General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. Users may download and print one copy of any publication from the public portal for the purpose of private study or research. You may not further distribute the material or use it for any profit-making activity or commercial gain You may freely distribute the URL identifying the publication in the public portal If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. Downloaded from orbit.dtu.dk on: Aug 12, 2019 Computational Methods for Model Predictive Control New Opportunities for Computational Scientists Jørgensen, John Bagterp; Boiroux, Dimitri; Hovgaard, Tobias Gybel; Halvgaard, Rasmus; Skajaa, Anders; Gade-Nielsen, Nicolai Fog; Standardi, Laura; Sokoler, Leo Emil; Völcker, Carsten; Capolei, Andrea Publication date: 2012 Document Version Publisher's PDF, also known as Version of record Link back to DTU Orbit Citation (APA): Jørgensen, J. B. (Author), Boiroux, D. (Author), Hovgaard, T. G. (Author), Halvgaard, R. (Author), Skajaa, A. (Author), Gade-Nielsen, N. F. (Author), ... Duun-Henriksen, A. K. (Author). (2012). Computational Methods for Model Predictive Control: New Opportunities for Computational Scientists. Sound/Visual production (digital), Technical University of Denmark (DTU).
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General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.
Users may download and print one copy of any publication from the public portal for the purpose of private study or research.
You may not further distribute the material or use it for any profit-making activity or commercial gain
You may freely distribute the URL identifying the publication in the public portal If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.
Downloaded from orbit.dtu.dk on: Aug 12, 2019
Computational Methods for Model Predictive ControlNew Opportunities for Computational Scientists
Document VersionPublisher's PDF, also known as Version of record
Link back to DTU Orbit
Citation (APA):Jørgensen, J. B. (Author), Boiroux, D. (Author), Hovgaard, T. G. (Author), Halvgaard, R. (Author), Skajaa, A.(Author), Gade-Nielsen, N. F. (Author), ... Duun-Henriksen, A. K. (Author). (2012). Computational Methods forModel Predictive Control: New Opportunities for Computational Scientists. Sound/Visual production (digital),Technical University of Denmark (DTU).
Wind power share in the western part of Denmark: 24 %
39
Wind Power Production and Imbalances
0%
20%
40%
60%
80%
100%
120%
0 5 10 15 20 25 30 35Wind speed [m/s]
Pro
duct
ion
in %
of t
otal
inst
alle
d ca
paci
ty % of installed capacity
1 m/s change in wind speed changes the production by 350
MW (DK West)
40
Power System Development – DK West
Centralized system of the mid 1980s
Primary production plants
Local plants
Wind turbines
More decentralized system of today 41
Load Balancing Controller
42
Models of Energy Components
43
Controllable Power Generators
46
MPC for Economic Power Portfolio Optimization
47
Soft Economic MPC
48
Simple Test Example
49
Optimal Production Profiles
50
Cooling Houses – A Flexible Consumer • Motivation: • Refrigeration and air-conditioning consume
substantial amounts of energy. • E.g. up to 80% of energy consumed by
supermarkets goes to refrigeration.
• Methods: • Economic MPC:
Minimize the cost of cooling subject to temperature limits
• Predictions of weather, energy prices and load profiles.
• Implementation on industrial hardware.
Evaporator
Compressor
Expansionvalve
Condenser
Cold RoomOutdoorsurroundings
Suction Pressure controller
Condenser Pressure Controller
NEF
NCF
NC
Tcr
PC
PE
Qload
Pc,ref=PdewT(Ta+DT) Stored goods
MPC
Cooling system used in refrigerators and cooling houses
FPGA
52
Power Management 2 Power Plants and 1 Cooling House
• Economic Optimizing MPC • Minimize power consumption and costs without lowering the cooling quality • Load shifting utilizing the thermal capacity of the cooling house
53
Online Computing Time Tailored Primal-Dual Interior Point Algorithm
• There is a need for HPC software supporting MPC – QP, LP, SOCP algorithms – ODE/PDE solvers equipped with sensitivity computing
abilities (adjoints) – SQP / NLP algorithms – Efficient direct sparse and iterative methods for KKT
systems (even when they are ill-conditioned) • The number of potential applications is very large
67
Center for Energy Ressources Engineering (CERE) Consortium www.cere.dtu.dk
Novo Nordisk A/S, Hvidovre Hospital, Medtronic Danfoss A/S, DONG Energy A/S, Vestas A/S, GEA Process Engineering A/S The Danish Strategic Research Council The Danish Research Council for Production and Technology Sciences