Research Proposal

Ram Krishna Rathore, 8103601060, MECH109

An Optimal Control Model for Load Shifting in a Water Pumping

Scheme with Maximum Demand Charges
 Problem
Little evidence of closed-loop optimal control for load shifting with TOU and MD
charges.
Table: Optimal control based load-shifting.

Reference Publication Open-loop Closed-loop TOU Charges MD Charges

[5] IEEE X X
Ashok, Banerjee,
[6] Applied Energy X X
Ashok
[7]
Gomez-Villalva, Ramos IEEE X X

[8]
TBP X X
Middelberg, Zhang, Xia
[9]
IEEE X X
Zhang, Xia
[10] J. of Water X X X
Little, McCrodden Resources Planning and Mgmt. (daily feedback only)

[11] J. of Water X X X
Jowitt, Germanopoulos Resources Planning and Mgmt.
[12] J. of Water X
X X
McCormick, Powell, Resources Planning and Mgmt.
[13] J. of Water X
X X
Nitivattananon, Sadowski, Quimpo Resources Planning and Mgmt.
[14] J. of Water
X X X
Powell, Sterling Resources Planning and Mgmt.
 Research Design
Hypothesis:
A closed-loop optimal control model can be used for load shifting
problems in industrial applications; including customers that are
charged on TOU and/or MD.

Objective:
Determine the closed-loop load shifting (scheduling) strategy that
yields the maximum potential of the cost saving under both TOU
and MD charges for a specific application.

Case study:
Rietvlei water purification plant; charged on both TOU and MD.
Research Design - Activities

Open-loop Closed-loop

Define open-loop Simulate and Convert to closed- Simulate and

control models compare loop (MPC) models compare

• TOU based • TOU based • TOU based • TOU based

• MD based • MD based • MD based • MD based
• Combined • Combined • Combined • Combined

Expect MD charges to play the most significant role in optimization.

Case study – Rietvlei purification
Randwater
R 2.98/kL

Randwater
R 2.98/kL Garsfontein
Garsfontein (R3)
(R3)
60
60 Ml
Ml

Klapperkop
Klapperkop (R2)
(R2) Valve (V1) Boreholes
120
120 Ml
Ml
10 ML/day
R 0.30/kL

175 kW
OB1
OB1 10 ML/day/pump

OB2

Rietvlei Rietvlei
OB3
25ML/day 20ML/day
R 1.03/kL R 1.03/kL

Boreholes
Boreholes (R4)
(R4)
1.1ML
1.1ML
Focus of the 300 kW 275 kW
case study 22 ML/day/pump 10 ML/day/pump

On 30% On 40%
Off 15% K1 G1 Off 20%

On 65% On 50% IB1

IB1 IB2
IB2 IB3
IB3 IB4
IB4 IB5
IB5
Off 45%
K2 G2 Off 35%
Ranges from 37 to 75 kW motors

back-up K3 G3 back-up Rietvlei

Rietvlei Dam
Dam

Rietvlei
Rietvlei
Fountain
Fountain Purification Plant
Rietvlei
Rietvlei (R1)
(R1)
Rietvlei Fountain
2
2 ML
ML (70%
(70% of
of total
total capacity)
capacity) Rietvlei Purification
5 ML/day
Gravitational flow 40 ML/day
Gravitational flow
Klapperkop Pumps - Indicative
In peak and standard Times (6h00 to 22h00)

Integrated maximum demand intervals

Undesirable
maximum demand
“set” for the month
Current Schedule

K2
K1

Option 1 – Many short periods on pump K2.

K2
k1

Lower integrated
maximum demand

Option 2 – Short overlaps between pumps.

K2
K1

6h 7h 8h 9h 10h 11h 12h 13h 14h

Preliminary Results
Rudimentary tuning of current control strategy i.e. narrowing the K2 switching band.
Table: Monthly costs with MD savings.
Overall
TOU MD MD/TOU New MD Saving on MD
Saving
8%
Summer R 75k R 60k 80% ≈R 49k 18% (R 11k)
≈R 49k
Winter R 134k R 60k 45% 18% (R 11k) 6%
Formulation T = total time interval e.g. 1440 minutes (for a day).
N = total number of pumps.
TOU based objective function P = kW rating of each pump.
c = kWh costs function.
T N Cmax = Maximum demand charge e.g. R 50/kW.

Min. utn  pn  ct
u =state of pump e.g. 1 is on, and 0 is off.
I = Number of maximum demand intervals.

t 1 n 1

MD based objective function

i  NI N
Min.Max.iI1 
 
 u
t  NI i 1 1 n 1
tn  pn  Cmax

Some constraints
N
Inflow  Linitial   Fn  Lmin Reservoir must not get empty.
n 1

N
Inflow  Linitial   Fn  Lmax Reservoir must not overflow.
n 1

F
n 1
n 0 At least one of the Klapperkop pumps must run.

F
n4
n 0 At least one of the Garsfontein pumps must run.
Major Challenge
MD Optimization is not linear.

• Consider near-optimal approaches to “linearize” e.g.

– Maximum demand limit [new reference, Coulbeck, Orr].
– Reduced gradient algorithm – penalty towards end [14].
– Continuous variable [10] –trying to adapt to this application.
– Others?
• Alternatively, consider non-linear techniques e.g.
– Dynamic programming.
• Matlab fminmax – struggling to limit x to binary values.
• Matlab fmincon – struggling to limit x to binary values.
• Matlab fgaolattain - TODO
– Neural networks.
– Others?
 References
Optimal control based load-shifting.

[5] S. Ashok, R. Banerjee, “An optimization model for industrial load management,” IEEE Transactions on Power
Systems, vol. 16, no. 3, pp. 879-884, Nov. 2001.
[6] S. Ashok, “Peak-load management in steel plants,” Applied Energy, vol. 83, no 5, pp 413-424, May 2006.
[7] E. Gomez-Villalva, A. Ramos, “Optimal energy management of an industrial consumer in liberalized markets,”
IEEE Transactions on Power Systems, vol. 18, no. 2, pp. 716-723, May 2003.
[8] A. Middelberg, J. Zhang, X. Xia, “An optimal control model for load shifting – with application in energy
management of a colliery,” To be published.
[9] J. Zhang, X. Xia, “Best switching time of hot water cylinder –switched optimal control approach,” Proc. of the
8th IEEE AFRICON Conference, Namibia, 26-28 Sept. 2007.
[10] K. W. Little, B. J. McCrodden, ‘‘Minimization of raw water pumping costs using MILP,’’ Journal of Water
Resources Planning and Management, vol. 115, no. 4, pp. 511–522, July 1989.
[11] W. Jowitt, G. Germanopoulos, “Optimal pump scheduling in water-supply networks,” Journal of Water
Resources Planning and Management, vol. 118, no. 4, pp. 406-422, July 1992.
[12] G. McCormick, R.S. Powell, “Optimal pump scheduling in water supply systems with maximum demand
charges,” Journal of Water Resources Planning and Management, vol. 129, no. 5, pp. 372-379, Sept. 2003.
[13] V. Nitivattananon, E.C. Sadowski, R.G. Quimpo, “Optimization of water supply system operation,” Journal of
Water Resources Planning and Management, vol. 122, no. 5, pp. 374–384, Sept. 1996.
[14] G. Yu, R.S. Powell, M.J.H. Sterling, “Optimised pump scheduling in water distribution systems,” Journal of
Optimization Theory and Applications, vol. 83, no. 3, pp. 463–488, Dec. 1994.