Optimal operation scheduling of a Hydrokinetic-Diesel
hybrid system with Pumped Hydro Storage
Kanzumba Kusakana
Department of Electrical, Electronic and Computer Engineering
Central University of Technology, Free State
Bloemfontein, South Africa
Email: kkusakana@cut.ac.za
Abstract— The present paper develops a model to optimize
the daily operation of a hybrid energy system consisting of
a hydrokinetic, a pumped hydro storage system and a
diesel generator. The optimization approach is aimed at
minimizing the cost function subject to the availability of
water resource, the variable load requirements, and
operational constraints of the hybrid system’s
components. The main purpose of the developed model is
to minimize the daily amount of diesel fuel consumed to
supply the load while maximizing the use of the
hydrokinetic operating in conjunction with the pumped
hydro storage. For simulation purposes, the hourly load
demand, resource data for a selected rural area in South
Africa have been collected and used as an input to the
developed model. The economic analysis has resulted in
the calculation of optimized daily operation cost of the
proposed hybrid system in summer and winter conditions.
The obtained results demonstrate that a substantial
reduction in the daily operation cost can be achieved
using the hybrid system compare to the case where the
diesel generator is used alone.
Index Terms-- Hydrokinetic, Diesel generator, Hybrid
system, Operation control, Cost minimization.
I. INTRODUCTION
Nowadays, fossil fuels constitute the principal sources of
energy in the many parts of the planet. In some cases these
fossil fuel can be depleted and usually have negative impacts
on the environment while they are being converted into
usable energy forms [1]. There is an imperative necessity for
more sustainable energy sources which can be cost
competitive, reliable and have less or no environmental
impacts. Renewable energy sources (i.e. solar photovoltaic,
wind turbine, hydropower, etc.) are the most appropriate
candidates for power generation especially in small-scale and
remote locations [2].
978-1-4673-9130-6/15/$31.00 ©2015 IEEE
Apart from renewable character of the resources (sunlight,
wind, water), each of the renewable energy sources has its
specific operation principle that makes it suitable for specific
locations and applications [3].
Solar photovoltaic (PV) and wind systems are established
clean way of generating energy, especially in rural areas not
connected to the grid [4-6]. However, apart from their high
capital cost, the other major weakness of these renewable
generation systems is the fact that their power generated
depends on the fluctuating solar and wind resources.
Therefore they cannot always match the load power demand.
Unlike traditional hydropower schemes, hydrokinetic
(HKT) is an emerging technology that uses kinetic energy
from moving water to generate electricity. HKT systems have
more potential sites for implementation which make them
more competitive compared to traditional micro hydropower
[7]. However the main disadvantage of the above cited
renewable energy technologies is their strong reliance on
weather and climatic conditions which influence the
availability of the renewable resources; therefore, they cannot
always generate required power to constantly match the
fluctuating load demand.
Few feasibility studies have been performed on isolated
micro HKT plants for rural electrification. Comparisons
between micro HKT and other supply options for rural power
supply have been conducted in ref. [8]. In ref. [9, 10], the
authors examined the possible use of HKT-based hybrid
systems for low cost energy production in South Africa.
After analyzing ref. [8, 9 and 10], a major revelation is that
only the battery has been included as energy storage system
in all the proposed supply options; the potential benefits of
the other energy storage options were not investigated.
Energy storage systems are one of the few responses to the
integration of renewable sources with variable energy
production due to the fluctuation of their resources [11-12]. A
number of energy storage systems are currently available;
these include technologies such as compressed air energy
storage, flywheel energy storage, battery energy storage, flow
battery energy storage, superconducting magnetic energy
storage, super capacitor energy storage, hydrogen energy
storage, thermal energy storage and pumped hydro storage
(PHS) [13-20].
At this present time, PHS is the most widespread energy
storage system not dealing with the conversion of chemical
energy to electricity. This technology can be implemented
with a roundtrip efficiency of 70-80%, and its capacity is not
influenced by the seasonal variation of the water flow [21].
Currently, a number of studies are available, dealing with
micro-PHS for integration of isolated renewable energy
sources [22-25]. Additionally, some case studies have been
conducted on the use of PHS to enhance the penetration level
of wind power in standalone micro-grid [26-31].
Inspired by the potential benefits of PHS, HKT and DG in
rural electrification, this study presents a novel PHS-based
HKT-DG power generation system for a remote island. The
present paper reports on the development of a mathematical
programming model to optimize the daily operation of the
proposed HKT-DG with PHS systems. The optimization
approach is aimed at minimizing the operation cost function
subject to the load energy requirements as well as to the DG
and the PHS operational constraints. Considering a short time
horizon, the PHS and HKT’s daily operation costs are not
taken into account, thus only the cost of the diesel fuel
consumed is considered. Therefore, the main purpose of the
developed control algorithm is to minimize the DG’s
operation cost while maximizing the use of HKT and PHS in
the electricity generation process. The non-linearity in the
fluctuation of the load demand, the non-linearity of the DG
fuel consumption curve as well as the PHS operation limits
have been considered in the developed model.
II. HYBRID SYSTEM COMPONENTS DESCRIPTION
AND OPERARTION
The schematic of the proposed hybrid system’s power
flow is shown in Figure 1 and the operation principle of the
system’s component is discussed in the subsections below
[32].
Figure 1. Proposed hybrid system layout and power flow
The load energy requirement is principally covered by the
HKT system. When there is more than enough energy to
supply the load directly from the HKT system, no
supplementary energy is needed; consequently the surplus of
generated energy is used to drive the motor-pump set to fill-in
the upper reservoir. However, when there is an insufficient
energy to supply the load directly from the HKT system, the
extra energy is provided from the water flowing down from
the upper reservoir and driving the turbine-generator set. If
the HKT system and the turbine-generator set from the PHS
cannot respond to the load energy requirement, the DG is
turned on as a last resort, in order to balance the shortage of
energy needed by the load.
A. Diesel generator
DG’s are the most common way of providing electrical
power to isolated areas not connected to the grid. The energy
generated (EDG) by a DG with rated power output (PDG) is
expressed as [33]:
E DG = PDG × η DG × t (1)
Where: ηDG is the efficiency of the DG and t is the time.
B. Hydrokinetic system
Hydrokinetic energy systems convert kinetic energy from
flowing water without using a dam, barrage or penstock.
Hydrokinetic systems can produce energy from water flowing
at very low velocities with nearly no environmental impact,
over a larger range of potential sites than those offered by
traditional hydropower systems [34].
The energy extraction principle used by hydrokinetic systems
is similar to the one used in wind conversion systems.
However, given that water is approximately 800 times denser
than air [35], the corresponding energy produced by a
hydrokinetic system is much higher than the one produced by
a wind system of equal diameter under equal water and wind
velocity. The other advantages of hydrokinetic system are
that the water resource does not vary randomly as the wind
resource does, and the flowing water does not change
direction as the wind does.
The power generated by the hydrokinetic system (PHKT) is
expressed as [36]:
1
PHKT = × ρW × A × v 3 × C p ,HKT ×η HKT (2)
2
Where: ρW is the density of water (1000kg/m3), Cp,HKT is the
power coefficient of the hydrokinetic turbine performance,
ηHKT is the combined efficiency of the hydrokinetic turbine
and the generator, A is the turbine area (m2), v is the water
current velocity (m/s) and t is the time.
C. Pumped hydro system
1) Motor-pump set
The power required by the motor-pump set to suck water
from the river up to the reservoir can be expressed in Eq. (3)
[37]. This energy is directly supplied by the hydrokinetic Where: N is the number of sampling intervals within the
system. operation range or period of the system; a, b, c are the fuel
ρW × g × h × QMP cost coefficients; j is the jth sampling interval; PDG(j) is the
PMP = (3) output power from the DG at jth sampling interval; Cf is the
ηM − P × t price of 1litre of fuel.
Where PMP is the charging power from the hydrokinetic Subject to the following constraints:
system to the pump (W); QMP is the water flow rate from the • Power balance:
pump (m3/s); h is the net pumping head (m); g is the At any sampling interval j, the sum of the supplied powers
acceleration due to gravity (9.8 m/s2) and ηMP is the overall from the HKT, DG and from the PHS must be equal to the
pumping efficiency. demand. This can be expressed as:
PLoad ( j ) = PHKT ,Load ( j ) + PPHS ( j ) + PDG ( j ) (8)
2) Turbine-generator set
In the situation where there is a shortage of energy, water • Variable limits:
from reservoir is used to operate the turbine driving the micro These constraints depend on the characteristics of each
hydro generator [38]. The power generated from the turbine- component and can be expressed as:
generator ETG set can be expressed as:
max
1 0 ≤ PDG ( j ) ≤ PDG (1 ≤ j ≤ N ) (9)
PT −G = ρW × g × h × QTG ×ηTG × (4)
t 0 ≤ PHKT ( j ) ≤ P max
HKT ( j ) (1 ≤ j ≤ N ) (10)
Where ηTG is the overall efficiency of the turbine-generator
set; QTG is the water volumetric flow rate from the reservoir 0 ≤ PMP ( j ) ≤ PMmax
−P (1 ≤ j ≤ N ) (11)
onto the turbine (m3/s). max
0 ≤ PTG ( j ) ≤ PTG (1 ≤ j ≤ N ) (12)
3) Upper reservoir rated rated
− PPHS ≤ PTG ( j ) − PMP ( j ) ≤ PPHS (1 ≤ j ≤ N ) (13)
The volume of water stored in the reservoir should be
sufficient to meet the load power demand in a situation
whereby there is an insufficient power from the hydrokinetic • PHS state of charge (dynamics):
[39]. The potential energy is directly proportional to the This can be expressed as:
volume of the water stored in the reservoir can be expressed ERmin ≤ ER ( j ) ≤ ERmax (14)
as:
This can be further developed as:
ER = ρ × V × g × h (5)
⎛ j
⎞
Where ER is potential energy in the reservoir (kWh); V is the ⎜ j ∑ PTG( j ) ⎟
storage capacity of the water reservoir (m3). ER ( j ) = ER (0) × (1 − δ ) + ts × ⎜ηMP × ∑ PMP( j ) − i=1 ⎟ (15)
⎜ i=1 η TG
⎟
4) Power balance ⎜ ⎟
The load power requirement PLoad is principally covered by ⎝ ⎠
the hydrokinetic system, so the system’s power balance of
generation and load demand at each and every time can be In the presented formulation, the equations (7) - (15)
expressed as: represent a non-linear optimization problem. The non-linear
optimisation problem can be solved using the “fmincon”
PLoad = PHKT − PMP + PTG + PDG (6) interior point method in MATLAB [40]. However, any other
non-linear optimization methods could also be used. Fmincon
III. THE OPTIMIZATION PROBLEM solves problems in the form:

In this work, an optimum operation scheduling minimizing ⎧c( x) ≤ 0

the 24-h operational cost of the proposed hybrid power plant ⎪c ( x) = 0
is desired. For this purpose, an optimization problem is ⎪ eq
⎪
formulated, through the minimization of the operation cost min f ( x ) Subject to:
x
⎨ A.x ≤ b (16)
that results from the energy supplied to the load, considering ⎪ A .x = b
the main operational restrictions of each of the hybrid ⎪ eq eq

system’s components. The solution of this problem provides ⎪⎩lb ≤ x ≤ ub

an operational strategy to be followed by the DG, HKT and
hydro generator/pumping units during 24 hours.
Where: x, b, beq, lb, and ub are vectors; A and Aeq are matrices;
The following optimization problem is solved:
N
c(x) and ceq(x) are functions that return vectors and f(x) are
Minimize: C f × ∑ (aPDG
2
( j ) + bPDG ( j ) + c ) (7)
function that returns a scalar. f(x), c(x), and ceq(x) can be
nonlinear functions.
j =1
 IV. CASE STUDY V. SIMULATION RESULTS AND DISCUSSIONS

A. Resources and load data A. Hybrid system behavior

The hourly water velocity as well as load demand for a 24
hour period are shown in Table 1 for the selected South
African summer and winter days, respectively. These data are
available from ref. [41]; they are used as input to the optimal
operation control model developed in section 3 above.
B. Component sizes and model parameters
This study focuses on the operation control; the sizes of
the hybrid system’s components as well as the different
parameters used in the simulations are given in table 2 below,
obtained from reference [41].
1) Winter case
Figure 2 shows the load profile for the selected winter day.
It can be observed that the demand is highly nonlinear; low
during the night with high peaks in the morning and in the
evening.
Figure 3 represent the HKT output power, the PHS output
power, the variation of water volume (potential energy) in the
reservoir as well as the DG output power in the hybrid system,
respectively. The following observation can be made:
8 PL

TABLE I. WATER RESOURCE AND LOAD DATA 7

Time (h) Summer Winter 6

Water speed Load Water speed Load
(m/s) (kW) (m/s) (kW)
5
00:00 1.41 0.3 1.2 0.3
01:00 1.41 0.2 1.2 0.2

P L [kW]
02:00 1.41 0.1 1.2 0.1 4

03:00 1.41 0.0 1.2 0.0

04:00 1.41 0.3 1.2 0.3 3

05:00 1.41 0.0 1.2 0.0

06:00 1.41 2.4 1.2 3.0 2

07:00 1.41 0.6 1.2 0.7

08:00 1.41 4.3 1.2 8.0 1

09:00 1.41 5.6 1.2 5.6

10:00 1.41 3.2 1.2 2.6 0
0 5 10 15 20 25
11:00 1.41 1.6 1.2 3.0 Time [h]
12:00 1.41 0.3 1.2 0.5
13:00 1.41 2.0 1.2 3.4
Figure 2: Daily load profile in winter
14:00 1.41 0.4 1.2 0.7
15:00 1.41 0.8 1.2 1.3
16:00 1.41 3.9 1.2 1.4
17:00 1.41 1.8 1.2 1.5 3
2
18:00 1.41 1.7 1.2 3.8 P PHS
19:00 1.41 1.9 1.2 4.6 1.5
2
max P PHS
20:00 1.41 2.2 1.2 5.9
P HKT [kW]

P PHS [kW]

PHKT 1
21:00 1.41 0.9 1.2 2.1 1 max P HKT
22:00 1.41 0.7 1.2 0.8 0
23:00 1.41 0.3 1.2 0.3 0.5
-1

0 -2
0 5 10 15 20 25 0 5 10 15 20 25
TABLE II. SIMULATION PARAMETERS Time [h] Time [h]

Item Household
Sampling time (Δt) 30 min 1
Volume
8

PHS nominal capacity 5.6kWh 0.8 Volume max

6 P DG
PHS maximum Volume 100% Volume min
maximum of P DG
P DG [kW]

PHS minimum Volume 0%

Volume

0.6
4
PHS overall efficiency 50% 0.4
HKT power 2 kW
2
DG rated power 8 kW 0.2

Diesel fuel price 1.4$/l 0 0

a 0.246 0 5 10 15 20 25 0 5 10 15 20 25
Time [h] Time [h]
b 0.0815
c 0.4333
Figure 3: Daily optimised power flow (PHKT, PPHS, and PDG) and reservoir
dynamics (winter case)

From 00h00 to 07h00: It can be noticed that during the night

and early morning the load demand is low and the water
reservoir is almost empty, thus the HKT system producing energy from the HKT and the PHS during the peak demand
enough power to supply the Motor-Pump set as well as to occurring around 10h00.
supply the load at the same time. Therefore, the volume of
water in reservoir increases to reach its maximum capacity at PL
around 06h30. During that time, the power from PHS is
negative, representing its pumping operation mode. The DG 5

is kept off because there is enough power from the HKT to

supply the load.
4
From 07h00 to 09h00: The morning peak load demand occurs
between 07h00 and 09h00, therefore the HKT is used at its
maximum in conjunction with the Turbine-Generator power

PL [kW]
3

represented by the positive power flow from the PHS. The

DG also switches ON, only to balance the energy needed,
then switches OFF as soon as there is enough power from the 2

HKT and the PHS.

From 09h00 to 17h00: After the morning peak, the volume of 1
water in the PHS is at 35% of its maximum capacity;
therefore the HKT power stays at its maximum to produce
more power than the load requirement. This surplus is used to 0
0 5 10 15 20 25

pump water in the reservoir with a level of 60% at the end of Time [h]

the afternoon. Figure 4: Daily load profile in winter

From 17h00 to 21h00: In the evening, the power demand
increases gradually from 17h00 and then reaches the peak
between 19h00 and 20h00, and finally decreases at 21h00. 2 3
Therefore the HKT and the Turbine-Generator set of the PHS
2 PPHS
are used at their maximum power during the peak in 1.5
max PPHS
conjunction with a small contribution of the DG. It can be
PHKT [kW]

PPHS [kW]
1
1
noticed that toward the end of this peak power demand, the PHKT
0
max PHKT
volume of water in the reservoir is at its lower limit. 0.5
-1
From 21h00 to 00h00: After the evening peak demand, the
load decreases and there is enough power from the HKT to 0
0 5 10 15 20 25
-2
0 5 10 15 20 25

supply the load. Therefore the excess of energy is used to Time [h] Time [h]

supply the Motor-Pump of the PHS to store in the reservoir.

1 8
During this period, the DG is kept OFF. Vol
0.8 Vol max 6 PDG
Vol min
2) Summer case
PDG [kW]

max PDG
Volume

0.6

The difference between the hybrid system operation 0.4

4

scheduling in winter and summer are also analyzed using the 2

0.2
developed model. This difference is mainly due to the change
of water velocity with the climate and the change of load 0
0 5 10 15 20 25
0
0 5 10 15 20 25

requirements which have significant effects on the hybrid Time [h] Time [h]

system’s dispatch strategy. Using the data from section 4
above, the simulation results reveals that the DG contribution
is less required in summer compared to winter due to lower
load demand in summer compared to winter at the specified
location of the study.
The load profile is given in figure 4 while the HKT output
power, the PHS output power, the variation of the reservoir’s
water volume as well as the DG output power during the
selected summer day are presented in figure 5. From figure 5,
it can be seen that the load mostly relies on the HKT and the
PSH storage system, even during high peak demands; the
water level in the reservoir is not reduced to its minimum as it
is the case in winter. The DG contribution is lower compared
to the one from the selected winter day because it is only
switched ON for a short period of time to cater the deficit of
Figure 5: Daily optimised power flow (PHKT, PPHS, and PDG) and reservoir
dynamics (summer)
3) Cost savings
Table 3 shows how much operational fuel can be saved by
using the proposed hybrid system instead of the DG “alone”
in the selected winter or summer day. These results
demonstrate that it is very important to take into account the
seasonal variations of the load when calculating the system’s
daily operation cost.
VI. CONCLUSION
In this paper, a model was developed to find the optimal
daily operation scheduling to be implemented in a hybrid
system composed of hydrokinetic and diesel generator with
pumped hydro storage. This model aims to minimize the use
of the diesel generator while maximizing the use of the
hydrokinetic and the pumped hydro storage system. As
already mentioned, this work considers the non-linearity of
the daily load demand as well as diesel fuel consumption
resulting in non-uniform daily operational costs.
The simulation results show that using the pumped hydro
storage ability, it is possible to deal with any load operational
constraints that usually require a rapid response from the
power generation or storage system. For the two case studies,
it has been demonstrated that using the proposed hybrid
system and taking into account the non-linearity in daily and
seasonal variations of the load demand, substantial reduction
in the daily operational cost of the diesel fuel can be
achieved. The difference in daily operation cost achieved
highlight the potential of the proposed optimization model to
reduce fuel consumptions for the proposed hybrid system
compared to the diesel generator only scenario.
Pumped hydro storage also increases the penetration of the
generation form hydrokinetic systems, aiming to improve the
participation of hydrokinetic generation in electricity markets.
A decrease in the needs on diesel generator can also be
obtained, since there will be an increase of the availability
and reliability of power supply.
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