Proceedings of South

Johannesburg, the Control Conference

Africa, December Africa, 2017
7-8, 2017
Proceedings of South
Johannesburg, the Control Conference
Africa, December Africa, 2017
7-8, 2017
Available online at www.sciencedirect.com
Johannesburg, South Africa, December 7-8, 2017

ScienceDirect
IFAC PapersOnLine 50-2 (2017) 94–97
Optimal energy cost management of a
Optimal energy cost management of a
Optimal CNG
energy cost management
fuelling station of a
CNG fuelling station
CNG fuelling∗
station
Charles Kagiri ∗ Lijun Zhang Xiaohua Xia
Charles Kagiri ∗∗ Lijun Zhang Xiaohua Xia
∗ Charles Kagiri Lijun Zhang Xiaohua Xia
∗
Department of Electrical, Electronic and Computer Engineering,
∗ Department
∗ UniversityofofElectrical, Electronic
Pretoria (e-mail: and Computer Engineering,
kagiricharles@gmail.com).
Department
UniversityofofElectrical, Electronic
Pretoria (e-mail: and Computer Engineering,
kagiricharles@gmail.com).
University of Pretoria (e-mail: kagiricharles@gmail.com).
Abstract: A strategy for optimizing the operation of a Compressed Natural Gas (CNG) station
Abstract: A strategythe
in order to minimize forenergy
optimizing cost isthe operationinofthis
presented a Compressed
paper. The Natural study seeks Gas to (CNG)
schedule station the
Abstract:
in order of
activity A strategy
to the
minimize
stationthe for
CNG optimizing
energy cost is
compressor the operation
presented
so inofthis
as to achievea Compressed
paper.
minimum ThecostNatural
study Gas to
of seeks
electricity(CNG)
schedule station
purchased the
in order
activity to
of minimize
the station theCNGenergy cost
compressor is presented
so as to in this
achieve
under a Time-of-Use (TOU) tariff. A linear control approach is employed to restrict damagepaper.
minimum The study
cost of seeks to
electricity schedule
purchased the
activity
under a of the
Time-of-Usestation CNG
(TOU) compressor
tariff. A so
linear as to achieve
control minimum
approach
to the compressor by minimizing the switching frequency. The proposed approach shows great is cost
employed of electricity
to restrict purchased
damage
under
to the acompressor
potential Time-of-Use
to deliverby (TOU)
minimizing
lower operatingtariff.
the Aswitching
costs linear
through control approach
frequency.
shifting ofThe is employed
proposed
the station to restrict
approach
compressor shows
load damage
to great
lower
to the
potential compressor
to deliver by minimizing
lower operating the switching
costs through frequency.
shifting
electricity price time bands while also minimizing wear and tear effects on the compressor.ofThe
the proposed
station approach
compressor shows
load to great
lower
potential
electricitytopricedeliver time lower
bandsoperating
while also costs through shifting
minimizing wear and of the
tearstation
effectscompressor
on the compressor.load to lower
© 2017, IFAC
electricity (International
price time bands Federation
while also of Automatic
minimizing Control)
wear and Hostingtearbyeffects
ElsevieronLtd. theAll rights reserved.
compressor.
Keywords: Compressed Natural Gas, Time-of-use, Optimal control, Linear control.
Keywords: Compressed Natural Gas, Time-of-use, Optimal control, Linear control.
Keywords: Compressed Natural Gas, Time-of-use, Optimal control, Linear control.
1. INTRODUCTION The current study based on a model of the CNG filling
1. INTRODUCTION The
stationcurrent
and the study gasbased
demand on aprofile
modelintendsof the to CNG filling
optimally
1. INTRODUCTION The
stationcurrent
and study gasbased on compressor
aprofile
modelintendsofsothe CNG filling
schedule the theoperation demand
of the astoto optimally
minimize
station
schedule and
the the gas
operation demand
of the profile
compressor
the electricity cost incurred when purchased under a time- intendsso as to
to optimally
minimize
schedule the operation of
of the compressor so asunder
to minimize
The demand to replace diesel and gasoline as fuels for the of-use
the
electricity
tariff.
electricity
costtime
The
cost
incurred
incurred
usewhen
when
tariffpurchased
is a demand
purchased under
a time-
response
a time-
The demand to replace diesel and gasoline as fuels for of-use
(DR) tariff.
strategy
transportation with cleaner alternatives has resulted in an of-use tariff. The time of use tariff is a demand responseThe time
implemented of use tariff
by is
power a demand
utility response
providers
The demand (DR) strategy implemented by power utility providers
increase in thetowith
transportation replace
use cleaner diesel
of Compressed and Natural
alternatives gasoline as fuels
has resulted
Gas in for
(CNG) an so as to encourage change in electricity usage patterns
(DR) strategy
transportation
increase in the with
use cleaner
of alternatives
Compressed
powered vehicles globally (Brito et al. (2016)). Driven by has
Natural resulted
Gas in
(CNG) an so by as to
consumers encouragebyimplemented inbyelectricity
changedifferential
applying powerpricing utility
usage atproviders
patterns
different
increase in the use of Compressed Natural Gas (CNG) so as to encourage change in electricity usage patterns
powered vehicles
the widespread globally
need to reduce (Britoair et al. (2016)).
pollution, Driven by by consumers by applying differential pricing at different
environmental by
timesconsumers
based on by applying
electricity differential
demand (Zhangpricing et at
al. (2014)).
different
powered
the vehicles
widespread globally
need to reduce(Britoair et al. (2016)).
pollution, Driven
environmental by times
DR based
programs
stress and tackle availability and reliability challenges, times based on electricity demand (Zhang et al. (2014)). on areelectricity
implemented demand by (Zhang
power et
utilitiesal. (2014)).
so as to
the widespread
stress and need
tackle to reduce
availability air
and pollution,
reliability environmental
challenges, DR programs
increase grid are implemented
reliability and by power
increase utilities
efficiency in so
theasuseto
more consumers and decision makers are viewing CNG as DR programs are implemented by power utilities so as to
stress
more and
consumers
a practical tackle availability
and decision
replacement and
for themakers reliability
liquid are fossilviewing challenges,
CNG as increase
fuels (Gabbar increase grid reliability and increase
of installed generation capacity by reducing the variations efficiency in the use
grid reliability and increase efficiency in the use
amore
al. consumers
etpractical
(2016)). and decision
replacement for themakersliquid are fossilviewing CNG as of
fuels (Gabbar in installed
of
generation
the gap between
installed generation
capacity
supply
capacity
andby reducing
demand the variations
(Albadi and El-
a
etpractical
al. (2016)). replacement for the liquid fossil fuels (Gabbar in the gap
Saadany between
(2008)). supply andby reducing
demand the variations
(Albadi and El-
Fuel
et (2016)). infrastructure is a key success factor in the in
al.delivery the gap
Saadany between supply and demand (Albadi and El-
(2008)).
Fuel deliveryofinfrastructure
achievement widespread use is of
a key
CNGsuccess factor in the Saadany
as a transportation The modelling (2008)).of the cascade storage as a single mass
Fuel deliveryofinfrastructure
achievement
fuel (Gabbar widespread
and Bedard (2012)).useis of
a key
CNG success
CNG factorstations
as afuelling
transportationin the The modelling
flow system of the cascade
in combination withstorage
the linear as aminimization
single mass
achievement of widespread use of CNG as a transportation The
flow
of modelling
system
compressor of the cascade
in switching
combination withstorage
frequency the
is as aand
linear
novel single
so ismass
minimization the
fuel (Gabbar and Bedard (2012)). CNG fuelling stations
have been increasing in number in many countries as the flow system in combination with the linear minimization
fuel
have
number (Gabbar
been and
of increasing Bedard
CNG vehicles in number(2012)).
increases. CNG
in many
Fast-fill fuelling
countries stations
as the of
CNG fuelling of compressor switching frequency
use of the resultant model to achieve minimal electricity is novel and so is the
have been increasing in number compressor switchingtarifffrequency is novel andelectricity
so is the
number
stations of
are CNG being vehicles
widely used in
increases. formany
Fast-fill countries
commercial CNGroadsideas the use
fuelling cost
use
of
in the
of the
resultant
a time-of-use
resultant
model
model
to achieve
regime.
to achieve
minimal
minimal electricity
number of
areCNG cost in a time-of-use tariff regime.
stations
fuelling due thevehicles
tobeing widelyincreases.
average used time
filling for Fast-fill
of belowCNG
commercial fuelling
fiveroadside
minutes cost in a time-of-use tariff regime.
stations
fuelling are
due tobeing
the widely
average used
filling for
time commercial
per vehicle, which is comparable to filling times of dieselof below five roadside
minutes 2. STRATEGY FORMULATION
fuelling
per due to the average filling time of below five minutes 2. STRATEGY FORMULATION
and vehicle,
gasolinewhichfuels is comparable
(Khadem et al. to (2015)).
filling times The of diesel
efficient 2. STRATEGY
per
and vehicle,
gasoline
operation of which is comparable
fuels fueling
CNG (Khadem et al.
station to
can filling
(2015)).
increase times
Thetheof diesel The schematic
efficient
attrac- diagram for FORMULATION
the CNG fueling station is
and gasoline
operation of fuels
CNG (Khadem
fueling et
station al.can(2015)).
increase Thethe efficient
attrac- The
shown schematic
in Figure diagram
1. In the for the operation
baseline CNG fueling whenstation
the total is
tiveness of CNG in transportation even further. Electricity shown The schematic
in Figure diagram
1. In the forstorage
the operation
baseline CNG fueling
when station
the totalis
operation
tiveness
cost fromof theof
CNGCNG fueling station
in transportation
operation of the gaseven can increase the attrac-
further. Electricity
compressor is a major mass mass of gas in the cascade drops to the minimum
tiveness shown ofin Figure
gas ,inthe
mmin 1. In
thestationthe baseline
cascadecompressor operation
storage drops is to when the
the minimum
started total
through
cost fromof the
contributor CNG thein overall
transportation
to operation the gaseven
ofoperating further.
compressor
cost of the Electricity
isCNG
a major sta- massmass of gas
cost from
contributor theto operation
the overall of the
operatinggas compressor
cost of the is
CNGa major
sta- switch and,ingas
mumin
min
theflows
the cascade
station storage
intocompressor
the three drops is to
levels the
started
of minimum
the through
cascade
tion and savings can be made from implementation cost switch mass mu min
and , the
gas station
flows into compressor
the three is
levels started
of the through
cascade
contributor
tion and to
savings the overall
can be operating
made from cost of the
implementation CNG sta-
cost storage at the rate mco . The flow of gas into the three
reduction strategies (Bang et al. (2014)). switch
storage uatand the gas flows
rate into the three
mstorage oflevels of the
thethecascade
tion and savings can be made from implementation cost levels of the cascade co . Theis flow
co controlled gas by into three
priority
reduction strategies (Bang et al. (2014)).
Modelling strategies
reduction studies for the et
(Bang fast-fill CNG station are nu- storage
al. (2014)). levels
panel of at
thethe
algorithm rate
cascade
untilmstorage
co
the. The
totalisflowmass of in
controlled gascascade
into
by thethe three
priority
storage
Modelling studies for the fast-fill CNG station are nu- levels
panel
merous in literature and begun with a model based on reaches a maximum mass mmax and the compressor is of the
algorithm cascade
until storage
the totalis controlled
mass in by
cascadethe priority
storage
Modelling lawstudies forandthe begun
fast-fill CNG station are nu-
bybased panel
reachesalgorithm
aoffmaximum untilmass the
Thetotal
mstored massgasin is cascade storage
merous
the first in literature
of thermodynamics with
implementeda model (Kountz on switched thereafter. max and
max the compressor
transferred intois
merous
the in literature
first Subsequent
(1994)). law of thermodynamicsand begun with
studies have implemented a
expanded the bymodel based
model(Kountz on reaches
with switched
consumeroff a maximum
thereafter.
vehicle mass
tanks The mstoredthe
through max and the
gasdispenser, compressor
is transferred with into
theis
the first
(1994)). law of
Subsequent thermodynamics
studies have implemented
expanded the by
model(Kountzwith switched
consumer off thereafter.
vehicle
consideration for the variety of components that make dispenser algorithm switching the filling of the vehicle tank tanks The stored
through thegas is transferred
dispenser, with into
the
(1994)). Subsequent
consideration
up the fast-fill forCNGthe studies
variety
station have of expanded
and components the model
their influence thatonmake gas consumer
with dispenser
from the low vehicle
algorithm tanks
pressureswitching through
reservoir, the tothethe
filling dispenser,
ofmedium
the vehiclewith the
tank
pressure
consideration
up the fast-fill forCNGthe variety
station of
and components
their influencethat onmakegas dispenser
from the
flow (Farzaneh-Gord et al. (2012); Newhouse and Liss reservoir and to the high pressure reservoir to maintain algorithm
low pressureswitching
reservoir, the filling
to the of the
medium vehicle tank
pressure
up
flow the
(1999); fast-fill CNG station
(Farzaneh-Gord
Deymi-Dashtebayaz et al. et and
(2012); their influence
Newhouse
al. (2012)). and
Research gas from
on into
Liss reservoir
the flow the oflow
and gaspressure
toabove
the high areservoir,
flow to
setpressure theThe
reservoir
rate. medium pressure
to maintain
timing of the
flow
(1999); (Farzaneh-Gord
Deymi-Dashtebayaz et al. (2012);
et al. Newhouse
(2012)). and
Research Liss
into reservoir
the flow and
of
the interaction between the CNG infrastructure and the compressor operation is the key factor in the total cost gas to the
above high
a setpressure
flow reservoir
rate. The to
timing maintain
of the of
(1999);
the Deymi-Dashtebayaz
interaction between the et
CNG al. (2012)).
infrastructure Research and into
the the flow
compressor of gas above
operation
electricity networks is still scarce and is necessary in order electricity consumed. To minimize the cost of electricity, a
is set
the flow
key rate.
factor The
in the timing
total of the
cost of
an
the interaction
electricity
to improve networks between
efficiency stillthe
is(Frick etCNG
scarce al. andinfrastructure
is necessary and
(2007)). in orderthe compressor
electricity
optimization operation
consumed.
strategyTo is proposed,
is the key factor
minimize the
where inthe
cost the total cost
of objective
electricity, of
is an
to
electricity networks is still scarce
to improve efficiency (Frick et al. (2007)). and is necessary in order electricity consumed. To minimize the
optimization strategy is proposed, where the objective is to cost of electricity, an
to improve efficiency (Frick et al. (2007)). optimization strategy is proposed, where the objective is to
Copyright © 2017 IFAC 94
2405-8963 © 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Copyright © 2017 IFAC 94
Peer review under responsibility
Copyright © 2017 IFAC of International Federation of Automatic
94 Control.
10.1016/j.ifacol.2017.12.017
CCA 2017
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December 7-8, 2017
Charles Kagiri et al. / IFAC PapersOnLine 50-2 (2017) 94–97 95

100

12 Individual Vehicle
Hourly gas demand 90
Compressor
u mco

Individual vehicle gas demand(kg)

80
10

Hourly CNG demand(kg)

70
Priority Panel
8 60

Cascade storage 50
6
mmax
40
high medium low
pressure pressure pressure
Dispenser 4 30

mo
20
2
mmin 10

0 0
0 5 10 15 20
Time (h)

Fig. 2. CNG demand at the fast-fill station unit

Fig. 1. Schematic layout for the fast-fill CNG station
optimally schedule the on and off status of the compressor
according to the gas demand profile so as to limit activity
of the compressor when the electricity price is high and
shift the activity to times when electricity price is low. The
control variable for the proposed strategy is the status of
the compressor switch u
u(t) ∈ {0, 1} (1 ≤ t ≤ N ) (1)
where t is the sampling instant and N is the number of
samples over the control horizon. The objective function
representing electricity cost is given as
N

J= Pcomp Pe u(t) (2)
t=1
where Pcomp is the power rating of the compressor, Pe (t) is
the price of electricity per kW h. It is necessary to limit the
number of on/off instances that the compressor undergoes
because a high frequency of switching increases mechanical
stress induced on compressor components and as a result
increases the probability of failure and the maintenance
cost (Nguyen and Chan (2006)). A linear optimization
method used by (Mathaba et al. (2014)) is adapted in the
present study. An auxilliary variable s(t) is used to track
the status of the switch u(t) assuming the value 1 whenever
change from off to on occurs. The auxiliary variable is then
minimized so that the objective function becomes
N N
J = Pcomp Pe u(t) + (1 − ) s(t) (3)
t=1
where  is a weighting factor. The optimization problem
is subject to the constraints of the storage capacity and
the terminal constraint so that
mmin ≤ m(t) ≤ mmax (4)
where mmin is the mass of gas in the cascade storage at
minimum pressure limits and mmax is the mass of gas in
cascade storage at maximum pressure limits and the mass
of gas in the cascade storage m(t) is
t−1
 t−1

m(t) = m(0) + ts ṁco u(i) − mo (i) (5)
i=0
where ṁco is the mass flow rate of gas from the compressor
and mo (i) is the gas demand in a sampling instant. The
terminal constraint that ensures the value of the state
variable at the end of the control horizon is equal to the
value of the state variable at the beginning of the control
horizon is therefore
N
 −1 N
 −1
m(N ) = m(0) + ts mco u(i) − mo (i) (6)
i=0 i=0
The mass of gas values corresponding to the minimum
and maximum pressure limit values mmin and mmax are
calculated from gas physical property values and pressure
limit values using the equation of state
pV = znRT (7)
where p is the pressure, z is the compressibility factor,
V the volume of the cascade storage, R is the ideal gas
constant and n the quantity of gas in moles which relates
to mass as
m
n= (8)
M
where M is the molar mass so that
M V pmax M V pmin
mmax = mmin = (9)
zRT zRT
The gas demand profile for a CNG fuel station in South
Africa chosen as the case study is shown in Figure 2. The
station cascade storage consists of three reservoir levels of
2000L each and are all supplied from a single reciprocating
compressor with a capacity of 900N m3 /hr and a motor
rating of 132kW . The demand data shows the mass of
gas exiting the storage into vehicle tanks at intervals of 4
minutes for a 24 hour period. The three cascade storage
t=1 reservoirs are refilled to a maximum operating pressure of
252 bars. The minimum operating pressure for the three
reservoirs is 210, 150 and 75 bars for the high pressure,
medium pressure and low pressure reservoirs respectively.
The gas demand is high in the morning in the hours
between 05:00 and 10:00 as vehicle owners are fuelling for
the day’s travel. the demand increases in the mid afternoon
between 14:00 and 16:00 as the vehicles are fuelled at
the end of journeys or in preparation for the next day’s
journeys since some motorists fuel in the evening preceding
their journeys the next morning. The CNG fuelling station
purchases electricity under a time-of-use tariff of the South
i=0 African utility Eskom, known as the Miniflex tariff such
that the price of electricity Pe (t) in South African Rands
per kilowatt hour (R/kW h)

95
CCA 2017
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96 Charles Kagiri et al. / IFAC PapersOnLine 50-2 (2017) 94–97

1 750
and second, in preparation to meet the demand during the

Mass of CNG in Storage (Kg)

Off Peak evening peak electricity pricing period. The gas in storage
compressor switch,u

standard 700
Peak
is then able to sustain demand without the compressor
650
being switched on until the onset of the offpeak period at
600 22:00, after which the storage is filled up to meet terminal
550 conditions. This operation regime incurs a total electricity
500 cost of R176.13 which represents a 59.28% reduction in
450
electricity cost for the day from the baseline.
0
0 5 10 15 20 0 5 10 15 20
Time (h) Time (h) 4. CONCLUSION

The potential for significant reduction in operating costs

Fig. 3. Compressor operation and level of gas in the
for a CNG fuelling station through the optimization of
cascade storage under baseline operation
compressor operation is demonstrated in the present study.
1 750
The significant savings are an important contribution to
Mass of CNG in Storage (Kg)

the efficient delivery of CNG to end users. The study

Compressor switch,u

700

650
also shows how the CNG industry can participate in DR
600
programs and thereby increase the reliability of electricity
networks and further reduce carbon emissions which is
550
one of the benefits achieved when power utility generation
500
capacity is efficiently utilized.
450
0
0 5 10 15 20 0 5 10 15 20
Time (h) Time (h)
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