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I. INTRODUCTION
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D. Balance Settlement
Via balance settlement, the TSO distributes the costs of regulation among balance responsible actors on the power market.
All balance responsible actors pay or are getting paid for their
unplanned deviations from the balance.
If upward regulation alone was activated, the upward regulation price is paid by players with negative imbalance (i.e.,
actual production purchase actual load sold power), while
players with positive imbalance are getting paid according to a
spot price.
If downward regulation alone was activated, the downward
regulation price is paid to players with positive imbalance, while
players with negative imbalance pay according to the spot price.
If no regulation took place, all actors are settled at spot price.
If both upward and downward regulation have been ordered
depending on which regulation had higher volume, upward or
downward regulation price is applied. If volumes for ordered upward and downward regulation are equal, the spot market price
is used [3].
The balance responsible player further distributes imbalance costs among power producers/consumers in his area of
responsibility.
III. BIDDING STRATEGY
The flowchart for the presented bidding strategy is given in
Fig. 1 and is discussed step by step in this section.
A. ARMA Forecast Error Scenarios
A wind speed forecast for the next day is obtained from, e.g.,
numerical meteorological programs (box A1). A wind speed
forecast is never perfect, and the forecast error should be considered when placing a bid to the spot market.
A model for wind speed forecast error (box A2) is developed
in [6]. It is assumed that data concerning accuracy of the forecast are known. Wind speed forecast is assumed available for
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(1)
where
is a wind speed forecast error in -hour forecast,
is a random Gaussian variable with standard deviation ,
and and are parameters.
The wind speed scenario for each hour
can then be caland the wind
culated as the sum of the wind speed forecast
, i.e., the outcome of
speed forecast error scenario
(2)
Fig. 2. Power curve of 2000-kW wind turbine ( ) and its continuous approximation (solid line).
Fig. 3. Example of power curve of the 160-MW wind farm (80 2-MW wind
turbines) with (solid line) and without (dashed line) consideration of the wake
effect according to equation (3). Note that here, all wind directions were assumed equally probable.
(3)
where
is wind speed in the wake,
is undisturbed wind
speed at the upwind turbine with rotor radius , is a horizontal distance between wind turbines, is wake decay constant
onshore,
offshore [9]), and
is a thrust
(
coefficient that depends on wind turbine (WT) type and can be
obtained from the respective WT manufacturer.
2) Wind Farm Model: The expression for power production
of the wind turbine depending on wind speed is [10]
(4)
where is swept area of the WT rotor, is air density, and
is overall efficiency of the WT, expressed here as a function of
the wind speed.
In practice, the relation between WT power production and
a wind speed for each WT type is given by a so-called power
curve, which is a set of experimentally obtained values available
from WT manufacturer (see Fig. 2, stars). It is convenient to approximate the power curve with continuous function, to be able
to calculate power output at any wind speed. This is achieved
is expressed from (4); then, substituting
as follows. First,
with discrete, experimental values,
is calculated for
corresponding wind speeds. Approximating obtained discrete
by continuous piecewise linear function [11], and
values
substituting it back to (4), an experimental power curve can be
approximated by a continuous function that will allow us to determine the power production at any wind speed. As shown in
Fig. 2 (solid line), the approximation is quite good.
Given a wind speed forecast for undisturbed wind flow for
, wind speed scenarios
for undisturbed wind
hour ,
flow are calculated using (2). Then, given the wind direction,
within a wind
wind speed scenarios at each wind turbine
farm are calculated by (3) (see Fig. 3). Power production scenarios of each WT can be obtained using continuous approximation of the WT power curve described above. Power production
scenarios of individual wind turbines are summed to represent
C. Scenario Reduction
The computational effort for solving scenario-based optimization models depends on the number of scenarios.
Therefore, it is necessary to obtain the subset of wind power
production scenarios that has a smaller number of scenarios
but still is reasonably close to the original set. The scenario
reduction approach that is used here (box C) is described in
detail in [12]. The scenario reduction algorithm determines a
subset of preserved scenarios that is the closest to the original
set of scenarios using the Kantorovich metric. The distance
trades off scenario probabilities and the distances between
scenario values.
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D. Optimization Problem
As discussed in Section II, the imbalance price can be different depending on if the balance responsible actor is in positive or negative imbalance and if upward or downward regulation was undertaken by the system operator during the hour in
question.
As an illustration, in this paper, the imbalance prices from the
previous days are used as price scenarios for the day in question
(see Fig. 1, box D1). The price model does not effect the optimization method presented in this paper. The analysis of the optimization problem, provided in Section IV, is general and does
not depend on the chosen price model. In the real application of
this bidding strategy, the stochastic model (see, e.g., [15]) of the
regulating prices can be used to achieve better results.
The following imbalance price model is used:
, where
is a spot price at hour
, where
is a price for downward
regulation at hour , if the actor is in positive imbalance in
hour and downward regulation is undertaken with
;
, where
is a price for upward
regulation at hour , if the actor is in negative imbalance in
hour and no upward regulation is undertaken or
;
, if the actor is in negative imbalance in hour and upward regulation is undertaken with
.
The negative sign means that the balance responsible player
is paying the price for imbalance, and the positive sign means
that the balance responsible player is getting paid.
Note that the wind power producer is assumed to be a price
taker here; it means its bidding strategy does not affect power
prices. In countries with small amounts of wind power (less than
5% of total power production according to the study in [16]), this
is a reasonable assumption.
The stochastic optimization problem is formulated for each
hour to maximize WF owners expected profit and, consequently,
minimize the imbalance costs
(5)
(6)
is the total installed capacity of the WF, is a biwhere
nary variable,
is a large positive number that exceeds any
maximum feasible value of , and is a set of preserved scenarios after scenario reduction (see Section III-C).
, if
it is optimal to keep
(underproduction), and the third
, if it is
term of the objective function would disappear;
optimal to keep
(overproduction), and the second part
of the objective function would vanish.
The detailed derivation and analysis of the solution to the
optimization problem (6) is provided in the next section. Also,
several special cases are analyzed.
E. Evaluation of Bidding Strategy
The suggested bidding strategy can be tested against actual
data for the same period, for which forecast error statistics and
imbalance prices are available. Real wind speed measurements
(box E1) should be converted to power following the same procedure as wind speed scenarios above (box B, see Fig. 1). If
actual power production measurements are available, no conversion is needed. The actual power production data and bids,
obtained from the optimization, are then used to calculate imbalance costs (box E)
(7)
and
are actual imbalance prices,
where
known ex-post for the studied hour for the balance settlement
(see Section II-D). As it will be shown in the case study, the
difference between the expected imbalance prices and actual
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F. GAMS/MATLAB
The developed model has been implemented in the General
Algebraic Modeling System (GAMS) [13], which is specifically designed for modeling linear, nonlinear, and mixed integer
optimization problems. The scenario reduction algorithms described in [12] have been contained in the library SCENRED
since 2002. The DICOPT GAMS solver was used to solve the
optimization problem. In order to obtain optimal bids for the
day-ahead spot market, the stochastic mixed integer optimization problem should run 24 times, separately for each hour of
the day. Obtained results could then be used for further calculations, e.g., calculation of imbalance costs or testing against historical data. It is convenient to perform such calculations using
GAMS/MATLAB interface [14].
IV. ANALYSIS OF THE OPTIMIZATION PROBLEM
In this section, the general solution for the optimization
problem (6) is derived. The solution is also analyzed in detail
for several special cases. Let us, for simplicity, introduce the
,
,
,
following notation:
,
,
, and
; then (6) can then
be rewritten as
, we get
(11)
(8)
or
arbitrary
if
if
Case 3)
. Since
, we have
Denote
and
. Thus
(10)
and
.
Case 3a) If
,
. Since
then from (11), we have
and
, all
, and thus,
and can be chosen arbitrary from
all
as follows from (8).
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Fig. 4. Standard deviations of the real wind forecast error ( ) and standard
deviations from the ARMA series with = 1:0073, = 0:0327, and =
0:1372 (solid line).
The results for one of the simulated days are shown in Fig. 5.
Fig. 5 (top) shows bidden power, according to cost minimizing
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strategy, real power production, and wind power forecast according to data for January 14, 2003. The expected (average)
imbalance prices and the spot price are also placed on the same
figure. Fig. 5 (bottom) illustrates profits for the suggested bidding strategy and for the case when the wind power forecast is
bidden on the spot market. The profit is calculated as income
from selling wind power on the spot market minus imbalance
costs (see Section III-E). Imbalance costs are calculated based
on actual imbalance prices that are placed on the same figure.
For the first hour expected
, the expected value
of the objective function (6) is equal to
, i.e., does not
depend on bidden wind power , that can be equal to any value
between
and
(see Case 3(a) in Section IV). The actual imbalance prices are both equal to the spot price. The profit
is
according to (7) and is, therefore, equal for both
bidding strategies. Between the 2nd and the 6th hour, the forecasted wind power is less than actual wind power production. As
, the profit from the biding forecast strategy is
according to (7). For the imbalance cost minimizing
strategy, the bidden levels are chosen in accordance with the
general solution derived in Section IV in (12). The bidden power
is higher than real wind power production; thus, the hourly profit
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TABLE I
PROFIT FOR TWO BIDDING STRATEGIES
20, and April 27). The exceptions are cases where the difference
between imbalance price and spot price is other than expected,
e.g., hour 13 and hour 12 on September 23 (see Fig. 7) and
hours 13 and 5 on December 28 (see Fig. 8).
From the results in Figs. 58 and from the solution derived in
Section IV (cases 1 and 3), it follows that in some situations, installed capacity is bidden in imbalance cost minimizing strategy,
although the forecasted power production is not that high, and
the actual power production turns out to be very low as well.
This is because the wind farm is assumed to be a price taker, and
its behavior does not affect the regulating market prices. From
the derivation in Section IV, it follows that in cases 1 and 3, the
bid can be any value in the given range. One can, for example,
choose the lower limit in order to cause less imbalance in the
system.
Profit evaluation is also made for all of January 2003, and
results are shown in Table I. One can see that during some days,
bidding of forecasted power gives higher profit than imbalance
costs minimizing strategy. As in the examples above, this is due
to the fact that the difference between imbalance price and spot
price is other than expected.
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Julija Matevosyan was born in Riga, Latvia, in
1978. She received the B.Sc. degree in electrical
engineering from Riga Technical University in 1999
and the M.Sc. and Tech.Lic. degrees in Electrical
Engineering from the Royal Institute of Technology,
Stockholm, Sweden, in 2001 and 2003, respectively.
She is currently pursuing the Ph.D. degree at the
Royal Institute of Technology, concentrating on
large-scale integration of wind power in areas with
limited export capability.