puertollano, CiudadReal, Spain Miguel A.Ridao SystemsEngineeringandAutomaticControl Universidad deSevilla Seville,Spain ISSN 1430-9491 ISSN 2193-1577 (electronic) Advances in IndustrialControl ISBN978-3-030-24569-6 ISBN978-3-030-24570-2 (eBook) https://doi.org/10.1007/978-3-030-24570-2 MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc., 1 Apple Hill Drive, Natick,MA01760-2098,USA,http://www.mathworks.com. MathematicsSubjectClassification(2010): 93C83,93C35,93C10,49L20 ©SpringerNatureSwitzerlandAG2020 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. Theuse ofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc. inthis publi- cationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromthe relevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained hereinorforanyerrorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregard tojurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland ’ Series Editor s Foreword Controlsystemsengineeringisviewedverydifferentlybyresearchersandthosethat must implement designs. The former group develops general algorithms with a strongunderlyingmathematicalbasis,whilstthelatterhasmorelocalconcernsover thelimitsofequipment,qualityofcontrolandplantdowntime.TheseriesAdvances in Industrial Control attempts to bridge this divide and hopes to encourage the adoption of more advanced control techniques when they are needed. The rapid development of new control theory and technology has an impact on allareasofcontrolengineeringandapplications.Therearenewtheories,actuators, and sensor systems, computing methods, design philosophies and new application areas. This specialized monograph series encourages the development of more targeted control theory that is driven by the needs and challenges of applications. A focus on applications is essential if the different aspects of the control design problem are to be explored with the same dedication that the control synthesis problems have received. The series provides an opportunity for researchers to presentanextendedexpositionofnewworkonindustrialcontrol,raisingawareness of the substantial benefits that can accrue, and the challenges that can arise. The authors are well known for their work on Model Predictive Control (MPC) and its applications, including the seminal text that Professor Bordons co-authored with Professor Eduardo Camacho (Model Predictive Control second edition, ISBN: 978-1-85233-694-3, Springer, 2004). The present text is concerned with the design of the MPC of microgrids. There are many real challenges in this area because of the changing nature of power production, storage and the dis- tributed location of power generation systems. The user requirements are also changingbecauseofthechangingcustomerneedsinareassuchaselectricvehicles. ThereisasignificantinterestindevelopmentsinMPCandinapplications.This book provides a clear exposition of the background and the control problems in microgrids. It also justifies the use of predictive control methods relative to other options. For those that are getting to know MPC there is a simple and clear introductory chapter. The models for the system and devices are also discussed in some detail since MPC does of course depend upon reasonable model knowledge. v vi SeriesEditor’sForeword The key problem of energy management is considered and the role of MPC is explained. The problem is clearly very complex but once in the MPC framework the equations are in a standard and familiar form. It is an advantage of MPC that engineers can then focus upon the wider problems of total system control rather than the peculiarities of individual subsystems. There are also benefits to using an optimization-based approach and these are described. The chapter on demand-side management and the integration of electric vehicles is very timely considering the huge changes in the automotive industry. Perhaps one of the more valuable contributions a control scientist can make to thepowerengineering communityistheway uncertainties of variouskinds canbe addressed in a formal mathematical framework. The chapter on uncertainties in microgridsshouldthereforebeparticularlyvaluabletothosewith moreofapower engineeringbackgroundsinceitrevealsthetypeofsolutionsthatmaybeappliedin a range of uncertain modelling and control situations. The traditional control engineer should also benefit from the insights that the power engineering problem presents with an interesting discussion on power quality in microgrids and the methods for quality control. This is therefore a text which deals with an increasingly important application areathathasaninfluenceontheenvironmentandhasthepotentialtoaffectpeople’s lives drastically. The cross-fertilization of ideas between the power and control communitiesisalsotobeapplauded.Itisthereforeawelcomeadditiontotheseries on Advances in Industrial Control. April 2019 Mike J. Grimble Glasgow, UK Foreword Our society is experimenting a transition from an energy system based on fossil fuels to a new energy system based on renewable energies and electric trans- portation systems. There is a need for new control algorithms to cope with the intermittent, stochastic, and distributed nature of the generation and with the new consumption patterns. Microgrids are receiving a lot of interest from the research community because they are going to play a major role in this transition. The controlofmicrogridsbringssignificantchallengeswhichneedtobeaddressedwith advancedcontroltechniques.Thebookoffersanactualandwidevisionofthemain problems encountered when controlling microgrids and how Model Predictive Control (MPC) can supply appropriate solutions. Although there are many tech- niques that can be used to control microgrids, MPC is one of the most promising technologiestobeappliedinthiscontextbecauseitcanoffersolutionsatalllevels, from the long horizon scheduling level, to the control of power converters. MPChasbeensuccessfullyappliedintheindustrybutinthiscontext,itcanadd solutionstoproblemsderivedfromnatureofthegenerationanddemandandalsoto the need to operate with equipment from different nature such as geographically distributed energy resources. This book presents MPC techniques going from the more basic to more complex forms and using the appropriate technique for each of the microgrids control problems. This book is a timely contribution of a very topical matter, integrating relevant control techniques in an emerging field. It can be of great interest for researchers and engineers working in the energy sector. The book is written with a practical viewpointbutnotlackingthenecessaryrigor,includingstudycasesbothsimulated andwithreal experimentationinapilotplant.It isworth mentioningthatthebook isaccompaniedwithamodularsimulatorwhichwillallowthereadertofollowthe included examples in the book and also to model their own microgrid to test the vii viii Foreword controlmethodsdescribedinthebook.Furthermore,sincethebookiseasytoread andhasmanyexamplesandasimulator,itisverywellsuitedasthemaintextinan undergraduate,master,orPh.D.courseonthecontrolofmicrogrids.Definitely,this book is a must-read for anyone interested in the design and implementation of advanced controllers for microgrids. Eduardo F. Camacho IEEE and IFAC Fellow University of Seville Seville, Spain Preface Controlofmicrogridsisevolvingconsiderablyoverthepastfewyears.Microgrids, whicharesmall-scalepowersystemswithaclusterofloads,distributedgenerators, andstorageunitsoperatingtogether,canbeconsideredasthemostinnovativearea in the electric power field today, so new control issues are appearing. This book aimsatprovidingsolutionstotheoperationofrenewableenergymicrogridsbythe useofModelPredictiveControl(MPC).Therangeofproblemstobeaddressedby themicrogridcontrolsystemisverywide.Althoughtherearemanytechniquesthat can be used for the control of microgrids, MPC provides a general framework to solve most of the issues using some common ideas in an integrated way. MPC solvesanoptimizationproblemincorporatingafeedbackmechanism,whichallows the system to face uncertainty and disturbances. It can handle physical constraints and can incorporate the future behavior of the system, which is of crucial impor- tance for microgrids. The book gives a complete overview of the main control topics in microgrids, covering all the control levels, with special emphasis on energy management sys- tems. Along the book, several control problems in microgrids will be dealt with, providingappropriatesolutionsusingMPC.Thebookintroducesthefundamentals of MPC, focusing on the techniques that are of interest for microgrids. A basic Energy Management System (EMS) is developed with a simple MPC, which is extended along the book to include economic optimization, electrical market, demand-side management, and integration of electric vehicles. Uncertainties management by stochastic MPC as well as distributed methods for the intercon- nection of microgrids is also addressed, and a special formulation of MPC for power quality control is developed. Thecompletemethodologyandapproachthattheauthorshavefollowedintheir ownresearcharepresentedinthisbook.Inthisway,thereadersareguidedthrough the pathway from conception to implementation of the appropriate solution to microgrid control problems. Several examples, simulations, and experiments are included. MPC techniques are developed for case studies that include several renewable sources as well as hybrid storage. Some experimental results for a pilot-scale microgrid are presented, as well as simulations of scheduling in the ix
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