CONTROLLING INDUSTRIAL FACILITIES USING HIERARCHICAL REINFORCEMENT LEARNING
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for controlling a facility through hierarchical reinforcement learning. In particular, the facility is controlled using a high-level controller neural network that makes high-level decisions and a low-level controller neural network that makes low-level controller decisions.
1 . A method performed by one or more computers and for controlling a plurality of items of equipment within a facility, the method comprising:
at each time step in a sequence of time steps:
receiving an observation characterizing a state of the facility at the time step;
identifying a current operational state of each item of equipment after a preceding time step in the sequence that indicates whether the item of equipment was enabled or disabled after the preceding time step;
processing a high-level input comprising the observation using a high-level controller neural network to generate a high-level output that specifies, for each item of equipment, whether to change the current operational state of the item of equipment;
determining, based on the current operational states of the items of equipment and the high-level output, a new operational state of each item of equipment that indicates whether the item of equipment will be enabled or disabled at the time step; and
processing a low-level input comprising the observation using a low-level controller neural network to generate a low-level output that specifies, for each item of equipment having a new operational state that indicates that the item of equipment will be enabled at the time step, a value of an operating property for the item of equipment.
2 . The method of claim 1 , wherein:
the facility is an industrial boiler facility and the items of equipment are boilers; or
the facility has a chiller plant and the items of equipment are a plurality of chillers within the chiller plant.
3 . The method of claim 1 , wherein:
the facility has a chiller plant, the items of equipment are a plurality of chillers within the chiller plant, and
the low-level output specifies, for each chiller having a new operational state that indicates that the chiller will be enabled at the time step, a temperature set point for the chiller.
4 . The method of claim 3 , further comprising:
transmitting data to a control system for the facility that causes the plurality of chillers to operate in accordance with the new operational states and temperature set points.
5 . The method of claim 3 , wherein determining, based on the current operational state and the high-level output, a new operational state of each chiller that indicates whether the chiller will be enabled or disabled at the time step comprises:
for each chiller that was disabled after the preceding time step, determining to enable the chiller only if the high-level output specifies that the operational state of the chiller be changed.
6 . The method of claim 3 , wherein the high-level output further specifies, for each chiller that will be enabled as a result of changing the current operational state of the chiller, a step goal defining a number of consecutive time steps for which the chiller will remain enabled.
7 . The method of claim 6 , wherein determining, based on the current operational state and the high-level output, a new operational state of each chiller that indicates whether the chiller will be enabled or disabled at the time step comprises:
for each chiller that was enabled after the preceding time step:
determining whether a step goal for the chiller that was specified by a high-level output generated at a preceding time step at which the chiller was enabled has been satisfied; and
determining to enable the chiller only if the step goal has been satisfied and the high-level output specifies that the operational state of the chiller be changed.
8 . The method of claim 6 , wherein the low-level input comprises the observation and one or more of:
(i) data indicating the new operational states for one or more of the chillers, or
(ii) for each chiller that will be enabled as a result of changing the current operational state of the chiller, data identifying the step goal for the chiller.
9 . The method of claim 3 , wherein the observation comprises chiller plant measurements that comprise one or more of: a number of chillers enabled after the preceding time step, facility temperature, and chiller plant power consumption.
10 . The method of claim 1 , further comprising:
receiving a high-level reward for the time step; and
training the high-level neural network through reinforcement learning using the observation, the high-level output, and the high-level reward.
11 . The method of claim 10 , wherein;
the facility has a chiller plant, the items of equipment are a plurality of chillers within the chiller plant,
the low-level output specifies, for each chiller having a new operational state that indicates that the chiller will be enabled at the time step, a temperature set point for the chiller, and
the high-level reward is based at least in part on power consumed by the chiller plant at the time step.
12 . The method of claim 11 , wherein the high-level reward is based at least in part on respective durations of times that each of the plurality of chillers have been enabled.
13 . The method of claim 12 , wherein the high-level reward is based at least in part on, for each chiller, a respective fraction of time in a specified time window for which the chiller has been enabled.
14 . The method of claim 11 , wherein the high-level reward is based at least in part on a penalty term that is only non-zero when a number of chillers enabled at the time step does not match a target number of enabled chillers.
15 . The method of claim 1 , further comprising:
receiving a low-level reward for the time step; and
training the low-level neural network through reinforcement learning using the observation, the low-level output, and the low-level reward.
16 . The method of claim 15 , wherein:
the facility has a chiller plant, the items of equipment are a plurality of chillers within the chiller plant,
the low-level output specifies, for each chiller having a new operational state that indicates that the chiller will be enabled at the time step, a temperature set point for the chiller, and
the low-level reward is based in part on power consumed by the chiller plant at the time step.
17 . The method of claim 15 , wherein the low-level reward is based on a temperature of the facility at the time step.
18 . The method of claim 17 , wherein the low-level reward is based on whether the temperature of the facility at the time step violates any constraints on facility temperature.
19 . A system comprising:
one or more computers; and
one or more storage devices communicatively coupled to the one or more computers, wherein the one or more storage devices store instructions that, when executed by the one or more computers, cause the one or more computers to perform operations for controlling a plurality of items of equipment within a facility, the operations comprising:
at each time step in a sequence of time steps:
receiving an observation characterizing a state of the facility at the time step;
identifying a current operational state of each item of equipment after a preceding time step in the sequence that indicates whether the item of equipment was enabled or disabled after the preceding time step;
processing a high-level input comprising the observation using a high-level controller neural network to generate a high-level output that specifies, for each item of equipment, whether to change the current operational state of the item of equipment;
determining, based on the current operational states of the items of equipment and the high-level output, a new operational state of each item of equipment that indicates whether the item of equipment will be enabled or disabled at the time step; and
processing a low-level input comprising the observation using a low-level controller neural network to generate a low-level output that specifies, for each item of equipment having a new operational state that indicates that the item of equipment will be enabled at the time step, a value of an operating property for the item of equipment.
20 . One or more non-transitory computer-readable storage media storing instructions that, when executed by one or more computers, cause the one or more computers to perform operations for controlling a plurality of items of equipment within a facility, the operations comprising:
at each time step in a sequence of time steps:
receiving an observation characterizing a state of the facility at the time step;
identifying a current operational state of each item of equipment after a preceding time step in the sequence that indicates whether the item of equipment was enabled or disabled after the preceding time step;
processing a high-level input comprising the observation using a high-level controller neural network to generate a high-level output that specifies, for each item of equipment, whether to change the current operational state of the item of equipment;
determining, based on the current operational states of the items of equipment and the high-level output, a new operational state of each item of equipment that indicates whether the item of equipment will be enabled or disabled at the time step; and
processing a low-level input comprising the observation using a low-level controller neural network to generate a low-level output that specifies, for each item of equipment having a new operational state that indicates that the item of equipment will be enabled at the time step, a value of an operating property for the item of equipment.