Search

In this paper, we study the transient optimization of gas networks, focusing in particular on maximizing the storage capacity of the network. We include nonlinear gas physics and active elements such as valves and compressors, which due to their switching lead to discrete decisions. The former is described by a model derived from the Euler equations that is given by a coupled system of nonlinear parabolic partial differential equations ( $${\text{PDEs}}$$ ). We tackle the resulting mathematical optimization problem by a first-discretize-then-optimize approach. To this end, we introduce a new discretization of the underlying system of parabolic $${\text{PDEs}}$$ and prove well-posedness for the resulting nonlinear discretized system. Endowed with this discretization, we model the problem of maximizing the storage capacity as a non-convex mixed-integer nonlinear problem ( $${\text{MINLP}}$$ ). For the numerical solution of the $${\text{MINLP}}$$ , we algorithmically extend a well-known relaxation approach that has already been used very successfully in the field of stationary gas network optimization. This method allows us to solve the problem to global optimality by iteratively solving a series of mixed-integer problems. Finally, we present two case studies that illustrate the applicability of our approach.

Many mixed-integer optimization problems are constrained by nonlinear functions that do not possess desirable analytical properties like convexity or factorability or cannot even be evaluated exactly. This is, e.g., the case for many problems constrained by differential equations or for models that rely on black-box simulation runs. For these problem classes, we present, analyze, and test algorithms that solve mixed-integer problems with Lipschitz continuous nonlinearities. Our theoretical results depend on the assumptions made on the (in)exactness of function evaluations and on the knowledge of Lipschitz constants. If Lipschitz constants are known, we prove finite termination at approximate globally optimal points both for the case of exact and inexact function evaluations. If only approximate Lipschitz constants are known, we prove finite termination and derive additional conditions under which infeasibility can be detected. A computational study for gas transport problems and an academic case study show the applicability of our algorithms to real-world problems and how different assumptions on the constraint functions up- or downgrade the practical performance of the methods.

We propose a decomposition based method for solving mixed-integer nonlinear optimization problems with “black-box” nonlinearities, where the latter, e.g., may arise due to differential equations or expensive simulation runs. The method alternatingly solves a mixed-integer linear master problem and a separation problem for iteratively refining the mixed-integer linear relaxation of the nonlinear equalities. The latter yield nonconvex feasible sets for the optimization model but we have to restrict ourselves to convex and monotone constraint functions. Under these assumptions, we prove that our algorithm finitely terminates with an approximate feasible global optimal solution of the mixed integer nonlinear problem. Additionally, we show the applicability of our approach for three applications from optimal control with integer variables, from the field of pressurized flows in pipes with elastic walls, and from steady-state gas transport. For the latter we also present promising numerical results of our method applied to real-world instances that particularly show the effectiveness of our method for problems defined on networks.

We study the transient optimization of gas transport networks including both discrete controls due to switching of controllable elements and nonlinear fluid dynamics described by the system of isothermal Euler equations, which are partial differential equations in time and 1-dimensional space. This combination leads to mixed-integer optimization problems subject to nonlinear hyperbolic partial differential equations on a graph. We propose an instantaneous control approach in which suitable Euler discretizations yield systems of ordinary differential equations on a graph. This networked system of ordinary differential equations is shown to be well-posed and affine-linear solutions of these systems are derived analytically. As a consequence, finite-dimensional mixed-integer linear optimization problems are obtained for every time step that can be solved to global optimality using general-purpose solvers. We illustrate our approach in practice by presenting numerical results on a realistic gas transport network.

The article summarizes the findings of my Ph.D. thesis finished in 2018; see (Sirvent, Incorporating differential equations into mixed-integer programming for gas transport optimization. FAU University Press, Erlangen, 2018). For this report, we specifically focus on one of the three new global decomposition algorithms, which is used to solve stationary gas transport optimization problems with ordinary differential equations. Moreover, we refer to the promising numerical results for the Greek natural gas transport network.