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SINAIS%Power%Meter !Low$Cost%Non!Intrusive*Home*Energy* Monitoring" M ASTER&T HESIS" LUCAS!PEREIRA" September 2011 Thesis&supervisor:" Prof. Dr. Nuno Jardim Nunes Madeira-ITI and University of Madeira Madeira Interactive Technologies Institute University of Madeira (Portugal) ! “Pedras(no(caminho?(Guardo(todas,(um(dia(vou(construir(um(castelo...”( 8 Fernando(Pessoa( “Stones(in(my(way?(I(keep(them(all,(one(day(I(will(build(myself(a(castle…”( 8 Fernando(Pessoa( ( ii Abstract( Abstract" This thesis presents a low cost non-intrusive home energy monitor built on top of Non- Intrusive Load Monitoring (NILM) concepts and techniques. NILM solutions are already considered low cost alternatives to the big majority of existing commercial energy monitors but the goal here is to make its cost even lower by using a mini netbook as a whole in one solution. The mini netbook is installed in the homes main circuit breaker and computes power consumption by reading current and voltage from the built-in sound card. At the same time, feedback to the users is provided using the 11’’ LCD screen as well as other built-in I/O modules. Our meter is also capable of detecting changes in power and tries to find out which appliance lead to that change and it is being used as part of an eco-feedback platform that was build to study the long terms of energy eco-feedback in individuals. In this thesis the steps that were taken to come up with such a system are presented, from the basics of AC power measurements to the implementation of an event detector and classifier that was used to disaggregate the power load. In the last chapter results from some validation tests that have been performed are presented in order to validate the experiment. It is believed that such a system will not only be important as an energy monitor, but also as an open system than can be easily changed to accommodate and test new or existing non- intrusive load monitoring techniques. Keywords: Energy monitoring; Non-Intrusive Load Monitoring; AC Power; Machine Learning; Eco-feedback iii Table(of(Contents( Table&of&Contents" 1"Introduction" 1! 1.1! Motivation( 1! 1.2! Vision( 3! 1.3! Document(organization( 4! 2"State"of"the"art" 6! 2.1! Background(research( 6! 2.1.1! Power theory 6! 2.1.2! Smart meters 10! 2.1.3! Non-Intrusive Load Monitoring 14! 2.2! Literature(review( 17! 2.3! Challenges( 20! 3"SINAIS"Power"meter" 22! 3.1! Profile( 22! 3.2! Software(architecture( 24! 3.3! Data(acquisition( 26! 3.4! Power(calculations( 28! 3.5! Median(filter( 31! 3.6! Event(detection( 32! 3.6.1! GLR event detector 33! 3.7! Feature(extraction( 35! 3.8! Event(classification( 37! 4"Validation" 39! 4.1! Experimental(setup( 39! 4.2! Power(calculations( 42! 4.2.1! Results 43! 4.2.2! Discussion 44! 4.3! Event(detection( 45! 4.3.1! Results 45! 4.3.2! Discussion 47! 4.4! Load(disaggregation( 48! 4.4.1! Feature extraction 48! iv Table(of(Contents( 4.4.2! Event classification 49! 4.4.3! Discussion 50! 5"Conclusions"and"future"work" 52! 5.1! Low(cost(home(energy(monitoring( 52! 5.2! Project(expansion( 52! References" 54! Referenced"Web"Resources" 56! v List(of(Figures( List%of%Figures" Figure 2.1: Power, current and voltage graph of a resistive load ............................................. 7! Figure 2.2: Power, current and voltage graph of a purely reactive load .................................. 7! Figure 2.3: Power, current and voltage graph of a partially reactive load .............................. 8! Figure 2.4: AC Power triangle .................................................................................................. 9! Figure 2.5: Current and voltage affected by harmonic content ............................................... 10! Figure 2.6: a) Kill a Watt P4400; b) Plugwise; c) TED; d) Wattson; e) EnerSure [w8] ........ 12! Figure 2.7: Non Intrusive Load Monitoring workflow ............................................................ 15! Figure 3.8: Difference between netbook soundcards: (a) Toshiba NB300-100; (b) Macbook 13’ ............................................................................................................................................. 23! Figure 3.9: Toshiba NB300 netbook - a low cost non-intrusive home energy monitor ........... 24! Figure 3.10: “Pipe-and-Filter” software architecture ............................................................ 25! Figure 3.11: Low cost Non-Intrusive Home Energy Monitor software architecture ............... 25! Figure 3.12: Power meter installation: (a) sensors installed in the main circuit breaker; (b) sensors connected to the netbook built-in sound card ............................................................. 27! Figure 3.13: Current and voltage at 50 Hz with a sampling rate of 8 kHz ............................. 28! Figure 3.14: Real time Voltage RMS, Current RMS and Real Power during 1 minute .......... 31! Figure 3.15: Microwave transients at 50 Hz: (a) turn-on; (b) turn-off .................................. 35! Figure 4.16: Local NILM installation: (a) monitor; (b) appliances being monitored ........... 40! Figure 4.17: Simulation 1 power draw and events ................................................................. 41! Figure 4.18: Simulation 2 power draw and events ................................................................. 41! Figure 4.19: Current validation chart ..................................................................................... 43! Figure 4.20: Voltage validation chart ...................................................................................... 43! Figure 4.21: Real power validation chart ................................................................................ 44! Figure 4.22: Representation of the windows from where the features will be extracted ......... 49! vi List(of(equations( List%of%equations" Equation 2.1: Apparent power ................................................................................................... 8! Equation 2.2: Relationship between real, reactive and apparent powers ................................. 9! Equation 2.3: Real Power .......................................................................................................... 9! Equation 2.4: Reactive Power .................................................................................................... 9! Equation 2.5: Power factor ........................................................................................................ 9! Equation 2.6: Power factor for both linear and non-linear loads ........................................... 10! Equation 3.7: Real Power definition ........................................................................................ 29! Equation 3.8: Real Power definition in discrete time .............................................................. 29! Equation 3.9: Voltage root-mean-Square definition ................................................................ 29! Equation 3.10: Reactive Power definition (time delay method) .............................................. 30! Equation 3.11: Reactive Power definition (time delay method) in discrete time ..................... 30! Equation 3.12: Median filter definition .................................................................................... 31! Equation 3.13: GLR detection statistics ................................................................................... 32! Equation 3.14: Maximum likelihood calculation for the detection window l-k ....................... 34! Equation 3.15: Likelihood minimum change of mean of interest ............................................ 34! Equation 3.16: Normalization definition ................................................................................. 36! Equation 3.17: Average power change definition .................................................................... 36! Equation 3.18: Nth degree polynomial equation ...................................................................... 37! Equation 4.19: Percentage error ............................................................................................. 44! vii List(of(Tables( List%of%Tables" Table 4.1 : Appliances used for validation .............................................................................. 40! Table 4.2 : Simulation 1 appliances and transitions (100 seconds) ........................................ 40! Table 4.3 : Simulation 2 appliances and transitions (200 seconds) ........................................ 41! Table 4.4 : Single appliance simulations event count .............................................................. 42! Table 4.5: Consumption results comparison ............................................................................ 44! Table 4.6: Event detection results for simulation data 1 ......................................................... 46! Table 4.7: Event detection results for simulation data 2 ......................................................... 46! Table 4.8: Event detection results for simulation data 1 (test 2) ............................................. 47! Table 4.9: Event detection results for simulation data 2 (test 2) ............................................. 47! Table 4.10 : Features extracted from one of the microwave events ........................................ 49! Table 4.11 : K-Nearest Neighbor classification results ........................................................... 50! viii 1(Introduction( ( Motivation( ! (1! Introduction" 1.1" Motivation" 1" 1.2" Vision" 3" 1.3" Document"organization"
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