This paper studies a scalable control method for multi-zone heating, ventilation and air-conditioning (HVAC) systems to optimize the energy cost for maintaining thermal comfort and indoor air quality (IAQ) (represented by CO2) simultaneously. This problem is computationally challenging due to the complex system dynamics, various spatial and temporal couplings as well as multiple control variables to be coordinated. To address the challenges, we propose a two-level distributed method (TLDM) with a upper level and lower level control integrated. The upper level computes zone mass flow rates for maintaining zone thermal comfort with minimal energy cost, and then the lower level strategically regulates zone mass flow rates and the ventilation rate to achieve IAQ while preserving the near energy saving performance of upper level. As both the upper and lower level computation are deployed in a distributed manner, the proposed method is scalable and computationally efficient. The near-optimal performance of the method in energy cost saving is demonstrated through comparison with the centralized method. In addition, the comparisons with the existing distributed method show that our method can provide IAQ with only little increase of energy cost while the latter fails. Moreover, we demonstrate our method outperforms the demand controlled ventilation strategies (DCVs) for IAQ management with about 8-10% energy cost reduction.
Optimizing the operation of heating, ventilation, and air-conditioning (HVAC) systems is a challenging task, requiring the modeling of complex nonlinear relationships among HVAC load, indoor temperatures, and outdoor environments. This paper proposes a new strategy for optimal operation of an HVAC system in a commercial building. The system for indoor temperature control is divided into three sub-systems, each of which is modeled using an artificial neural network (ANN). The ANNs are then interconnected and integrated into an optimization problem for temperature set-point scheduling. The probl…
As people spend up to 87% of their time indoors, intelligent Heating, Ventilation, and Air Conditioning (HVAC) systems in buildings are essential for maintaining occupant comfort and reducing energy consumption. These HVAC systems in smart buildings rely on real-time sensor readings, which in practice often suffer from various faults and could also be vulnerable to malicious attacks. Such faulty sensor inputs may lead to the violation of indoor environment requirements (e.g., temperature, humidity, etc.) and the increase of energy consumption. While many model-based approaches have been propos…
Nanjing University of Posts and Telecommunications（南京邮电大学）；Huazhong University of Science and Technology（华中科技大学）
In commercial buildings, about 40%-50% of the total electricity consumption is attributed to Heating, Ventilation, and Air Conditioning (HVAC) systems, which places an economic burden on building operators. In this paper, we intend to minimize the energy cost of an HVAC system in a multi-zone commercial building under dynamic pricing with the consideration of random zone occupancy, thermal comfort, and indoor air quality comfort. Due to the existence of unknown thermal dynamics models, parameter uncertainties (e.g., outdoor temperature, electricity price, and number of occupants), spatially an…
Experimental study on surveillance video-based indoor occupancy measurement with occupant-centric control
Center for Intelligent and Networked Systems, Department of Automation, BNRist, Tsinghua University（清华大学自动化系智能与网络化系统中心，北京信息科学与技术国家研究中心）；Urban Mobility Lab, Massachusetts Institute of Technology（麻省理工学院城市移动实验室）；Singapore-MIT Alliance for Research and Technology Centre, Massachusetts Institute of Technology（麻省理工学院新加坡-麻省理工学院研究与技术联盟中心）
In this paper, we consider the problem of controlling power consumption dynamics of residential heating, ventilation and air conditioning (HVAC) units so that they follow the grid-side power specifications. In order to do so, we design a novel dynamical energy controller which ensures regulation of the cumulative effects of power imbalances. For this, we derive a novel energy-based model that relates the HVAC physics-based dynamics to both real and reactive power balance at the point of interconnection with the grid. In contrast to several other approaches in the literature, we show that a lim…
We present a solution for modeling and online identification for heating, ventilation, and air conditioning (HVAC) control in buildings. Our approach comprises: (a) a resistance-capacitance (RC) model based on first order energy balance for deriving the zone temperature dynamics, and (b) a neural network for modeling HVAC dynamics. State estimation and model identification are simultaneously performed using nonlinear moving horizon estimation (MHE) with physical constraints for system states. We leverage the identified model in model predictive control (MPC) for occupant comfort satisfaction a…
Buildings sector is one of the major consumers of energy in the United States. The buildings HVAC (Heating, Ventilation, and Air Conditioning) systems, whose functionality is to maintain thermal comfort and indoor air quality (IAQ), account for almost half of the energy consumed by the buildings. Thus, intelligent scheduling of the building HVAC system has the potential for tremendous energy and cost savings while ensuring that the control objectives (thermal comfort, air quality) are satisfied. Recently, several works have focused on model-free deep reinforcement learning based techniques suc…
Herein we report a multi-zone, heating, ventilation and air-conditioning (HVAC) control case study of an industrial plant responsible for cooling a hospital surgery center. The adopted approach to guaranteeing thermal comfort and reducing electrical energy consumption is based on a statistical non-parametric, non-linear regression technique named Gaussian processes. Our study aimed at assessing the suitability of the aforementioned technique to learning the building dynamics and yielding models for our model predictive control (MPC) scheme. Experimental results gathered while the building was …
The heating, ventilation and air condition (HVAC) system consumes the most energy in commercial buildings, consisting over 60% of total energy usage in the U.S. Flexible HVAC system setpoint scheduling could potentially save building energy costs. This paper first studies deterministic optimization, robust optimization, and stochastic optimization to minimize the daily operation cost with constraints of indoor air temperature comfort and mechanic operating requirement. Considering the uncertainties from ambient temperature, a Wasserstein metric-based distributionally robust optimization (DRO) …
An autonomous adaptive MPC architecture is presented for control of heating, ventilation and air condition (HVAC) systems to maintain indoor temperature while reducing energy use. Although equipment use and occupant changes with time, existing MPC methods are not capable of automatically relearning models and computing control decisions reliably for extended periods without intervention from a human expert. We seek to address this weakness. Two major features are embedded in the proposed architecture to enable autonomy: (i) a system identification algorithm from our prior work that periodicall…
Poor indoor air quality can contribute to the development of various chronic respiratory diseases such as asthma, heart disease, and lung cancer. Since air quality is extremely difficult for humans to detect though sensory processing, there is a need for efficient ventilation systems that can provide a healthier environment. In this paper, we have designed an energy efficient ventilation system that predicts sensor occupancy patterns based on historical data to improve indoor air quality.
Heating, ventilating, and air-conditioning (HVAC) systems consume a large amount of energy in residential houses and buildings. Effective energy management of HVAC is a cost-effective way to improve energy efficiency and reduce the energy cost of residential users. This work develops a novel distributed method for the residential transactive energy system that enables multiple users to interactively optimize their energy management of HVAC systems and behind-the-meter batteries. Specifically, this method effectively reduces the cost of smart homes by employing energy trading among users to lev…
Residential loads, especially heating, ventilation, and air conditioners (HVACs) and electric vehicles (EVs) have great potentials to provide demand flexibility which is an attribute of Grid-interactive Efficient Buildings (GEB). Under this new paradigm, first, EV and HVAC aggregator models are developed in this paper to represent the fleet of GEBs, in which the aggregated parameters are obtained based on a new approach of data generation and least-squares parameter estimation (DG-LSPE), which can deal with heterogenous HVACs. Then, a tri-level bidding and dispatching framework is established …
Multisensor fusion of air pollutant data in smart buildings remains an important input to address the well-being and comfort perceived by their inhabitants. An integrated sensing system is part of a smart building where real-time indoor air quality data are monitored round the clock using sensors and operating in the Internet-of-Things (IoT) environment. In this work, we propose an air quality management system merging indoor air quality index (IAQI) and humidex into an enhanced indoor air quality index (EIAQI) by using sensor data on a real-time basis. Here, indoor air pollutant levels are me…
The design of building heating, ventilation, and air conditioning (HVAC) system is critically important, as it accounts for around half of building energy consumption and directly affects occupant comfort, productivity, and health. Traditional HVAC control methods are typically based on creating explicit physical models for building thermal dynamics, which often require significant effort to develop and are difficult to achieve sufficient accuracy and efficiency for runtime building control and scalability for field implementations. Recently, deep reinforcement learning (DRL) has emerged as a …
Indian Institute of Technology Kharagpur（印度理工学院卡拉格普尔分校）；Northwestern University（西北大学）
Building loads consume roughly 40% of the energy produced in developed countries, a significant part of which is invested towards building temperature-control infrastructure. Therein, renewable resource-based microgrids offer a greener and cheaper alternative. This communication explores the possible co-design of microgrid power dispatch and building HVAC (heating, ventilation and air conditioning system) actuations with the objective of effective temperature control under minimised operating cost. For this, we attempt control designs with various levels of abstractions based on information av…
The heating, ventilation and air-conditioning (HVAC) system accounts for substantial energy use in buildings, whereas a large group of occupants are still not actually feeling comfortable staying inside. This poses the issue of developing energy-efficient HVAC control, i.e., reduce energy use (cost) while simultaneously enhancing human comfort. This paper pursues the objective and studies the stochastic optimal HVAC control subject to uncertain thermal demand (i.e., the weather and occupancy etc). Particularly, we involve the elaborate predicted mean vote (PMV) thermal comfort model in the opt…
Price-based demand response (DR) of heating, ventilating, and air-conditioning (HVAC) systems is a challenging task, requiring comprehensive models to represent the building thermal dynamics and game theoretic interactions among participants. This paper proposes an online learning-based strategy for a distribution system operator (DSO) to determine optimal electricity prices, considering the optimal DR of HVAC systems in commercial buildings. An artificial neural network (ANN) is trained with building energy data and represented using an explicit set of linear and nonlinear equations, without …
This paper presents a novel architecture for model predictive control (MPC) based indoor climate control of multi-zone buildings to provide energy efficiency. Unlike prior works we do not assume the availability of a high-resolution multi-zone building model, which is challenging to obtain. Instead, the architecture uses a low-resolution model of the building which is divided into a small number of "meta-zones" that can be easily identified using existing data-driven modeling techniques. The proposed architecture is hierarchical. At the higher level, an MPC controller uses the low-resolution m…
Data-driven HVAC Control Using Symbolic Regression: Design and Implementation
Graduate school of Information Science and Technology, Osaka University（大阪大学信息科学与技术研究院）；Campus Sustainability Office, Osaka University（大阪大学校园可持续发展办公室）；Graduate School of Engineering, Osaka University（大阪大学工学院）
It is estimated that about 40%-50% of total electricity consumption in commercial buildings can be attributed to Heating, Ventilation, and Air Conditioning (HVAC) systems. Minimizing the energy cost while considering the thermal comfort of the occupants is very challenging due to unknown and complex relationships between various HVAC controls and thermal dynamics inside a building. To this end, we present a multi-agent, distributed deep reinforcement learning (DRL) framework based on Energy Plus simulation environment for optimizing HVAC in commercial buildings. This framework learns the compl…
Heating, Ventilation, and Air Conditioning (HVAC) energy consumption accounts for a significant part of the total energy consumption of buildings and households. The ubiquitous adoption of distributed renewable energy and smart meters helps to decarbonize the HVAC energy consumption and improve energy efficiency. However, how to scale up HVAC energy management for a group of users while persevering users' privacy remains a big challenge. In this work, we utilize the concept of transactive energy to build a cooperative energy management system for independent HVAC units in a distributed manner.…
A simple but energy-efficient HVAC control synthesis for data centers
École polytechnique（巴黎综合理工学院）；AL.I.E.N.；Université de Lorraine（洛林大学）；Inagral；Laboratoire des Signaux et Systèmes (L2S), Université Paris-Sud-CNRS-CentraleSupélec, Université Paris-Saclay（信号与系统实验室（L2S），巴黎南大学-CNRS-中央理工-高等学院，巴黎萨克雷大学）
Energy consumed in buildings takes significant portions of the total global energy usage. A large amount of building energy is used for heating, cooling, ventilation, and air-conditioning (HVAC). However, compared to its importance, building energy management systems nowadays are limited in controlling HVAC based on simple rule-based control (RBC) technologies. The ability to design systems that can efficiently manage HVAC can reduce energy usage and greenhouse gas emissions, and, all in all, it can help us to mitigate climate change. This paper proposes predictive time-series models of occupa…
Comparative Field Deployment of Reinforcement Learning and Model Predictive Control for Residential HVAC
College of Engineering, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA；Wilton E. Scott Institute for Energy Innovation, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA；Center for High Performance Buildings, Purdue University, 177 S Russell St, West Lafayette, IN 47907, USA；Trane Technologies, Residential R\&D Group, 6200 Troup Hwy, Tyler, TX 75707, USA；Bosch Center for Artificial Intelligence
Heating, Ventilation and Air conditioning (HVAC) systems account for approximately 40% of the total energy used by buildings in the USA. To reduce this consumption States enforce minimum energy codes that currently range from strict (ASHRAE 90.1-2016) to relaxed (ASHRAE 90.1-2007) with some states following no particular standard. To reach as close as possible to net zero carbon and energy, each statewide energy code requires different levels of interventions for each code minimum building. This paper presents a collection of potential HVAC retrofits to transition each State's current code min…
