2022 IEEE 5th International Conference on Automation, Electronics and Electrical Engineering (AUTEEE)

Two-stage Robust Unit Commitment Considering

Coordination of Thermal Power Units and Grid
Scale Battery Energy Storage Station
2022 IEEE 5th International Conference on Automation, Electronics and Electrical Engineering (AUTEEE) | 978-1-6654-7197-8/22/$31.00 ©2022 IEEE | DOI: 10.1109/AUTEEE56487.2022.9994467

Mingze Zhang Hanlin Yu Nan Zou

School of Electrical Engineering School of Electrical Engineering State Grid Dalian Electric Power
Dalian University of Technology Dalian University of Technology Supply Company
Dalian, China Dalian, China Dalian, China
mzzhang1997@163.com YHLYHLYHL@mail.dlut.edu.cn 598427417@qq.com

Jifeng Li Qun Yang Weidong Li

State Grid Dalian Electric Power State Grid Dalian Electric Power School of Electrical Engineering
Supply Company Supply Company Dalian University of Technology
Dalian, China Dalian, China Dalian, China
lijifeng2014@163.com 881013yq@sina.com wdli@dlut.edu.cn

Abstract—The high penetration of new energy sources and
the gradual replacement of traditional units have made the
power system's ability to cope with high-power loss
prominently insufficient. A Large-scale battery energy storage
station on the grid side (BESS-GS) is used as an independent
power generation unit under the unified deployment of
dispatching instructions to provide a feasible way to solve this
problem. In this paper, a two-stage robust unit commitment
model is established, in which a BESS-GS and thermal power
units are coordinated to dispatch to participate in auxiliary
services, and the economy is optimized under the premise of
ensuring grid security. The first stage is based on the
deterministic model to obtain the benchmark output plan; the
second stage focuses on the uncertainty of the actual wind
power output, adopts the robust optimization method to
establish the model, and modifies the benchmark value. Finally,
the validity and practicability of the proposed method in this
paper are verified through a standard case. The method can be
better applied to a strong and large power grid.
Keywords—high-power loss, grid scale battery energy storage,
ancillary service, robust optimization, unit commitment
I. INTRODUCTION
With the gradual depletion of fossil energy and
increasingly serious environmental pollution, the power
system is moving towards a low-carbon, clean and
sustainable development path. On the source side, clean
energy represented by wind power is vigorously developed
with the idea of achieving maximum consumption. However,
a new energy power station without the rotating element is
unable to provide the inertia and droop technology actively,
which makes the ability to deal with high-power loss for the
power grid obviously insufficient [1–3]; at the same time, it
is obliged to abandon some wind power due to the high cost
of thermal power units when anti-peak regulation occurs [4].
These have caused the main contradiction of ensuring the
active power balance under the new situation for the grid.
Therefore, it is an effective way for solving the above
problems to explore the operation mode of a large-scale
battery energy storage station on the grid side (BESS-GS) of
the system, which combines thermal power units to supply
power to the load.
At present, some scholars have conducted related
researches on these issues. Wind power is considered to
participate in the primary frequency response (PFR) service
through the virtual droop control technology in [5]. However,
it is possible that wind power cannot participate in the
regulation according to instructions after the high-power loss,
due to its intermittence, volatility and uncertainty. BESS
installed in the wind farm is proposed in [6] and [7], which
can stabilize its fluctuations while achieving accurate
tracking of the output plan. However, it is not suitable for a
BESS-GS with large capacity, which needs to be operated
according to the instructions under the arrangement of the
grid dispatching department.
For the uncertain factor of the wind power output, robust
optimization (RO) method in [8] and [9] does not need a
large number of scene clustering, which saves a lot of time
and has more applicability, compared with data-driven and
stochastic programming method [10], [11]. Compared with
the chance-constrained programming method in [12] and
[13], it can strictly guarantee the establishment of various
constraints, so as not to fail to operate due to the violation of
some certain constraints during actual operation.
The rest of our paper is organized as follows. Section II
establishes a two-stage robust unit commitment model for
the coordinated operation of a BESS-GS and thermal power
units. Section III carries out some simulation analysis
through a standard case, and the paper is concluded in
Section IV.
II. MODEL ESTABLISHMENT
The static RO model requires the decision-maker to make
an one-time decision before the uncertain parameters are
realized, which makes the optimization result too
conservative. To solve this problem, a two-stage RO method
can be adopted to establish the model.

978-1-6654-7197-8/22/$31.00 ©2022 IEEE 131 November 18-20, 2022 Shenyang, China

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A. Unit Commitment Model for the 1st Stage CiU,e
,t ≥ 0 (5d)
1) Objective Function of the Model
In the first stage, we do not consider the uncertainty of ·Production Cost: CiU,o is a quadratic function on the
,t
the actual output of wind power, which means that the actual
value is the same as the forecast. The unit commitment power output, and the expression after piecewise
model needs to determine the start-up or shut-down status linearization is
and generation output scheduling of thermal power units and
a BESS-GS. The optimization objective is to minimize the
, t = ( A i ⋅ ui , t + Fi ⋅ δ i , t ) ⋅ ∆t
CiU,o U U U
(6a)
system operation cost C first , its mathematical expression is:

T
C first
minimize = ∑ (C
t =1
t
U
+ CtB ) (1) Pi ,Ut =δ iU,t + Pi min ⋅ ui ,t (6b)

where term T is the total scheduling period, which is 24h; 0 ≤ δ iU,t ≤ Pi max − Pi min (6c)
CtU and CtB ($) denote the operation cost of thermal power
units and the BESS-GS at time period t, respectively. where ∆t denotes the length of the scheduling period,
a) Thermal Power Units: The operation cost of thermal which is 1 hour; Pi ,Ut (MW) represents the power output
power units includes startup cost, shutdown cost, production
cost, and reserve cost, its mathematical expression is value of unit i at period t; Pi min and Pi max denote the
minimum and maximum technical output of unit i,
respectively. The expressions of other parameters are
N
CtU = ∑ ( CiU,b
, t + Ci , t + Ci , t + Ci , t )
U,e U,o U,r
(2)
A iU =aiU ⋅ ( Pi min ) + biU ⋅ Pi min + ciU
i =1 2
(7a)
U,b
·Startup Cost: The startup cost C i ,t of unit i at period t
can be written as

U
F =
(a i
U
)
⋅ ( Pi max ) + biU ⋅ Pi max + ciU − A iU
2

(7b)
CiU,b b
, t = Ci ⋅ ui , t ⋅ (1 − ui , t −1 ) (3) i
Pi max
− Pi min

where Cib ($) denotes the cost required for unit i to start; ·Reserve Cost: The unit should reserve enough spinning
ui ,t is a Boolean variable of whether unit i is in the startup reserve on the basis of the power generation plan, the
mathematical expression of this cost CiU,r
, t can be written as
state: 1 means startup, and 0 means shutdown.
·Shutdown Cost: CiU,e
, t can be calculated as
CiU,r r r
, t =Ci ⋅ Pi , t (8)

CiU,e e
, t = Ci ⋅ ui , t −1 ⋅ (1 − ui , t ) (4) where Cir ($/MW) is the unit price of reserve power for
unit i; Pi ,rt represents the reserved value at period t.
where Cie ($) denotes the cost required for unit i to
shutdown. b) BESS-GS: Its operation cost include the loss cost in
charging or discharging process, and the cost of participating
Since ui ,t is a decision variable in the unit commitment in the inertia response (IR) and PFR under the high-power
model, equations (3) and (4) are nonlinear. In order to solve loss. CtB can be expressed as
this problem, according to the idea described in [14], the two
terms are transformed as
CtB =CtB,l + CtB,IR + CtB,PFR (9)

, t ≥ Ci ⋅ ( ui , t − ui , t −1 )
CiU,b b
(5a) ·Loss Cost: During normal operation, the cost of BESS-
GS is mainly reflected in the form of loss, which has a linear
relationship with the charging and discharging power, it can
be obtained by
CiU,b
,t ≥ 0 (5b)

CtB,=
l
C l ⋅ ( Pt B,dis + Pt B,ch ) ⋅ ∆t (10)
C U,e
i ,t ≥ C ⋅ ( ui ,t −1 − ui ,t )
i
e
(5c)
where C l ($/MWh) denotes the unit operation cost of a
BESS-GS; Pt B,ch and Pt B,dis are the charging and discharging

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power, respectively, and they are positive. where Tib and Tie are the startup and shutdown time of
·IR Cost: When the inertia supporting capacity of thermal unit i, respectively.
power units is insufficient, the insufficient energy is provided ·Generation Limits:
by the BESS-GS, so that the initial rate of change of
frequency (RoCoF) of the system under the high-power loss
does not exceed the maximum allowable value. The ui ,t ⋅ Pi min ≤ Pi ,Ut ≤ ui ,t ⋅ Pi max (15)
mathematical expression for this term is
·Ramping Constraints: The increase and decrease of unit
Ct
B,IR
C ⋅ ( Pt
= IR B,dis,IR
+ Pt B,ch,IR
) (11) output are affected by its own grade rate.

where C IR ($) denotes the unit price of participating in Pi ,Ut +1 − Pi ,Ut ≤ RiU ⋅ ui ,t + Pi max ⋅ (1 − ui ,t ) (16a)
IR for a BESS-GS; Pt B,ch,IR and Pt B,dis,IR are the
charging/discharging power in IR, respectively.
·PFR Cost: When the PFR capacity of thermal power Pi ,Ut − Pi ,Ut +1 ≤ RiU ⋅ ui ,t +1 + Pi max ⋅ (1 − ui ,t +1 ) (16b)
units is insufficient, the insufficient amount is still provided
by the BESS-GS to prevent the system frequency from where RiU (MW/h) is the unit ramping rate of unit i.
falling below the minimum safety value f min , and avoid the
load shedding accident caused by the action of the Under- c) Constraints of the BESS-GS: The operation constraints
Frequency Load-Shedding (UFLS) relay. Its specific of a BESS-GS mainly include the following:
expression can be given as ·Power Limits:

C PFR ⋅ ( Pt B,dis,PFR + Pt B,ch,PFR )

CtB,PFR = (12) 0 ≤ Pt B,ch ≤ PBmax ⋅ vtB (17a)

where C PFR ($) denotes the unit price of participating in

PFR for a BESS-GS; Pt B,ch,PFR and Pt B,dis,PFR are the 0 ≤ Pt B,dis ≤ PBmax ⋅ (1 − vtB ) (17b)
charging/discharging power in PFR, respectively.
2) Some Constraints where PBmax is the rated power of a BESS-GS; vtB is a
The following constraints should be considered. binary variable of its state, 1 is charging and 0 is discharging.
a) Constraints of the System: It mainly includes active ·Ancillary Service: Similarly, we can obtain the power
power real-time balance and spinning reserve constraint for output limitation of participating in the IR and PFR for a
the power system, which are shown in (13a) and (13b), BESS-GS, i.e.,
respectively.
0 ≤ Pt B,ch,IR ≤ PBmax ⋅ vtB,IR (18a)
N

∑u
i =1
i ,t
U
⋅ P + Pt
i ,t
B,dis
− Pt B,ch
+ Pt W,pre
Pt
= (13a) load

0 ≤ Pt B,dis,IR ≤ PBmax ⋅ (1 − vtB,IR ) (18b)

∑u i ,t ⋅ Pi ,rt ≥ ϑ ⋅ Pt load (13b)

(18c)
i =1 0 ≤ Pt B,ch,PFR ≤ PBmax ⋅ vtB,PFR

where Pt W,pre represents the forecast value of wind power

output at period t; Pt load is the load; ϑ denotes the minimum 0 ≤ Pt B,dis,PFR ≤ PBmax ⋅ (1 − vtB,PFR ) (18d)
spinning reserve rate, and it is 10% in this paper.
b) Constraints of the Thermal Power Units: The ·Intra-Period Constraints: The constraint relationship
operation constraints of units mainly include the following: within the time period of a BESS-GS is mainly reflected in
the conversion relationship between its power and energy,
·Minimum Up and Down Time Constraints: which can be described as

ui ,t − ui ,t −1 − ui ,α ≤ 0, t ≤ α ≤ Tib + t − 1 (14a) ∆Wt B = ( Pt B,dis η dis − Pt B,ch ⋅η ch ) ⋅ ∆t (19a)

ui ,t −1 − ui ,t + ui , β ≤ 1, t ≤ β ≤ Tie + t − 1 (14b)
∆Wt B,IR = ( Pt B,dis,IR η dis − Pt B,ch,IR ⋅η ch ) ⋅ ∆t IR (19b)

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∆Wt B,PFR = ( Pt B,dis,PFR η dis − Pt B,ch,PFR ⋅η ch ) ⋅ ∆t PFR (19c) In Fig. 1, PL ,.t denotes the amount of high-power loss
0+
suffered by the system at period t; RoCoFU,t is the RoCoF
where η ch
and η dis
are the charging and discharging value without the BESS-GS participation; f 0 is the initial
IR PFR
efficiency of a BESS-GS; ∆t and ∆t denote the frequency, which is 50 Hz; Sb represents the baseline value
duration of IR and PFR, that is, 5 and 20 seconds. of system capacity, we set it to 100 MW.
·Inter-Period Constraints:
In Fig. 2, ∆f max is the PFR linear interval of the unit, i.e.,
0.2 Hz; f db is the PFR deadband, which is 0.033 Hz;
Wt +=
1 Wt − ∆Wt (20a)
PGPFR
, t ,max denotes the maximum PFR capacity of thermal

power units, which can be expressed as

∆Wt = ∆Wt B + ∆Wt B,IR + ∆Wt B,PFR (20b)
·State of Charge (SoC) Constraint: The energy stored on
a BESS-GS cannot exceed/below the safety limitation, which,
can be ensured with the following equation,
W rate ⋅ SoC min ≤ Wt ≤ W rate ⋅ SoC max (21)
PGPFR
=, t ,max K tU, PFR ⋅ ( ∆f max − f db ) (23)
where K tU, PFR (MW/Hz) is the droop coefficients of units.
The power value of a BESS-GS participating in the two
regulations can be obtained by

·Cycle Constraint: The daily operation condition of a H S ,t ⋅ PBmax

B, IR
BESS-GS is the same, which can be expressed as Pt =−2 ⋅ 0
⋅ RoCoF max (24a)
f

W
=1 W=
25 SoCini ⋅ W rate (22)
Pt B, PFR = K SPFR 0
,t ⋅ ( f − f
min
− f db ) (24b)
ini
where SoC is the initial SoC value of the BESS-GS.
·Amount of Participation in Ancillary Services: Thermal B. Unit Commitment Model for the 2nd Stage
power units with the rotating element and governor
participate in IR as their inherent characteristics, and it is 1) Objective Function of the Model
their basic obligation to participate in PFR, so, the two In the second stage, the uncertainty of the actual output
regulations of units under high-power loss have not be of wind power is taken into account, and the RO method is
compensated. But the cost will increase significantly if the adopted. Compared with the first stage, the mathematical
BESS-GS is dispatched to regulate. Therefore, a BESS-GS is model of this stage adds the cost CtW,loss of wind curtailment,
only arranged to provide services when the regulation and the expression is
capacity of units is insufficient, that is, to set its virtual
inertia time constant and droop coefficient. The judgment
processes are shown in Figs. 1 and 2. = Ctloss ⋅ ( Pt ac − Pt W ) ⋅ ∆t
CtW,loss (25)

where Ctloss ($/MWh) represents the unit curtailment cost;

Pt ac is the actual wind power; Pt W denotes the power
integrated into the grid.
2) Some Constraints
Compared with the first stage, the main changes of
constraints are as follows:
a) Power Balance:
Fig. 1. A judgment diagram of a BESS-GS participating in system IR.

∑u
i =1
i ,t ⋅ Pi ,Ut + Pt B,dis − Pt B,ch + Pt W =
Pt load (26)

b) Wind Power:

0 ≤ Pt W ≤ Pt ac (27a)

Fig. 2. A judgment diagram of a BESS-GS participating in system PFR. Pt ac ∈ ΖtW =  Pt W,min , Pt W,max  (27b)

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 TABLE II. PARAMETERS OF THE BESS-GS
where ΖtW denotes the output range of wind power;
PtW,min
and Pt W,max
are the minimum and maximum output Parameters Values Parameters Values
values. Pi max 100 MW Pi min -100 MW
Cl 10 $/MWh C IR 50 $/MW
3) Robust Counterpart PFR
50 $/MW η ch , η dis 95%
C
Since the essence of RO is to solve the optimal decision
SoC min
10% SoC max
90%
under the worst case [15], [16], when the overall system
model is minimized, the wind cost expressed in (25) is SoCini 30% W rate 400MWh
maximized. Therefore, it needs to be transformed through the
duality theory, and then integrated into the overall objective
function to solve [17]. After the dual transformation, (25) is
rewritten as

24 24
min ∑ ( Pt W,max ⋅ψ i − Pt W,min ⋅ ξi ) − ∑ Ctloss ⋅ Pt W ⋅ ∆t (28a)
i 1 =t 1

Fig. 3. The load and wind power data of the system.

s.t. ψ i − ξi ≥ Ctloss ⋅ ∆t , i =1...96
ψ i , ξi ≥ 0, i =
1...96
The model established in our paper belongs to a mixed
integer linear programming (MILP), which can be solved by
calling CPLEX in MATLAB.
III. CASE STUDIES
In this section, we verify the effectiveness of the
proposed method through standard cases. Section III.A gives
the case data needed to solve the model, and the obtained
results are analyzed in Section III.B.
(28b)
B. Result Analysis
(28c) We assume that at the beginning of one day, only G5 is
in the online status.
1) The 1st Stage
The first stage model is solved, and the total daily
operation cost of the system is $312.18 k. The dispatching
output value of thermal power units in each time period is
shown in Fig. 4(a), and the reserve power is shown in Fig.
4(b). The BESS-GS power value is shown in Fig. 5.

A. Case Data
In this paper, the modified 5-bus system for PJM is taken
as the standard case to carry out the analysis. The parameters
of thermal power units are shown in Table I. The rated
capacity of the wind farm is 500 MW, and relevant
parameters of the BESS-GS are shown in Table II. The load
and wind power data are shown in Fig. 3. In order to ensure
that the BESS-GS can obtain certain benefits in daily
operation, its daily operation cost is required to be no less
than $10 k. The unit curtailment cost of the wind power is
100 $/MWh. After the occurrence of high-power loss, the
maximum RoCoF that the system can bear is 0.42 Hz/s, and
the minimum frequency is 49.5 Hz.
Fig. 4. The curve of charging power of EV batteries throughout the day. (a)
TABLE I. PARAMETERS OF THERMAL POWER UNITS Output value. (b) Reserve power.

Units G1 G2 G2 G4 G5
Cib , Cie ($) 770 700 3000 1200 3000
Cir ($/MW) 20 13 15 17 11
T , T (h)
i
b
i
e
1 2 4 4 4
Pi max (MW) 110 100 520 200 600
Pi min (MW) 10 10 150 50 120
RiU (MW/h) 198 120 354 168 486
A iU ($) 300 500 1250 540 1300
Fi
U
($/MW) 46 24 30 32 16
Fig. 5. The BESS-GS power value.
H iU (s) 6 5.8 9.5 8.5 10
K iU, PFR (p.u.) 30 30 30 30 30 2) The 2nd Stage

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 The target value of the second stage model after adopting
RO method to account for the uncertainty of wind power
output is $478.35 k. The corresponding thermal power units
and BESS-GS output are shown in Figs. 6(a) and (b).
Fig. 6. The curve of load changes. (a) Thermal power units’ output. (b)
BESS-GS output.
We can see through the comparation that total operation
cost of the system increases significantly due to the
introduction of uncertainty. Although there is economic loss,
the decision-making results have better robustness to the
actual situation, and can deal with various possible wind
power output during the next day.
3) High-Power Loss
Assume that at the beginning of the 7th period, G4
suddenly exits operation. According to the strategy proposed
in this paper, the amount of IR that should be involved by the
BESS-GS in this case is 16.22 MW, and the PFR value is
87.8 MW. After the large disturbance, the total cost of the
system increases to $502 k, which is mainly due to the
increased input of units and the compensation obtained by
the BESS-GS participating in regulations to ensure the
system safety. The power output of thermal power units in
the subsequent periods of high-power loss is shown in Fig. 7.
Fig. 7. The curve of load changes.
IV. CONCLUSION
In this paper, a BESS-GS is considered to be
incorporated into the grid dispatching system to coordinate
operation with generation units, so as to ensure the safe and
reliable operations of the power system. Aiming at the
security emergency situation faced by the system under the
high-power loss, this paper proposes a control strategy for a
BESS-GS to participate in IR and PFR, which, can give full
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play to the maximum regulation capacity of thermal power
units and the advantages of a BESS-GS being able to flexibly
adjust its electrical parameters. It can determine the
regulation amount of a BESS-GS under judging the safety
threshold of the frequency indexes. Aiming at the uncertainty
of wind power output in the day-ahead unit commitment, in
this paper, we establishes a two-stage unit commitment
model. In the first stage, the deterministic value is brought in,
and in the second stage, the RO method with strong robust
performance for decision-making results is used to model
and solve. The feasibility of our proposed scheme is
analyzed and verified by a standard case power system.
ACKNOWLEDGMENT
This work is supported by the Open competition
mechanism to select the best candidates for Science and
Technology Project of Dalian State Grid Corporation of
China (SGCC) in 2022.
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