Title: Modelling incentives and regulation in wholesale electricity markets
1 Modelling incentives and regulation in
wholesale electricity markets
Andy Philpott Electric Power Optimization
Centre The University of Auckland (www.esc.auckl
and.ac.nz/epoc)? (with acknowlegements to Geoff
Pritchard and Golbon Zakeri)?
2What is the purpose of this talk?
- New Zealand faces some huge technical challenges
in energy supply and delivery. - This needs lots of research and development into
new technology which is where NERI is currently
focused. - But technology is not enough we need to
understand the economic institutions for
implementing this technology. - Our work at EPOC studies how these institutions
(e.g. taxes, trading schemes, regulations etc.)
work using models. - These models try to help us design mechanisms
that will induce optimal behaviour in the
agents of wholesale electricity markets i.e. we
study incentives and how they work.
3Summary
- What is the wholesale electricity market?
- Examples of incentive/regulation problems
- Generator offering
- Transmission planning
- Wind power
- Emissions trading
- Takeaway new energy technology is necessary but
not sufficient without understanding the market
mechanisms under which we expect it to be
adopted.
4NZEM is a uniform price auction (e.g. single
node)
price
T2(q)?
p
quantity
price
combined offer stack
p
quantity
5Example
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
Thermal B 400 _at_ 50
Load 500
6Least-cost dispatch
100
150
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
250
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
200
50
Thermal B 400 _at_ 50
Load 500
7Least-cost dispatch with nodal prices
45
100
150
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
250
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
200
50
Thermal B 400 _at_ 50
Load 500
50
- Load pays 25000 (50500)?
- Hydro makes profit 4000 and Wind makes profit
4500 - System operator makes congestion rent of 1250
- The dispatch has total cost 15250
8The actual NZEM
- Generators specify supply curves defining prices
at which they will generate. - Curves fixed for each (1/2) hour
- Linear programming model runsevery five minutes
to determine - who produces how much
- electricity flows in grid
- spot price of electricity at each grid exit point
around the country (244 of these)?
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10Wholesale electricity prices
Five Minute Wholesale Electricity Prices on
28/08/06 (/MWh)?
Source comitfree
Otahuhu
Benmore
Time of Day
11Example 1 Dispatch with strategic bidding
45
100
150
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
250
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
200
50
Thermal B 400 _at_ 50
Load 500
50
- Load pays 19500 extra (39500)?
- Hydro makes extra 7800 and Thermal B makes extra
1950 - System operator makes extra congestion rent of
9750 - The dispatch is exactly the same, with cost
15250
12Example 2 Dispatch with strategic withholding
45
100
150
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
250
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
200
50
Thermal B 400 _at_ 50
Load 500
50
- Load pays no extra money
- System operator congestion rent goes down by
1250 to 0 - Wind makes 500 more, Thermal A makes 745 more
Total cost of dispatch is 15255 which is 5 more
than original cost!!
13- What can we learn from this example?
-
- Strategic behaviour by firms can result in higher
prices and a wealth transfer between agents. - Strategic behaviour by firms can result in
dispatch inefficiency. - Prices that do not truly represent the cost of
shortage can lead to inefficiencies in the wider
economy. - Dispatch inefficiency is a deadweight loss (5 in
example)? - Q How bad can it get?
- Q How do we prevent it?
-
14J.F. Nash Jr., Equilibrium points in n-person
games, Proc Nat. Acad. Sci. USA, 36 (1950) 48-49.
15If generators offer at marginal cost
Load 500 - p
- Expect the price to be 50
- a450
- b450
- Line contains no flow.
- Thermals make no profit.
- Load has high welfare.
Thermal A 500 _at_ 50
a
Capacity 1000 lossless
Thermal B 500 _at_ 50
b
Load 500 - p
16If generators withhold strategically
Load 500 - p
Total load 1000-2p p 500-(ab)/2 A
solves max (p-50)a B solves max (p-50)b
Thermal A 500 _at_ 50
a
Capacity 1000 lossless
Thermal B 500 _at_ 50
(500-(ab)/2-50)a has maximum at a
450-b/2 (500-(ab)/2-50)b has maximum at b
450-a/2
b
Load 500 - p
17Example of Cournot-Nash equilibrium
Load 500 - p
200
Total load 1000-2p p 500-(ab)/2 A
solves max (p-50)a B solves max (p-50)b
Thermal A 500 _at_ 50
300
Capacity 1000 lossless
Thermal B 500 _at_ 50
(500-(ab)/2-50)a has maximum at a
450-b/2 (500-(ab)/2-50)b has maximum at b
450-a/2
300
Load 500 - p
200
18Example of Cournot-Nash equilibrium
Price 200
Load 500 - p
200
Thermal A 500 _at_ 50
300
Deadweight loss is 11250 x 2
No flow in the line
Capacity 1000 lossless
Thermal B 500 _at_ 50
300
Load 500 - p
200
19What if the line has zero capacity?
Load 500 - p
Each load 500-p p 500-a A solves max
(p-50)a
Thermal A 500 _at_ 50
a
Capacity 0 lossless
(500-a-50)a has maximum at a 225 (500-b-50)b
has maximum at b 225
Thermal B 500 _at_ 50
b
Load 500 - p
20What if the line has zero capacity?
Load 500 - p
275
Each load 500-p p 500-a A solves max
(p-50)a
Thermal A 500 _at_ 50
225
Capacity 0 lossless
(500-a-50)a has maximum at a 225 (500-b-50)b
has maximum at b 225
Thermal B 500 _at_ 50
225
Load 500 - p
275
21What if the line has zero capacity?
Price 275
Load 500 - p
275
Thermal A 500 _at_ 50
225
Deadweight loss is 25312.50 x 2
Capacity 0 lossless
Thermal B 500 _at_ 50
225
Load 500 - p
275
The transmission line has significant value in
encouraging competition even though it might
never transport any electricity.
22Does this matter in practice?
- Clause 10 of the Grid Investment Test states
- Competition Benefits may be included in the
market benefits of a proposed investment or
alternative project if the Board reasonably
considers this appropriate, provided the
competition benefits can be separately identified
and calculated - NZ Electricity Commission 2006, Grid Investment
Test.
23New Zealand example (Downward 2007)?
Northland/Auckland Demand 2010 2288
MW 2015 2631 MW 2020 2987 MW Strategic
Generators Huntly E3P (1413 MW)? Otahuhu B
(390 MW)?
Central North Island Demand 2010 1794
MW 2015 1954 MW 2020 2109 MW Strategic
Generators Waikato Hydro (776 MW)?
Lower North Island and South Island Demand 2010
3211 MW 2015 3492 MW 2020 3721
MW Strategic Generators Taranaki CC (365
MW)? Waitaki Hydro (2718 MW)? Clutha Hydro
(1000MW)?
24New Zealand example
Source Anthony Downward, EPOC
25Incentives for wind generation
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
Thermal B 400 _at_ 50
Load 500
Source Geoff Pritchard, EPOC WW2007
26Least-cost dispatch
100
150
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
250
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
200
50
Thermal B 400 _at_ 50
Load 500
The best solution, on the assumption that the
wind forecast is accurate.
Source Geoff Pritchard, EPOC WW2007
27Wind above forecast
100
150
Thermal A 400 _at_ 45
Wind 120 actual, _at_ 0
spill 20
250
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
200
50
Thermal B 400 _at_ 50
Load 500
Wind is spilled cheap energy is lost.
Source Geoff Pritchard, EPOC WW2007
28Wind below forecast
80
150
Thermal A 400 _at_ 45
Wind 80 actual, _at_ 0
230
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
220
50
Thermal B 400 _at_ 50
Load 500
Wind shortfall is made up with expensive water.
Source Geoff Pritchard, EPOC WW2007
29Are better forecasts needed?
Electricity Commission WGIP report June 2007
30A flexible dispatch
100
125
Thermal A 400 _at_ 45
Wind 100 forecast, _at_ 0
225
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
175
100
Thermal B 400 _at_ 50
Load 500
- Spare capacity on transmission line.
- Spare capacity in cheap hydro offer.
Source Geoff Pritchard, EPOC WW2007
31Wind above forecast
120
125
Thermal A 400 _at_ 45
Wind 120 actual, _at_ 0
245
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
155
100
Thermal B 400 _at_ 50
Load 500
Surplus wind is matched to hydro decrease.
Source Geoff Pritchard, EPOC WW2007
32Wind below forecast
80
125
Thermal A 400 _at_ 45
Wind 80 actual, _at_ 0
205
Capacity 250 lossless
Hydro 200 _at_ 30, 200 _at_ 90
195
100
Thermal B 400 _at_ 50
Load 500
Lack of wind is matched by hydro.
Source Geoff Pritchard, EPOC WW2007
33 Optimizing dispatch as a stochastic LP
- Generators offer to sell quantities qi , ask
prices pi ,regulation margins ri - We find dispatches xi and Zi to
- minimize ? (pi xi E???pi ? ri??Zi
??xi??????pi ? ri??Zi ??xi???? ) -
- (expected cost of power, at offered prices,
including re-dispatch)? - so that
- demand is met (at both 1st and 2nd stages)?
- transmission network is operated within capacity
- (xi , Zi ) satisfy plant constraints
Source Geoff Pritchard, EPOC WW2007
34Example
Wind capacity 40, _at_ 0 scenarios 0, 10, 20,
30 probabilities 0.5, 0.2, 0.2, 0.1
Hydro 1 40 _at_ 39 (/- 2)?
Hydro 2 40 _at_ 40 (/- 5)?
Load 60
- Ensemble forecast for wind. Most likely scenario
is 0. - Hydros compete on both energy and regulation.
- What to dispatch?
Source Geoff Pritchard, EPOC WW2007
35Optimal hedged dispatch (initial)?
Wind capacity 40, _at_ 0 scenarios 0, 10, 20,
30 probabilities 0.5, 0.2, 0.2, 0.1
Hydro 1 40 _at_ 39 (/- 2)?
30
10
20
Hydro 2 40 _at_ 40 (/- 5)?
Load 60
- Hydros dispatched out of order to keep
regulation cost down.
Source Geoff Pritchard, EPOC WW2007
36Optimal hedged re-dispatch
Wind capacity 40, _at_ 0 scenarios 0, 10, 20,
30 probabilities 0.5, 0.2, 0.2, 0.1
Hydro 1 40 _at_ 39 (/- 2)?
0, 10, 20, 30
40, 30, 20, 10
Hydro 2 40 _at_ 40 (/- 5)?
20
Load 60
- Hydro 1 wins the regulation business.
Source Geoff Pritchard, EPOC WW2007
37 Initial dispatch prices
- ? the marginal cost of an additional unit of
load - in the initial dispatch.
- This is an appropriate price at which to trade
energy, - where that energy was present in the
initial dispatch. - Applies to
- inflexible load and generation
- some flexible and intermittent generation
Source Geoff Pritchard, EPOC WW2007
38Re-dispatch prices
- ?R the marginal cost of an additional unit of
load - in a re-dispatch.
- This is an appropriate price at which to trade
energy, - where that energy was added in a
re-dispatch. - Applies to
- some flexible and intermittent generation (both
hydro wind)?
Source Geoff Pritchard, EPOC WW2007
39Example initial dispatch prices
Wind capacity 40, _at_ 0 scenarios 0, 10, 20,
30 probabilities 0.5, 0.2, 0.2, 0.1
Hydro 1 40 _at_ 39 (/- 2)?
30
10
20
Hydro 2 40 _at_ 40 (/- 5)?
40
Load 60
- Marginal additional load would be met by Hydro
2. - The quantities xi are sold _at_ 40 load pays 40.
Source Geoff Pritchard, EPOC WW2007
40Example re-dispatch prices
Wind capacity 40, _at_ 0 scenarios 0, 10, 20,
30 probabilities 0.5, 0.2, 0.2, 0.1
Hydro 1 40 _at_ 39 (/- 2)?
0, 10, 20, 30
40, 30, 20, 10
Hydro 2 40 _at_ 40 (/- 5)?
10
30
20
41, 41, 37, 37
Load 60
- 1st scenario Wind buys back 10 _at_ 41 Hydro 1
sells 10 _at_ 41 - 2nd scenario no re-dispatch
- 3rd scenario Wind sells 10 _at_ 37 Hydro 1 buys
back 10 _at_ 37 - 4th scenario Wind sells 20 _at_ 37 Hydro 1 buys
back 20 _at_ 37
Source Geoff Pritchard, EPOC WW2007
41Average selling prices
Wind capacity 40, _at_ 0 scenarios 0, 10, 20,
30 probabilities 0.5, 0.2, 0.2, 0.1
Hydro 1 40 _at_ 39 (/- 2)?
0, 10, 20, 30
40, 30, 20, 10
Hydro 2 40 _at_ 40 (/- 5)?
20
41, 41, 37, 37
Load 60
- Average selling price achieved
- (expected revenue) / (expected
generation)? - Wind 38.11
- Hydro 1 40.55
- Hydro 2 40
Source Geoff Pritchard, EPOC WW2007
42A price for uncertainty
- Prices earned by less predictable wind generation
are lower on average. - Prices earned by flexible generation are higher
on average. - Prices paid by less predictable loads are higher
on average. - New wind generation that decreases variation will
increases price for all. - Revenue adequate dispatch model means that wind
backup can be suitably rewarded.
43Emissions trading
- NZ ETS is a cap-and-trade scheme.
- How can generators act strategically in this
setting? - Little work done here, but see e.g. Chen, Hobbs
et al 2007. - Conjecture withholding generation decreases
emissions so that emission permits become cheaper
and are acquired by competitive firms who will
increase output in equilibrium. - What about a carbon tax?
44Least-cost dispatch
Load 500 - p
- Expect the price to be 50
- a450
- b450
- Line contains no flow.
- Thermals make no profit.
- Load has high welfare.
50
Thermal A 500 _at_ 50
a
Capacity 1000 lossless
GEOThermal B 500 _at_ 50
b
Load 500 - p
50
45Least-cost dispatch with CO2 tax
Load 500 - p
70
Thermal A 500 _at_ 50 plus 20 CO2 tax
Capacity 1000
GEOThermal B 500 _at_ 50
Load 500 - p
70
Price increases by 20. The carbon tax has been
transferred to consumers. GEOThermal B makes
10000 profit.
46Cournot-Nash equilibrium
Load 500 - p
200
Total load 1000-2p p 500-(ab)/2 A
solves max (p-50)a B solves max (p-50)b
Thermal A 500 _at_ 50
300
Capacity 1000 lossless
GEOThermal B 500 _at_ 50
(500-(ab)/2-50)a has maximum at a
450-b/2 (500-(ab)/2-50)b has maximum at b
450-a/2
300
Load 500 - p
200
47Cournot-Nash equilibrium with CO2 tax
Load 500 - p
206.66
Total load 1000-2p p 500-(ab)/2 A
solves max (p-5020)a B solves max (p-50)b
Thermal A 500 _at_ 50 plus 20 CO2 tax
Capacity 1000
GEOThermal B 500 _at_ 50
(500-(ab)/2-70)a has maximum at a
430-b/2 (500-(ab)/2-50)b has maximum at b
450-a/2
Load 500 - p
206.66
Price increases by only 6.66.
48The takeaways
- Markets are intended to provide incentives for
agents to make optimal decisions. - Understanding these is essential to formulating
energy policy. - For a poor market design, strategic behaviour
might make decisions inefficient. - Regulation is intended to restore some
efficiency. - Nash equilibrium models are indispensible in
understanding whether incentives and or
regulation will deliver the desired outcomes.
49 The last word is incentives
Robert Aumann Nobel Prize Lecture December 8 2005
50The End
51The End
52Why study Nash Equilibria?
Roger Myerson, JEL, 1999
53Single-period Nash equilibrium models
- Classical model (Cournot, 1838)?
- Generator i offers quantity Q(i) at price 0
- Deterministic
- A demand curve determines the clearing price
- Transmission network can be modelled (to some
extent)? - Non identical players can be modelled
- Solve using calculus or a numerical method (e.g.
PATH)? - Supply-function model (Klemperer Meyer, 1989)?
- Players offer supply functions (marginal cost
curves)? - Uncertainty in demand
- Demand can be elastic or inelastic (Anderson
Philpott, 2002)? - Difficult to model and compute with
54- Models for imperfect competition
-
- User optimal not system optimal
- Minimizing cost becomes maximizing profit.
- Imperfect competition
- Generator offers affect the price and hence
profit - Why is this bad?
- How bad can it get?
- How do we prevent it?
-
55The hydro system
56Sources of inefficiency
- Market power
- Most popular target from demand side
- Higher prices mean loss of consumer welfare
- User optimization versus system optimization
- Price of anarchy (e.g. traffic networks)?
- Pool prices are theoretically efficient in each
trading period in perfectly competitive case. - But what about reservoir operation?
- Risk
- Central plan has a different risk measure than
generators. - Central plan can pool risk, e.g. by trading off
reservoir shortages. - Information structure
- counterfactual solution may have access to more
information than market solution
57We have four models
- A single-period dispatch and nodal pricing model
(HOUR) that models the real WEM dispatch process
for any given trading period (18 node model). - A national river-chain dispatch model (DAY) that
minimizes thermal fuel costs subject to river
scheduling constraints and transmission
constraints over 48 trading periods (day). - A national river-chain dispatch model (WEEK) that
minimizes thermal fuel costs subject to river
scheduling constraints and transmission
constraints over 336 trading periods (week). - A hydro-thermal scheduling model (YEAR) for
centrally planning hydro-electricity releases to
minimize expected fuel costs over 52 weeks. This
is based on a SDDP sampling approach.
58Related work
- Measuring market power in poolcos (ex-ante )?
- Market concentration indices (Herfindahl-Hirschman
Index)? - Cournot and SFE models (many)?
- Compare prices with marginal cost (e.g. Lerner
index)? - Agent-based market simulations (e.g. V.Smith,
Bunn)? - Price-of-anarchy models (e.g. Johari)?
- Hydro models (e.g. Bushnell, Scott and Read)?
- Empirical studies (e.g. Wolak) focus on price
markups (ex-post)? - In NZ, contracts not public knowledge, so
analysis of prices presents some difficulties. - However we can see if the market gives an
inefficient dispatch.
59HOUR model
?i
60DAY (WEEK) model
61YEAR model
62Outer approximation of Ct1(y)?
T(t1)?
?t1 at1(k) ßt1(k)Ty, ?k
Reservoir storage, x(t1)?
63YEAR model simplified network
demand
N
S
demand
64Experiment 1
- Use YEAR to derive a (water value) policy for
water release in week 1 (i.e. a function of
current reservoir storage)? - For months 1 to 12 do (a rolling horizon)?
- For weeks in current month, simulate the policy
in WEEK using - historical inflows
- historical demand
- fuel costs for thermal plant
- cuts computed in YEAR defining water value
- Re-solve YEAR to derive new water value (and
policy) for next month. Increment month and do
previous steps simulation. - Dispatch historical generation offers in the DAY
model using the same data for 365 days. - Compare the amount/cost of fuel consumed over 365
days.
65Preliminary results for 2005/2006
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71Preliminary results for 2005/2006
These results are wrong too much fuel burnt
Cogeneration plant has been dispatched at capacity
72What is wrong with these results?
- Reservoir levels are allowed to get lower than
Minzone targets. - All cogeneration plant is dispatched at capacity
at zero offer price. - With minzone and cogen plant correctly accounted
for the cost increases to (NZ)300M. - What is the source of (NZ)200M inefficiency?
- Inefficient use of reservoir storage? and/or
- Misallocation of resources in short term?
- Use the WEEK model to study the latter.
73Experiment 2 April 23-29, 2006
- For every trading period in the week we
- solved HOUR model using historical generation
offers - compute the amount/cost of fuel consumed MARKET
FUEL COST - For every day in the week we solved the DAY model
- generation targets set to those from the hour
model - block dispatch for Waikato and Waitaki
- Record daily reservoir releases and PLAN DAILY
FUEL COST - Sum the reservoir releases over the week to give
target levels. - Solve the WEEK model with
- historical inflows
- historical demand
- fuel costs for thermal plant
- target reservoir levels
- Compute PLAN WEEKLY FUEL COST
- Compare the amount/cost of fuel consumed over the
week.
74RESULTS
2.7M in one week amounts to 140M p.a.
75Huntly
76Otahuhu
77Caveats and Conclusions
- Modelling improvements are needed before making
results public. - Need to extend simulation to seven years.
- YEAR is a very simple hydro-thermal model
- e.g. assumes stage-wise independent inflows.
- Central-plan policies are risk-neutral, and so
can be extreme. - Our simulation of policies
- Ignores many transmission constraints/outages
- Ignores voltage support constraints
- Ignores spinning reserve
- Ignores plant reliability
- Ignores ramping and startup costs
78The end
79Experiment 3 Day comparison
- Select a single day (or several sample days).
- For every trading period in the day
- solve HOUR model using historical generation
offers - record reservoir releases
- compute the amount/cost of fuel consumed.
- Sum the reservoir releases over the day to give a
target level. - Solve the DAY model with
- historical inflows
- historical demand
- fuel costs for thermal plant
- target reservoir levels
- Compare the amount/cost of fuel consumed over the
day. - Overcomes water-target problem and most of
anticipation in WEEK that market model does not
have available. Does not identify inefficiencies
in long-term water allocation.
80Uniform price auction (single node)
price
T2(q)?
p
quantity
price
combined offer stack
p
quantity
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82Experiment 2 Week comparison
- Select a single week (or several sample weeks).
- For every trading period in the week
- solve HOUR model using historical generation
offers - record reservoir releases
- compute the amount/cost of fuel consumed.
- Sum the reservoir releases over the week to give
target levels. - Solve the WEEK model with
- historical inflows
- historical demand
- fuel costs for thermal plant
- target reservoir levels
- Compare the amount/cost of fuel consumed over the
week.
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85Computational results NZ model
- 10 reservoirs
- 52 weekly stages
- 30 inflow outcomes per stage
- Model written in AMPL/CPLEX
- Takes 100 iterations and 2 hours on a standard
Windows PC to converge - Larger models have slow convergence
862005-2006 policy simulated with historical inflow
sequences
87Simplifying assumptions
- Small number of storage reservoirs (9)?
- Inflows are the only uncertain parameter
- Relatively complete recourse.
- Stage-wise independence of inflow process.
- A convex dispatch problem in each stage.
88Outer approximation
89Sampling algorithm
90Cut calculation
91??????
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p12
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p13
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92??????
p11
p12
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p13
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93??????
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p21
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p11
p21
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p13
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p21
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p21
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p11
p21
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95New Zealand system
96The experiment
- Hope to mirror how central planning might be done
in practice. - DOASA solved monthly to update the hydro release
policy. - Aim to simulate over 1999-2007.
- Demand data missing for some years so we need to
proxy data by pro-rating. - Full data set available for 2005/2006
- Report a preliminary result for
- June 1 2005 to May 31 2006
97DAY (WEEK) model
98Experiment 1
- Use YEAR to derive a policy for water release
(i.e. a function of current reservoir storage and
week of year). - Simulate the policy weekly in WEEK using
- historical inflows
- historical demand
- fuel costs for thermal plant
- water values from YEAR (resolved regularly)?
- Simulate historical generation offers in DAY
using the same data for 365 days. - Compare the amount/cost of fuel consumed over 365
days.