基于改进蜂群算法的工业机器人路径规划研究

针对工业机器人在复杂环境中运动的避障及路径优化问题,提出基于改进人工蜂群算法的工业机器人避障路径规划策略。首先针对传统人工蜂群算法搜索能力不足且容易陷入局部最优的问题,将禁忌搜索思想引入到人工蜂群算法最优解搜索过程中,形成了基于禁忌搜索的改进型人工蜂群算法,然后将其应用到工业机器人的路径规划问题中,并进行了仿真实验。结果表明,改进后的方法能够得到最优的路径,且寻优速度快、过程稳定。该方法可用于解决工业机器人路径规划问题。     

Improved artificial bee colony algorithm considering harvest season for computing economic dispatch on power system

This paper proposes the harvest season artificial bee colony (HSABC) algorithm, a novel improvement of the artificial bee colony (ABC) algorithm, for computing an economic dispatch solution of a power system based on fuel consumption and the produced emissions. A standard model of the power system, the IEEE‐62 bus system, is used to show the performance of HSABC using equality and inequality constraints to determine the optimal solution for the economic operation of the power system. Simulations involving the proposed algorithm show that HSABC has better ability to determine the minimum values for the operating cost problem with faster convergence and shorter running time when compared to the traditional ABC algorithm. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

基于信息间隙决策理论的电网负荷恢复鲁棒优化

停电电网的恢复过程中,负荷恢复的不确定性可能影响电网恢复过程的安全,需要在负荷恢复中考虑负荷的不确定性。考虑到准确的负荷不确定性分布模型难以获取,文中提出了基于信息间隙决策理论(IGDT)的电网负荷恢复鲁棒优化方法,使负荷恢复方案在负荷波动范围内均能满足要求,而无需已知负荷的不确定性分布。首先,基于IGDT,将确定性负荷恢复优化模型转变为在负荷波动范围内均能达到最低恢复要求的鲁棒优化模型,同时综合考虑负荷恢复过程中的负荷最大恢复量、单次最大投入量、电网潮流等约束条件,再利用人工蜂群算法对优化模型进行求解,最后以新英格兰系统和江苏系统为例验证了所提方法的有效性。     

Thermal unit commitment using binary/real coded artificial bee colony algorithm

This paper presents a binary/real coded artificial bee colony (BRABC) algorithm to solve the thermal unit commitment problem (UCP). A novel binary coded ABC with repair strategies is used to obtain a feasible commitment schedule for each generating unit, satisfying spinning reserve and minimum up/down time constraints. Economic dispatch is carried out using real coded ABC for the feasible commitment obtained in each interval. In addition, non-linearities like valve-point effect, prohibited operating zones and multiple fuel options are included in the fuel cost functions. The effectiveness of the proposed algorithm has been tested on a standard ten-unit system, on IEEE 118-bus test system and IEEE RTS 24 bus system. Results obtained show that the proposed binary ABC is efficient in generating feasible schedules.     

基于混沌优化的双种群人工蜂群算法

为提高人工蜂群算法(ABC)的全局搜索能力,加快收敛速度,提出了一种基于混沌优化的双种群人工蜂群算法(BCABC)。算法将种群随机分为2个种群,在子种群中分别采用不同的选择策略,并通过种群间的信息交互,提高算法的收敛速度。在算法陷入局部最优时,利用混沌思想的遍历性产生新解,跳出局部最优,获得最优解。仿真实验结果表明,改进算法在收敛速度和算法精度上都有明显提高。     

Cost/environmentally compromised dispatch for cascaded hydrothermal system using artificial bee colony algorithm

This paper evaluates the robustness of the artificial bee colony (ABC) algorithm while allocating optimal power generation in a hydrothermal power system at the level of minimum fuel cost and minimum pollutant emission impacts on the environment subjected to physical and technical constraints. The hydrothermal scheduling (HTS) is devised in a bi‐objective framework so as to optimize both objectives of fuel cost and emission release, individually and simultaneously subjected to a verity of intricate equality and inequality constraints. Initially, all feasible solutions are obtained through random search, and then the ABC algorithm is used for the exploration and exploitation processes together in the search space, thereby discovering the optimal hourly schedule of power generation in the hydrothermal system. Meanwhile, a dependent hydro‐discharge computation handles the equality constraints; especially, the reservoir end volume and slack thermal generating unit for each sub‐interval handle the power balance equality constraint. The performance of the proposed approach is illustrated on a multi‐chain interconnected hydrothermal power system with due consideration of the water transport delay between connected reservoirs and transmission loss of system load. The results obtained from the proposed technique are compared with those of other techniques. The results demonstrate that the ABC algorithm is feasible and efficient for solving the HTS problem. © 2015 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Optimal allocation,sizing of PHEV parking lots in distribution system

The emerging of plug-in-hybrid electric vehicles (PHEV) results in the increase in the utilization of vehicles batteries for grid support. This paper presents a multi-objective algorithm to optimally determine the number of parking lots to be allocated in a distribution system. In addition, the algorithm optimally selects the locations and sizes of these parking lots. The proposed algorithms determine also the corresponding energy scheduling of the system resources. The objective of the proposed algorithm is to minimize the overall energy cost of the system. The problem is formulated as an optimization problem which is solved using artificial bee colony (ABC) and firefly algorithm taking into consideration the power system and PHEV operational constraints. The proposed algorithms are applied to a 33-bus radial distribution network. The test results indicate an improvement in the operational conditions of the system.     

Reactive Power Optimization Using Hybrid CABC-DE Algorithm

Reactive power optimization is closely related to voltage quality and network loss, and it has great significance for the safety, reliability, and economical operation of the power system. Differential evolution (DE) algorithm has been currently applied to reactive power optimization. In order to mitigate the shortcomings of poor local search ability and premature convergence in DE, this paper presents a novel hybrid algorithm–chaotic artificial bee colony differential evolution (CABC-DE) algorithm, which improves the DE algorithm based on artificial bee colony algorithm and ideas of chaotic search. It introduces the observation bees' acceleration operation and the detective bees' chaotic search operation into CABC-DE. The validity of the proposed method is examined using IEEE-14 and IEEE-30 bus system. The experimental results show that CABC-DE algorithm is more effective than regular DE algorithm for reactive power optimization. The algorithm can save the search time greatly and get a better solution for optimization, thus making it suitable for solving reactive power optimization problems.     

Chaotic artificial bee colony algorithm based solution of security and transient stability constrained optimal power flow

Due to the increase rapidly of electricity demand and the deregulation of electricity markets, the energy networks are usually run close to their maximum capacity to transmit the needed power. Furthermore, the operators have to run the system to ensure its security and transient stability constraints under credible contingencies. Security and transient stability constrained optimal power flow (STSCOPF) problem can be illustrated as an extended OPF problem with additional line loading and rotor angle inequality constraints. This paper presents a new approach for STSCOPF solution by a chaotic artificial bee colony (CABC) algorithm based on chaos theory. The proposed algorithm is tested on IEEE 30-bus test system and New England 39-bus test system. The obtained results are compared to those obtained from previous studies in literature and the comparative results are given to show validity and effectiveness of proposed method.     

基于改进人工蜂群算法的电力系统无功优化

针对电力系统无功优化存在的问题,提出了一种基于改进人工蜂群算法的无功优化。运用反学习法对人工蜂群算法进行了优化,克服了人工蜂群算法本身容易陷入局部收敛的缺点,并且对IEEE30节点进行仿真计算,结果表明该算法对于求解复杂无功优化问题的可行性和有效性。     

Artificial bee colony optimization for multi-area economic dispatch

This paper presents artificial bee colony optimization for solving multi-area economic dispatch (MAED) problem with tie line constraints considering transmission losses, multiple fuels, valve-point loading and prohibited operating zones. Artificial bee colony optimization is a swarm-based algorithm inspired by the food foraging behavior of honey bees. The effectiveness of the proposed algorithm has been verified on three different test systems, both small and large, involving varying degree of complexity. Compared with differential evolution, evolutionary programming and real coded genetic algorithm, considering the quality of the solution obtained, the proposed algorithm seems to be a promising alternative approach for solving the MAED problems in practical power system.     

基于人工蜂群算法的配电网无功优化

针对配电网电压质量较低的问题,建立了完整的无功优化模型。首先提出了一种新的无功补偿候选点的方法,即先基于网损最小选择无功补偿点,在此基础上再用动态优化选择无功补偿点;然后建立以网损最小、并联电容器容量最小、电压水平最好、两类电压稳定裕度最大的无功优化目标函数,用模糊方法将含有量纲的多目标问题转化为没有量纲的单目标问题;接着用人工蜂群(ABC)算法确定无功补偿点和容量。最后对IEEE-33节点配电网系统进行了测试分析,并与其它两种优化算法相比较,结果表明使用该优化算法,配电网无功配置方案较优,线路损耗明显降低,电压质量和电压稳定裕度明显提高。     

Artificial bee colony algorithm for solving multi-objective optimal power flow problem

This paper presents a new and efficient method for solving optimal power flow (OPF) problem in electric power systems. In the proposed approach, artificial bee colony (ABC) algorithm is employed as the main optimizer for optimal adjustments of the power system control variables of the OPF problem. The control variables involve both continuous and discrete variables. Different objective functions such as convex and non-convex fuel costs, total active power loss, voltage profile improvement, voltage stability enhancement and total emission cost are chosen for this highly constrained nonlinear non-convex optimization problem. The validity and effectiveness of the proposed method is tested with the IEEE 9-bus system, IEEE 30-bus system and IEEE 57-bus system, and the test results are compared with the results found by other heuristic methods reported in the literature recently. The simulation results obtained show that the proposed ABC algorithm provides accurate solutions for any type of the objective functions.     

基于量子人工蜂群算法的风电场多目标无功优化

为了分析风机的不确定性出力对电网运行的影响,建立了风电场的概率模型,利用两点估计法(2PEM)进行概率潮流计算。然后,建立了综合考虑有功网损、电压偏移量和静态电压稳定裕度的多目标无功优化模型,并通过层次分析法(AHP)确定各个目标函数的权重,避免了人为主观臆断性。提出了量子人工蜂群算法,并将该算法和前述的概率潮流计算相结合应用到风电场无功优化当中。最后,以IEEE 14节点系统为例,将风电场接入该系统进行无功优化,并和传统的人工蜂群算法(ABC)进行比较,结果表明量子人工蜂群算法优化效果更好,具有更高的收敛精度,有效地避免了早熟现象。     

基于改进ABC和IDPC-MKELM的短期电力负荷预测

为提高受外部因素影响敏感的短期电力负荷预测精度,提出了一种基于改进ABC优化密度峰值聚类和多核极限学习机的短期电力负荷预测方法。构建融合特征提取、人工蜂群算法（ABC）、密度峰值聚类（DPC）和核极限学习机（KELM）的短期电力负荷预测模型。针对ABC收敛效率不高的缺陷,设计新型蜜源搜索和蜜蜂进化方式,以提升改进ABC全局寻优能力;针对DPC截断距离与聚类中心人为设定的不足,定义邦费罗尼指数函数和聚类中心截断指标,并将改进的ABC应用于DPC参数优化过程,以实现DPC最佳聚类分析;针对KELM回归能力不强、参数选取难以确定的问题,设计多核加权KELM,并采用改进的ABC进行参数优化,以提高极限学习机预测精度。仿真结果表明,所提短期电力负荷预测方法更具有效性,平均误差低了约8.8%~39.8%。     

基于最优场景生成算法的主动配电网无功优化

针对间歇性分布式电源输出功率的不确定性和随机性,提出采用Wasserstein距离指标和K-means聚类场景削减技术生成最优场景,将随机优化问题转换为确定性优化问题。建立了风—光—荷多场景树模型,并以有功网损最小、电压偏差最小作为目标函数,考虑储能荷电状态约束影响,建立含间歇性分布式电源的主动配电网无功优化数学模型,并采用人工蜂群算法对模型进行求解。仿真分析得出基于Wasserstein距离指标和K-means聚类场景削减技术生成的最优场景能较精确地体现分布式电源有功出力的随机特性。最后,以IEEE-33节点配电系统为例进行仿真分析,验证了所提方法的有效性和可行性。     

基于改进人工蜂群算法的家庭储能容量优化配置*

家庭能源系统中的储能设备初始投资成本高,限制其实际应用。针对此问题,文章对混合储能的容量配置进行了研究。分别构建了刚性负荷、柔性负荷和储能类设备负荷模型;在此基础上搭建以用户每天用电费用最低为目标的家庭能源管理系统模型;提出一种改进的人工蜂群算法对模型求解。实验结果表明,通过和单储能的系统相比,在满足用户用电需求的同时,配置混合储能的家庭能源系统能有效减小用户每天用电费用。对文中算法与人工蜂群算法和粒子群算法优化结果进行比对,证实所提算法优化时长短、收敛速度快且不易于陷入局部最优。     

Applying portfolio theory-based modified ABC to electricity generation mix

Portfolio theory has found its model in numerous engineering applications for optimizing the electrical generation mix of an electricity area. However, to have better performance of this theory, this paper presents a new heuristic method as known modified artificial bee colony (MABC) to portfolio optimization problem. Moreover, we consider both dis-patchable and non-dis-patchable constrains variables and energy sources. Note that the proposed MABC method uses a Chaotic Local Search (CLS) to enhance the self searching ability of the original ABC algorithm. Resulting, in this paper a portfolio theory-based MABC model that explicitly distinguishes between electricity generation (energy), installed capacity (power) and actual instantaneous power delivery is proposed. Therefore, in this model, the uncertainties of wind power and ramp-up/down constrains of traditional power plants are correctly considered in the investment cost. The numerical results show the great potential of proposed model with lowest risk on generation cost. Also, they are show that MABC approach is successful in portfolio optimization.     

基于反向学习的人工蜂群算法的电力系统最优潮流

以发电机大气污染物排放量最小为目标函数,建立一种电力系统最优潮流模型,并提出一种基于反向学习的人工蜂群算法进行求解。IEEE一30节点系统仿真分析结果表明,与其它算法进行相比,提出的算法能够有效降低发电机大气污染物排放量,算法简单,具有更好的寻优能力和收敛特性。     

基于改进人工蜂群算法的配电网多点故障应急抢修优化调度

为提高配电网故障应急抢修调度在电网应急管理的辅助决策作用,建立了综合考虑抢修资源分配、多小组协作、抢修顺序的配电网多点故障应急抢修优化模型。引入多种群协同进化机制对传统人工蜂群算法进行改进,通过多蜂群智能体增强算法解决高维度复杂优化问题的能力。结合改进人工蜂群算法提出了应急抢修优化模型的统一调度方法。PGE69节点算例仿真研究表明,所提方法可在配电网发生多处故障后快速给出应急抢修预案,减少了停电经济损失。