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1. Introduction
1
This paper is dedicated by Shmuel S. Oren to David G. Luenberger, his thesis adviser, inspir-
ing teacher, and colleague who introduced him to the field of optimization.
2
This work was supported in part by the National Science Foundation, Grant IRI-9120074.
3
Assistant Professor, Department of Civil Engineering, University of Maryland, College Park,
Maryland.
4
Consultant, Pacific Gas and Electric Company, San Francisco, California.
5
Professor, Department of Industrial Engineering and Operations Research, University of
California at Berkeley, Berkeley, California.
707
0022-3239兾00兾0600-0707$18.00兾0 © 2000 Plenum Publishing Corporation
708 JOTA: VOL. 105, NO. 3, JUNE 2000
have been proposed to solve the UC problem. For example, we mention the
priority list method (Ref. 2), branch-and-bound methods (Refs. 3–5),
dynamic programming approaches (Refs. 6–8), and Lagrangian relaxation
(LR) methods (e.g. Refs. 9–11). For a detailed review, the reader is referred
to Ref. 12. Among them, the LR methods are the most advanced and widely
used approaches. Though popular, the LR approaches are known to require
many heuristics which strongly influence their performance (Refs. 12–13).
There are also heuristic methods. For example, Lee develops in Ref.
14, a method which sequentially determines the commitment of the next
most-advantageous unit to commit; the decision making involves a price
adjustment, which resembles a bidding process. Also in Ref. 15, Li et al.
proposed a method which mimics the LR approach; the multipliers are
taken from the economic dispatch phase, rather than updated by the sub-
gradient iteration. In Ref. 16, a unit decommitment (UD) method was devel-
oped as a postprocessing tool to improve the solution quality of the existing
UC algorithms.
In this paper, we consolidate the approaches presented in Refs. 15–16
and extend them to a more general formulation. The proposed method is a
unified unit decommitment method. This method starts with a solution hav-
ing all available units online at all hours in the planning horizon and deter-
mines an optimal strategy for decommitting units, one at a time. We show
that the proposed method may be viewed as an approximate implemen-
tation of the LR approach. The multiplier updating rule is similar to that
in Ref. 15. Furthermore, we show that the number of iterations required by
the method is bounded by the number of units. Empirical tests suggest that
the proposed method is efficient and robust.
This paper is organized as follows. In Section 2, the UC problem is
formulated. Section 3 presents some properties of economic dispatch. We
generalize the UD method and propose an algorithm for solving the UC
problem using the UD method in Section 4. The relation between the pro-
posed method and the LR approach is discussed in Section 5. Finally, we
generate random instances of UC problems and solve them by the proposed
method. Numerical test results and conclusions are given in Section 6.
2. Problem Formulation
where
ri ( pit) ≡ min(rmax
i , pmax
i Apit).
There are other unit constraints such as the unit capacity constraints
pmin
i ⁄pit⁄pmax
i , i G1, . . . , I and t G1, . . . , T, (4)
710 JOTA: VOL. 105, NO. 3, JUNE 2000
if 1⁄xi,tA1Ft on
冦
1, i ,
Fig. 1. Example of state transition diagram: t on G3, t off G2, t cold G4.
JOTA: VOL. 105, NO. 3, JUNE 2000 711
the state space, we assume that the increase of Si (xi,tA1 , uit , ui,tA1) is negli-
gible when xi,tA1F−t cold
i , where t cold
i Ht off
i is the unit cold time. To further
simplify notation, we let
Si (u, t) GSi (xi,tA1 , uit , ui,tA1).
p min
i ⁄pi⁄p max
i , ∀i ∈J, (7c)
where J is some unit index set. Optimality of such RA-type ED problem
requires that all generators operate at a marginal cost that either equals
same fixed value λ (Lagrange multiplier) or equals the marginal cost corre-
sponding to the upper or lower bound of a generator output level, whichever
is closer to λ . Let { p̃i } be the optimal dispatch; there exists a λ̃ such that
C′i ( p̃i) Gλ̃ , for p min
i Fp̃iFp max
i , (8a)
C′i ( p̃i)¤λ̃ , for p̃i Gpmin
i , (8b)
C′i ( p̃i)⁄λ̃ , for p̃i Gp max
i . (8c)
This property is commonly referred to as the equal-lambda rule (e.g. Ref.
8). Equations (8) define also an equal-lambda mapping (also called a lambda
iteration in this paper) from a given λ̃ to a unit generation denoted by pi (λ̃ ),
(C′i )−1 (λ̃ ), if C′i ( pmin )⁄λ̃ ⁄C′i ( pmax
冦
i i ),
pi (λ̃ ) G pmin
i , if λ̃ FC′i ( pi ),
min
(9)
pmax
i , if λ̃ HC′i (pmax
i ).
712 JOTA: VOL. 105, NO. 3, JUNE 2000
∑ pi (λ̃ ) GD (10)
i ∈J
pmin
i ⁄pit⁄pmax
i , ∀i∈J̃t . (11d)
Also, assume that p̃G{ p̃it } solves rced(J̃t , t), if the solution exists.
Proposition 3.1. The solution of RCED exists if and only if the follow-
ing conditions hold:
∑ pi ⁄Dt⁄ ∑ pi ARt ,
min max
(12a)
i ∈J̃t i ∈J̃t
∑ ri ¤Rt .
max
(12b)
i ∈J̃t
JOTA: VOL. 105, NO. 3, JUNE 2000 713
Proof. The ‘‘only if’’ part is obvious. To show the ‘‘if’’ part, note that
(12b) implies that there exist {r̃i } such that
i ∈J̃t
Since
∑ p̃it GDt ,
i ∈J̃t
and
pmin
i ⁄p̃it⁄pmax
i Ar̃i , ∀i∈J̃t .
Note that
∑ ri ( p̃it)¤Rt ;
i ∈J̃t
with
冢
μ̃t ∑ min( pmax
i
i ∈J̃t
Ap̃it , rmax
i )ARt G0, 冣 (15)
L ( p, λ , μ, ξ, ζ ) G ∑
i ∈J̃t
冢
Ci ( pit)Cλ t DtA ∑ pit
i ∈J̃t
冣
冤
Cμt RtA ∑ rit ( pit)
i ∈J̃t
冥
Cξt ( pitApmax
i )Cζ t ( pmin
i Apit)
冢
G ∑ Ci ( pit)Cλ t DtA ∑ pit
i ∈J̃t i ∈J̃t
冣
冤
Cμt RtA ∑ ( pimaxApit)A ∑ rmax
i ∈Ω̃t
i
i ∈Λ̃t
冥
Cξt ( pitApmax
i )Cζ t ( pmin
i Apit), (18)
where
Ω̃t G{i 兩 p̃itHpmax
i Armax
i },
Λ̃t G{i 兩 p̃it⁄pmax
i Armax
i },
such that
Ω̃t ∪ Λ̃t GJ̃t .
Since {p̃it } is an optimal solution of RCED, there exist associated nonnega-
tive multipliers λ̃ , μ̃, ξ̃, ζ̃ such that
Note that at least one of ξ̃t and ζ̃ t must equal zero, depending on whether
p̃it ≠ pmin
i or p̃it ≠ pmax
i is met, respectively. Let
α̃ t Gλ̃ tAμ̃t ;
thus, (19) reduces to (13) and (14). Because of the assumption that Ci is
increasing, α̃ t¤0. Equation (15) is the so-called complementary slackness
condition. 䊐
Fig. 2. Illustration of the modified equal lambda method, Ω̃t G{1, 2}.
lambda by λ̃ t . By definition,
¤ ∑ (p max
i Armax
i )C ∑ ( pmax
i Armax
i )
i ∈Ω̃t i ∈Λ̃t
¤ ∑ pmax
i A∑ rmax
i
i ∈J̃t J̃t
¤∑ p max
i ARt [by (12b)]. (20)
i ∈J̃t
G ∑ (p max
i Ap̃′it)C ∑ r max
i
i ∈Ω̃t′ i ∈Λ̃t′
G ∑ (p max
i Ap̃′it)C ∑ rmax
i C ∑ rmax
i
i ∈Λ̃t \ { j}
i ∈Ω̃t′ i ∈Λ̃t′ \ Λ̃t
G ∑ ( pmax
i Ap̃′it)C ∑ rmax
i C ∑ rmax
i
i ∈Λ̃t \ { j}
i ∈Ω̃t′ i ∈(Ω̃t \ { j}) \ Ω̃t′
G ∑ ( pmax
i Ap̃′it)C ∑ ( pmax
i Ap̃′it)C ∑ rimax
i ∈Λ̃t\{ j}
i ∈Ω̃t′ i ∈(Ω̃t \ { j}) \ Ω̃t′
G ∑ (p max
i Ap̃′it)C ∑ rmax
i . (21)
i ∈Ω̃t \ { j} i ∈Λ̃t \ { j}
JOTA: VOL. 105, NO. 3, JUNE 2000 719
Comparing the first and last lines of (21), property (iv) follows. 䊐
≈ ∑ C′i ( p̃it)Δp̃it
i ∈J̃t \ { j}
online periods only if doing so can result in cost saving and does not cause
problem infeasibility. While we are improving a unit’s schedule, say unit j’s
schedule, by decommitment, other units’ commitments are kept fixed. For
example, ũit remains unchanged for ∀i ≠ j, ∀t, but p̃it are subject to change
due to the commitment of unit j. The formulation is as follows:
T
(Pj ) min ∑ [C j ( p̃ jt)u jtC(λ̃ t p̃ jtCμ̃t r j ( p̃ jt))(1Au jt)CS j (u, t)], (23)
t G1
subject to
if ũ jt G0,
冦
0,
1, if ũ jt G1 and the removal of j from J̃t
u jt G results in violation of (12), (24)
0 or 1, otherwise,
and subject to the minimum uptime, downtime constraints and the initial
conditions for unit j.
Note that in, (23), ujt and 1Aujt are two mutually exclusive decisions.
If unit j is already online in time t (ujt G1), the generation cost is Cj ( p̃jt ); if
unit j is decommitted, the increased cost of the other units is approximated
by λ̃ t p̃jtCμ̃t rj ( p̃jt ). The startup cost of unit j is imposed whenever appli-
cable. (Pj ) is an integer programming problem and can be solved using the
following dynamic programming recursive equations:
F (u jT , x jT) G0, (25a)
F (u jt , x jt) G min [C j ( p̃ jt)u jtC(λ̃ t p̃ jtCμ̃t r j ( p̃ jt))(1Au jt)
(u j,tC1 , x j,tC1) ∈W j
and startup cost) of unit i of the feasible schedule (ũ k, p̃ k ); and let Θik, iG
1, . . . , I, be the optimal objective value of (P ik) solved with respect to the
feasible solution (ũ k, p̃ k ). We now state the decommitment algorithm.
p̃ ¤p̃
k
it
kC1
it , if i∈Ω̃tk and i ∈Ω̃tkC1;
p̃itkC1 Gpmax
i Armax
i , if i ∈Ω̃tk and i∈Λ̃tkC1.
(iv) {Ci ( p̃itk)A(λ̃ tk p̃itkCμ̃tk ri ( p̃itk))} ↓, as k↑.
6
We use the notations ↑ and ↓ to represent nondecreasing and nonincreasing sequences,
respectively.
722 JOTA: VOL. 105, NO. 3, JUNE 2000
Proof. We shall show that, once a unit has been selected in Step 2 in
the UD algorithm, it will not be selected again in Step 2 at any subsequent
iteration. Therefore, the UD algorithm terminates within I iterations. Sup-
pose that unit j is selected at iteration k′, and its tentative commitment is
{û k′jt }G{ũ k′C1
jt },
so that
T
∑ {[C j ( p̃ jt )CS j (û , t)]û jt C[λ̃ t p̃ jt Cμ̃t r j ( p̃ jt )](1Aû jt )}
k′ k′ k′ k′ k′ k′ k′ k′
t G1
T
⁄ ∑ {[C j ( p̃ k′jt )CS j (u, t)]u jtC[λ̃ tk′p̃jtk′Cμ̃tk′r j ( p̃ k′jt )](1Au jt)}, (28)
t G1
Then,
T
∑ {[C j ( p̃ jt )CS j (û , t)]û jt C[λ̃ t p̃ jt Cμ̃t r j ( p̃ jt )](1Aû jt )}
k″ k″ k″ k″ k″ k″ k″ k″
t G1
T
jt )CSj (û , t)]û jt C[λ̃ t p̃ jt Cμ̃t rj ( p̃ jt )](1Aû jt )}.
F ∑ {[C j ( p̃ k″ k′ k′ k″ k″ k″ k″ k′
(29)
t G1
Note that, in the right-hand side of (29), the commitment is the one at
iteration k′ because unit j has not been selected again until iteration k″, but
the dispatch is updated at every iteration. Let
ΓG{t 兩û k′jt ≠ û k″
jt , t G1, . . . , T};
i.e.,
û k′jt G1, but û k″
jt G0, for ∀t∈Γ,
since the algorithm only does decommitment. With
u jt Gû k″
jt
where
T
ΔSj G ∑ (Sj (û k″, t)û k″
jt ASj (û , t)û jt )
k′ k′
t G1
From Proposition 4.1(iv), that {Ci ( p̃itk)A(λ̃ tkp̃itkCμ̃tkri ( p̃itk))} ↓, as k↑, and
from (30), we have that
∑ Cj ( p̃ jt )⁄ ∑ [λ̃ t p̃ jt Cμ̃t r j ( p̃ jt )]CΔS j ,
k″ k″ k″ k″ k″
(32)
t ∈Γ t ∈Γ
because k″Hk′. This contradicts (31); unit j should not be selected again.
Therefore, the number of iterations of the UD algorithm is bounded by the
number of units. 䊐
4.2. Unified UD Algorithm for Solving UC. The UD method was orig-
inally proposed in Ref. 16 to serve as a postprocessing tool to improve the
solution quality for existing UC methods. Therefore, it starts with an initial
feasible solution of the UC problem. In this section, we shall investigate the
possibility of solving UC by means of UD. Initially as many units as poss-
ible are turned on in all hours without violating the minimum uptime and
downtime constraints. A schematic algorithm for implementing the outlined
procedure is given below.
if −1¤x̃i,tA1H−toff
冦1,
0, i ,
ũit G (33)
otherwise,
min[ton if ũit G1,
冦 max[−t
x̃it G
i , max(xi,tA1 , 0)C1],
cold
i , min(xi,tA1 , 0)A1], if ũit G0.
(34)
stated in Step 5 of the above algorithm, we need to extend the RCED sub-
routine to handle also cases where the minimum load conditions are not
satisfied.
A possible modification is to dispatch the online generators so as to
equalize the marginal costs to the extent possible, even if the minimum load
conditions are not satisfied. That is, when
∑ pi HDt ,
min
(35)
i ∈J̃t
all the online units are dispatched to their minimum capacities, respectively,
p̃it ← pmin
i , ∀i, (36a)
and the corresponding lambda is the minimum of the marginal costs of the
corresponding dispatches in (36a),
I T
s.t. d(λ , μ) Gmin ∑ ∑ Ci ( pit)uitCSi (u, t)
u,p i G1 t G1
冢 冣
T I
C ∑ λ t DtA ∑ pit uit
t G1 i G1
冤 冥
T I
C ∑ μt RtA ∑ ri ( pit)uit
t G1 i G1
I T
G ∑ di (λ , μ)C ∑ (λ t DtCμt Rt ), (37b)
i G1 t G1
T
di (λ , μ)Gmin ∑ [Ci ( pit)uitCSi (u, t)
uit , pit t G1
The minimization problem (37c) is subject to (4)–(6) and the initial con-
ditions. In (37c), when uit G1, the optimal pit can be obtained by solving
(Qi ) min Ci ( pit)Aλ t pitAμt ri ( pit), (38a)
s.t. p min
i YpitYp max
i . (38b)
Equivalently, this defines a mapping
Qi
(λ t , μt) > pit .
For simplicity, we use pit (λ t , μt ) to denote the mapping. After all subprob-
lems di (λ , μ), iG1, . . . , I, are solved, the multipliers λ and μ are then
updated by the subgradient rule (e.g. Ref. 21) so as to maximize d(·, ·). It
JOTA: VOL. 105, NO. 3, JUNE 2000 727
is well known that, even if (D) is completely solved, it would not yield a
feasible schedule.
With pit in (37c) substituted by pit (λ t , μt ), the dual subproblem (37c)
can be rewritten as
T
di (λ , μ) G min ∑ [Ci ( pit (λ t , μt))Aλ t pit (λ t , μt)
uit ∈{0,1} t G1
(duality gap) records the duality gap of the LR approach in terms of the
percentage of the dual value. Since the comparisons are normalized to the
value of the LR approach, the columns under LR consist of all ones. Also,
the two numbers in parentheses define the range of the sample points. The
mean of the sample points is recorded on the top of the corresponding
parentheses. The test results including solution qualities and CPU times
required for both methods are summarized in Table 1.
From Table 1, we know that the error between LR and UD is within
0.2% and that the UD methods take much less (save about 50% at least)
CPU time than the LR approach. Besides, the only heuristic in UD is the
unit selection rule, which is analogous to choosing a descent direction in
continuous optimization. Our experience indicates that the algorithm per-
formance is insensitive to the selection rule. To sum up, the numerical test-
ing results show that UD serves as a reliable, efficient, and robust alternative
to the traditional implementations of the LR approaches for solving the UC
problem.
References