Supervisory and Optimal Control of Building HVAC Systems: A Review

REFERENCES

• Ahn , B. C. and Mitchell , J. W. 2001 . Optimal control development for chilled water plants using a quadratic representation . Energy and Buildings , 33 ( 4 ) : 371 – 78 .
   Web of Science ®Google Scholar
• ASHRAE . 2003 . 2003 ASHRAE Handbook—HVAC Applications. Atlanta : American Society of Heating, Refrigerating and Air-Conditioning Engineers, Inc. .
   Google Scholar
• Austin , S. B. 1993 . Chilled water system optimization . ASHRAE Journal , 35 ( 7 ) : 50 – 56 .
   Google Scholar
• Bassily , A. M. and Colver , G. M. 2005 . Cost optimization of a conical electric heater . International Journal of Energy Research , 29 ( 4 ) : 359 – 76 .
   Google Scholar
• Bradford , J. D. 1998 . Optimal supervisory control of cooling plants without storage , PhD thesis University of Colorado. .
   Google Scholar
• Braun , J. E. 1988 . Methodologies for design and control of central cooling plants , PhD thesis University of Wisconsin-Madison. .
   Google Scholar
• Braun , J. E. , Mitchell , J. W. and Klein , S. A. 1987 . Performance and control characteristics of a large cooling system . ASHRAE Transactions , 93 ( 1 ) : 1830 – 52 .
   Google Scholar
• Braun , J. E. , Klein , S. A. , Beckman , W. A. and Mitchell , J. W. 1989a . Methodologies for optimal control to chilled water systems without storage . ASHRAE Transactions , 95 ( 1 ) : 652 – 62 .
   Google Scholar
• Braun , J. E. , Klein , S. A. , Mitchell , J. W. and Beckman , W. A . 1989b . Applications of optimal control to chilled water systems without storage . ASHRAE Transactions , 95 ( 1 ) : 663 – 75 .
   Google Scholar
• Braun , J. E. and Diderrich , G. T. 1990a . Near-optimal control of cooling towers for chilled-water systems . ASHRAE Transactions , 96 ( 2 ) : 806 – 13 .
   Google Scholar
• Braun , J. E. 1990b . Reducing energy costs and peak electrical demand through optimal control of building thermal storage . ASHRAE Transactions , 96 ( 2 ) : 876 – 88 .
   Google Scholar
• Braun , J. E. and Chaturvedi , N. 2002 . An inverse gray-box model for transient building load prediction . HVAC&R Research , 8 ( 1 ) : 73 – 99 .
   Web of Science ®Google Scholar
• Braun , J. E. 2007a . A general control algorithm for cooling towers in cooling plants with electric and/or gas-driven chillers . HVAC&R Research , 13 ( 4 ) : 581 – 98 .
   Web of Science ®Google Scholar
• Braun , J. E. 2007b . Near-optimal control strategies for hybrid cooling plants . HVAC&R Research , 13 ( 4 ) : 599 – 622 .
   Web of Science ®Google Scholar
• Braun , J. E. 2007c . A near-optimal control strategy for cool storage systems with dynamic electric rates . HVAC&R Research , 13 ( 4 ) : 557 – 80 .
   Web of Science ®Google Scholar
• Carlson , R. A. and Di Giandomenico , R. A. 1991 . Understanding building automation systems: Direct digital control, energy management, life safety, security/access control, lighting, building management programs Kingston, MA : R.S. Means Company, Inc. .
   Google Scholar
• Cascia , M. A. 2000 . Implementation of a near-optimal global set point control method in a DDC controller . ASHRAE Transactions , 106 ( 1 ) : 249 – 63 .
   Google Scholar
• Chang , Y. C. 2004 . A novel energy conservation method–Optimal chiller loading . Electric Power Systems Research , 69 ( 2 ) : 221 – 26 .
   Google Scholar
• Chang , Y. C. , Lin , F. A. and Lin , C. H. 2005 . Optimal chiller sequencing by branch and bound method for saving energy . Energy Conversion and Management , 46 ( 12–14 ) : 2158 – 72 .
   Google Scholar
• Chang , Y. C. , Chen , W. H. , Lee , C. Y. and Huang , C. N. 2006 . Simulated annealing based optimal chiller loading for saving energy . Energy Conversion and Management , 47 ( 15–16 ) : 2044 – 58 .
   Google Scholar
• Chow , T. T. , Zhang , G. Q. , Lin , Z. and Song , C. L. 2002 . Global optimization of absorption chiller system by genetic algorithm and neural network . Energy and Buildings , 34 ( 1 ) : 103 – 09 .
   Web of Science ®Google Scholar
• Cumali , Z. 1988 . Global optimization of HVAC system operations in real time . ASHRAE Transactions , 94 ( 1 ) : 1729 – 44 .
   Google Scholar
• Curtiss , P. S. , Kreider , J. F. and Brandemuehl , M. J. Artificial neural networks proof of concept for local and global control of commercial building HVAC systems . Proceedings of the ASME International Solar Energy Conference . Kohala Coast, HI. pp. 429 – 43 .
   Google Scholar
• Curtiss , P. S. , Brandemuehl , M. J. and Kreider , J. F. 1994 . Energy management in central HVAC plants using neural networks . ASHRAE Transactions , 100 ( 1 ) : 476 – 93 .
   Google Scholar
• Curtiss , P. S. 1997 . Examples of neural networks used for building system control and energy management . ASHRAE Transactions , 103 ( 2 ) : 909 – 13 .
   Google Scholar
• Dodier , R. H. and Henze , G. P. 2004 . Statistical analysis of neural networks as applied to building energy prediction . Journal of Solar Energy Engineering , 126 ( 1 ) : 592 – 600 .
   Web of Science ®Google Scholar
• Flake , B. A. 1998 . Parameter estimation and optimal supervisory control of chilled water plants , PhD thesis University of Wisconsin-Madison. .
   Google Scholar
• Fletcher , R. 1987 . Practical Methods of Optimization (Second Edition) New York : John Wiley & Sons. .
   Google Scholar
• Fong , K. F. , Hanby , V. I. and Chow , T. T. 2006 . HVAC system optimization for energy management by evolutionary programming . Energy and Buildings , 38 ( 3 ) : 220 – 31 .
   Web of Science ®Google Scholar
• Fredrik , E. and Dennis , J. 2004 . Optimal supply air temperature with respect to energy use in a variable air volume system . Energy and Buildings , 36 ( 3 ) : 205 – 18 .
   Google Scholar
• Gibson , G. L. 1997 . A supervisory controller for optimization of building central cooling systems . ASHRAE Transactions , 103 ( 1 ) : 486 – 93 .
   Google Scholar
• Goh , W. Y. , Lim , C. P. , Peh , K. K. and Subari , K. 2002 . Application of a recurrent neural network to prediction of drug dissolution profiles . Neural Computing & Applications , 10 ( 4 ) : 311 – 17 .
   Google Scholar
• Goswami , D. 1986 . VAV fan static pressure control with DDC . Heating, Piping & Air Conditioning , 58 ( 12 ) : 113 – 17 .
   Google Scholar
• Gray , P. , Hart , W. , Painton , L. , Phillips , C. , Trahan , M. and Wagner , J. 1997 . A survey of global optimization methods Available at http://www.cs.sandia.gov/opt/survey/main.html
   Google Scholar
• Guez , A. , Eilbert , J. L. and Kam , M. 1988 . Neural network architecture for control . IEEE Control Systems Magazine , 8 ( 2 ) : 22 – 25 .
   Google Scholar
• Hach , L. and Katoh , Y. 2003 . Thermal responses in control loop in indirect control of indoor environment of non-air conditioned space with quasi-steady-state model . JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing , 46 ( 1 ) : 198 – 211 .
   Google Scholar
• Hackner , R. J. , Mitchell , J. W. and Bechman , W. A . 1985 . HVAC system dynamics and energy use in buildings—Part II . ASHRAE Transactions , 91 ( 1 ) : 781 – 95 .
   Google Scholar
• Haines , R. W. and Hittle , D. C. 2003 . Control Systems for Heating, Ventilating and Air Conditioning (Sixth Edition) Boston : Kluwer Academic Publishers. .
   Google Scholar
• Hanby , V. I. and Angelov , P. P . 2000 . Application of univariate search methods to the determination of HVAC plant capacity . Building Services Engineering Research and Technology , 21 ( 3 ) : 161 – 66 .
   Google Scholar
• Hartman , T. 2005 . Designing efficient systems with the equal marginal performance principle . ASHRAE Journal , 47 ( 7 ) : 64 – 70 .
   Web of Science ®Google Scholar
• Hartman , T. B. 1995 . Global optimization strategies for high-performance controls . ASHRAE Transactions , 101 ( 2 ) : 679 – 87 .
   Google Scholar
• Henze , G. P. , Dodier , R. H. and Krarti , M. 1997 . Development of a predictive optimal controller for thermal energy storage systems . HVAC&R Research , 3 ( 3 ) : 233 – 64 .
   Google Scholar
• Henze , G. P. and Schoenmann , J. 2003 . Evaluation of reinforcement learning control for thermal energy storage systems . HVAC&R Research , 9 ( 3 ) : 259 – 76 .
   Web of Science ®Google Scholar
• Henze , G. P. , Kalz , D. E. , Liu , S. and Felsmann , C. 2005 . Experimental analysis of model-based predictive optimal control for active and passive building thermal storage inventory . HVAC&R Research , 11 ( 2 ) : 189 – 214 .
   Web of Science ®Google Scholar
• Honeywell . 1989 . Engineering Manual of Automatic Control for Commercial Buildings: Heating, Ventilating, Air Conditioning. Minneapolis, MN : Honeywell Plaze. .
   Google Scholar
• Hordeski , M. F. 2001 . HVAC Control in the New Millennium. Lilburn, GA : The Fairmont Press, Inc. .
   Google Scholar
• House , J. M. , Smith , T. F. and Arora , J. S. 1991 . Optimal control of a thermal system . ASHRAE Transactions , 97 ( 2 ) : 991 – 1001 .
   Google Scholar
• House , J. M. and Smith , T. F. 1995 . A system approach to optimal control for HVAC and building system . ASHRAE Transactions , 101 ( 2 ) : 647 – 60 .
   Google Scholar
• Huang , W. and Lam , H. N. 1997 . Using genetic algorithms to optimize controller parameters for HVAC systems . Energy and Buildings , 26 ( 3 ) : 277 – 82 .
   Web of Science ®Google Scholar
• Hull , D. G. 2003 . Optimal Control Theory for Applications. New York : Springer-Verlag, Inc. .
   Google Scholar
• Johnson , G. A. 1985 . Optimization techniques for a centrifugal chiller plant using a programmable controller . ASHRAE Transactions , 91 ( 2B ) : 835 – 47 .
   Google Scholar
• Kawato , M. , Furukawa , K. and Suzuki , R. 1987 . A hierarchical neural network model for control and learning of voluntary movement . Biological Cybernetics , 57 : 169 – 85 .
   PubMed Web of Science ®Google Scholar
• Kaya , A. , Chen , C. S. , Raina , S. and Alexander , S. J. 1982 . Optimum control policies to minimize energy use in HVAC systems . ASHRAE Transactions , 88 ( 2 ) : 235 – 48 .
   Google Scholar
• Kaya , A. and Sommer , A. 1985 . Energy management of chillers by multilevel control and optimization . Journal of Dynamic Systems, Measurement and Control, Transactions ASME , 107 ( 4 ) : 270 – 77 .
   Google Scholar
• Kintner-Meyer , M. and Emery , A. F. 1995 . Optimal control of an HVAC system using cold storage and building thermal capacitance . Energy and Buildings , 23 ( 1 ) : 19 – 31 .
   Web of Science ®Google Scholar
• Koeppel , E. A. , Klein , S. A. , Mitchell , J. W. and Flake , B. A. 1995 . Optimal supervisory control of an absorption chiller system . HVAC&R Research , 1 ( 4 ) : 325 – 42 .
   Google Scholar
• Kota , N. N. , House , J. M. , Arora , J. S. and Smith , T. F. 1996 . Optimal control of HVAC systems using DDP and NLP techniques . Optimal Control Applications & Methods , 17 ( 1 ) : 71 – 78 .
   Google Scholar
• Kreider , J. F. and Wang , X. A. 1992 . Improved artificial neural networks for commercial building energy use prediction . Proceedings of the ASME Annual Solar Engineering Meeting, Maui, HI , 1 : 361 – 366 .
   Google Scholar
• Lau , A. S. 1985 . Development of computerized control strategies for a large chilled water plant . ASHRAE Transactions , 91 ( 1 ) : 766 – 80 .
   Google Scholar
• Lebrun , J. and Wang , S. W. 1993 . Evaluation and emulation of building and energy management systems—Synthesis report. IEA Annex 17 Final Report Belgium : University of Liege .
   Google Scholar
• Levenhagen , J. I. and Spethmann , D. H. 1993 . HVAC Controls and Systems. New York : McGraw-Hill, Inc. .
   Google Scholar
• Ling , K. V. and Dexter , A. L. 1994 . Expert control of air-conditioning plant . Automatica , 30 ( 5 ) : 761 – 73 .
   Google Scholar
• Liu , S. and He , X. D. 1994 . Distributed-parameter-model approach to optimal comfort control in air conditioning systems . Proceedings of the American Control Conference , 3 : 3454 – 58 .
   Google Scholar
• Liu , S. and Henze , G. P. 2006a . Experimental analysis of simulated reinforcement learning control for active and passive building thermal storage inventory—Part 1: Theoretical foundation . Energy and Buildings , 38 ( 2 ) : 142 – 47 .
   Web of Science ®Google Scholar
• Liu , S. and Henze , G. P. 2006b . Experimental analysis of simulated reinforcement learning control for active and passive building thermal storage inventory—Part 2: Results and analysis . Energy and Buildings , 38 ( 2 ) : 148 – 61 .
   Google Scholar
• Lu , L. , Cai , W. J. , Soh , Y. C. , Xie , L. H. and Li , S. J. 2004 . HVAC system optimization-condenser water loop . Energy Conversion and Management , 45 ( 4 ) : 613 – 30 .
   Web of Science ®Google Scholar
• Lu , L. , Cai , W. J. , Soh , Y. C. and Xie , L. H. 2005a . Global optimization for overall HVAC systems—Part I: Problem formulation and analysis . Energy Conversion and Management , 46 ( 7–8 ) : 999 – 1014 .
   Google Scholar
• Lu , L. , Cai , W. J. , Soh , Y. C. and Xie , L. H. 2005b . Global optimization for overall HVAC systems—Part II: Problem solution and simulations . Energy Conversion and Management , 46 ( 7–8 ) : 1015 – 28 .
   Google Scholar
• Lu , L. , Cai , W. J. , Xie , L. H. , Li , S. J. and Soh , Y. C. 2005c . HVAC system optimization—In building section . Energy and Buildings , 37 ( 1 ) : 11 – 22 .
   Web of Science ®Google Scholar
• Luenberger , D. G. 1984 . Linear and Nonlinear Programming. Addison-Wesley Publishing Company. .
   Google Scholar
• MacArthur , J. W. and Foslien , W. K. 1993 . Novel predictive strategy for cost-optimal control in buildings . ASHRAE Transactions , 99 ( 1 ) : 1025 – 36 .
   Google Scholar
• MacArthur , J. W. and Woessner , M. A. 1993 . Receding horizon control: A model-based policy for HVAC applications . ASHRAE Transactions , 99 ( 1 ) : 139 – 48 .
   Google Scholar
• Massie , D. D. , Curtiss , P. S. and Kreider , J. F. 1998 . Predicting central plant HVAC equipment performance using neural networks—Laboratory system . ASHRAE Transactions , 104 ( 1A ) : 221 – 28 .
   Google Scholar
• Massie , D. D. 2002 . Optimization of a building's cooling plant for operating cost and energy use . International Journal of Thermal Sciences , 41 ( 12 ) : 1121 – 29 .
   Web of Science ®Google Scholar
• Moore , B. J. and Fisher , D. S. 2003 . Pump differential pressure setpoint reset based on chilled water valve position . ASHRAE Transactions , 109 ( 1 ) : 373 – 79 .
   Google Scholar
• Mullen , C. E. , Bridges , B. D. , Porter , K. J. , Hahn , G. W. and Bullard , C. W. 1998 . Development and validation of a room air-conditioning simulation model . ASHRAE Transactions , 104 ( 2 ) : 389 – 97 .
   Google Scholar
• Nassif , N. , Kajl , S. and Sabourin , R. 2005 . Optimization of HVAC control system strategy using two-objective genetic algorithm . HVAC&R Research , 11 ( 3 ) : 459 – 86 .
   Web of Science ®Google Scholar
• Nelles , O. 2001 . Nonlinear System Identification: From Classical Approaches to Neural Networks and Fuzzy Models. Berlin : Springer-Verlag. .
   Google Scholar
• Nizet , J. L. , Lecomte , J. and Litt , F. X. 1984 . Optimal control applied to air conditioning in buildings . ASHRAE Transactions , 90 ( 1 ) : 587 – 600 .
   Google Scholar
• Olson , R. T. and Liebman , S. 1990 . Optimization of a chilled water plant using sequential quadratic programming . Engineering Optimization , 15 : 171 – 91 .
   Google Scholar
• Pape , F. L.F. , Mitchell , J. W. and Beckman , W. A. 1991 . Optimal control and fault detection in heating, ventilating and air-conditioning systems . ASHRAE Transactions , 97 ( 1 ) : 729 – 36 .
   Google Scholar
• Ramirez , W. F. 1994 . Process Control and Identification. Boston : Academic Press, Inc. Harcourt Brace & Company. .
   Google Scholar
• Rao , S. S. 1984 . Optimization: Theory and Applications. New Delhi : Wiley Eastern. .
   Google Scholar
• Reklaitis , G. V. , Ravindran , A. and Ragsdell , K. M. 1983 . Engineering optimization: Methods and applications New York : Wiley. .
   Google Scholar
• Rishel , J. B. 2003 . Control of variable speed pumps for HVAC water systems . ASHRAE Transactions , 109 ( 1 ) : 380 – 89 .
   Google Scholar
• Simmonds , P. 1993 . Thermal comfort and optimal energy use . ASHRAE Transactions , 99 ( 1 ) : 1037 – 48 .
   Google Scholar
• So , A. T.P. , Chow , T. T. , Chan , W. L. and Tse , W. L. 1995 . Neural-network-based identifier/controller for modern HVAC control . ASHRAE Transactions , 101 ( 2 ) : 14 – 31 .
   Google Scholar
• Sousa , J. M. , Babuska , R. and Verbruggen , H. B. 1997 . Fuzzy predictive control applied to an air-conditioning system . Control Engineering Practice , 5 ( 10 ) : 1395 – 406 .
   Web of Science ®Google Scholar
• Sreedharan , P. and Haves , P. Comparison of chiller models for use in model-based fault detection. Proceedings of International Conference of Enhanced Building Operations, Austin.
   Google Scholar
• Sud , I. 1984 . Control strategies for minimum energy usage . ASHRAE Transactions , 90 ( 2A ) : 247 – 77 .
   Google Scholar
• Sun , J. and Reddy , A. 2005 . Optimal control of building HVAC&R systems using complete simulation-based sequential quadratic programming (CSB-SQP) . Building and Environment , 40 ( 5 ) : 657 – 69 .
   Web of Science ®Google Scholar
• Wang , S. W. 1998 . Dynamic simulation of a building central chilling system and evaluation of EMCS on-line control strategies . Building and Environment , 33 ( 1 ) : 1 – 20 .
   Web of Science ®Google Scholar
• Wang , S. W. 1999 . Dynamic simulation of building VAV air-conditioning system and evaluation of EMCS on-line control . Building and Environment , 34 ( 6 ) : 681 – 705 .
   Web of Science ®Google Scholar
• Wang , S. W. and Jin , X. Q. 2000 . Model-based optimal control of VAV air-conditioning system using genetic algorithm . Building and Environment , 35 ( 6 ) : 471 – 87 .
   Web of Science ®Google Scholar
• Wang , S. W. and Burnett , J. 2001 . Online adaptive control for optimizing variable-speed pumps of indirect water-cooled chilling systems . Applied Thermal Engineering , 21 ( 11 ) : 1083 – 103 .
   Google Scholar
• Wang , S. W. 2006 . Editorial: Enhancing the applications of building automation systems for better building energy and environmental performance . HVAC&R Research , 12 ( 2 ) : 197 – 99 .
   Web of Science ®Google Scholar
• Widrow , B. and Smith , F. W. Pattern-recognizing control systems. Proceedings of Computer and Information Sciences Symposium, Spartan . Washington, DC.
   Google Scholar
• Wright , A. J. and Hanby , V. I. 1987 . The formulation, characteristics, and solution of HVAC system optimized design problems . ASHRAE Transactions , 93 ( 2 ) : 2133 – 45 .
   Google Scholar
• Mathworld , Wolfram . 2006 . Conjugate Gradient Method Available at: http://mathworld.wolfram.com/FibonacciNumber.html
   Google Scholar
• Xu , J. , Luh , P. B. , Blankson , W. E. , Jerdonek , R. and Shaikh , K. 2005 . An optimization-based approach for facility energy management with uncertainties . HVAC&R Research , 11 ( 2 ) : 215 – 37 .
   Web of Science ®Google Scholar
• Yao , Y. , Lian , Z. W. , Hou , Z. J. and Zhou , X. J. 2004 . Optimal operation of a large cooling system based on empirical model . Applied Thermal Engineering , 24 ( 16 ) : 2303 – 21 .
   Web of Science ®Google Scholar
• Zaheer-uddin , M. and Patel , R. V. 1993 . The design and simulation of a sub-optimal controller for space heating . ASHRAE Transactions , 99 ( 1 ) : 554 – 64 .
   Google Scholar
• Zaheer-uddin , M. and Zheng , G. R. 2000 . Optimal control of time-scheduled heating, ventilating and air conditioning processes in building . Energy Conversion and Management , 41 ( 1 ) : 49 – 60 .
   Web of Science ®Google Scholar
• Zaheer-uddin , M. and Zheng , G. R. 2001 . Multistage optimal operating strategies for HVAC systems . ASHRAE Transactions , 107 ( 2 ) : 346 – 52 .
   Google Scholar
• Zhang , Q. , Wong , Y. W. , Fok , S. C. and Bong , T. Y. 2005 . Neural-based air-handling unit for indoor relative humidity and temperature control . ASHRAE Transactions , 111 ( 1 ) : 63 – 70 .
   Google Scholar
• Zhang , Y. and Hanby , V. I. 2006 . Model-based control of renewable energy systems in buildings . HVAC&R Research , 12 ( 3a ) : 739 – 60 .
   Google Scholar
• Zheng , G. R. and Zaheer-Uddin , M. 1996 . Optimization of thermal processes in a variable air volume HVAC system . Energy (Oxford) , 21 ( 5 ) : 407 – 20 .
   Web of Science ®Google Scholar