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Abstract: This paper presents the digital algorithm for on-line replica of the primary currents and voltages [2] what requires
dynamic compensation of the secondary voltage of a Capacitive compensating the protective transformers for their transient
Voltage Transformer (CVT). The adopted CVT model together with errors. Such as approach for current transformers has been
the assumed simplifications is given first. Next, the compensating reported in [2], while in [3] the nonrecusive digital filtering
algorithm based on digital inversion of the CVT transfer function is
applied to a CVT has been introduced.
derived Frequency domain analysis and quantitative evaluation of
the compensation follow. The ATP-EMTP simulations are included This paper addresses the problem of on-line digital com-
that show the improvement of the measurement of protective criteria pensation of a CVT for the transient errors induced in the
quantities as a result of dynamic compensation of a CVT. CVT circuit itself.
Very generally, the dynamics of a CVT is determined by
Keywords: capacitive voltage transformers, two factors:
dynamics, * nonlinear oscillations under saturation of magnetic core
compensation, of the CVT step-down transformer,
protective relaying. 0 discharging of the CVT internal energy during short cir-
cuits on an associated transmission line.
I. INTRODUCTION Non-linear oscillations can appear when the operating
Due to certain construction limitations both the instru- point of the magnetizing characteristic of the step-down
ment voltage and current (CTs) transformers exhibit unde- transformer is shifted to the saturation region. CVTs are
sired dynamic behaviour under short-circuits in the power therefore equipped with the special anti-ferrorezonanse cir-
system. As a result of that, maloperation or substantial delay cuits for avoiding stabilization of the sub-harmonics [4].
in tripping of protective relays may happen. A lot of effort These circuits, however, affect the transients of the second
has been paid recently for minimizing the negative influence kind.
of the transients caused by the instrument transformers on the Discharging of the CVT internal energy (accumulated in
estimation of protective criteria quantities. Application of the the pre-fault state) - to the level determined by the reduced
linear regression method for this purpose [I] is just one of the post-fault primary voltage - results in considerable distortion
examples. of the secondary wave [3-51. The higher is the reduction of
Although majority of protective relays are designed to the primary voltage, the more extensive transients induced by
tolerate to some extend distorted output CVT voltages and the CVT itself occur. Especially, faults at zero crossing of the
CT output currents, the transient errors may still cause diffi- primary voltage result in substantial transient errors that, in
culties in some applications. This, in turn, calls for further turn, affect the operation of supplied protective relays.
improvement of protective relays operating under presence of It is proposed in this paper to reject the CVT induced
transient errors of CVTs and CTs. This improvement may be transients from the voltage signal with the use of digital
brought out by feeding the relays with a reasonably accurate compensation algorithm based on inversion of the CVT
simplified transfer fimction. The developed algorithm due to
its recursive form enables effective rejection of the CVT
PE-81 9-PWRD-0-04-1997 A paper recommended and approved by transients without introducing any substantial delay in the
the IEEE Power System Relaying Committee of the IEEE Power measurement, as it would be in case of using nonrecursive
Engineering Society for publication in the IEEE Transactions on Power
Delivery. Manuscript submitted December 23, 1996; made available for filters proposed in [3].
printing March 26, 1997. This paper is organized as follows:
0 The model of a CVT and the basic simplifications leading
to the adopted transfer function of a CVT (Sec.11).
0 The basic compensating algorithm (Sec.111).
0 The frequency domain analysis of the algorithm and the
improved compensating algorithm (SecJV).
1IC
in a number of ways with the objective to obtain the desired
dynamics of the compensated CVT. In this paper the follow-
T R 4 1 4 1
ing observation has been utilized for this purpose.
The equivalent CVT circuit shown in Fig. 2 becomes the
model of an idealized CVT if the load inductance is ne-
glected (Lo = 0). Such as ideal CVT has acceptable dynamic
&e behaviour and may be a target of dynamic compensation of a
Fig.1. Adopted CVT model. real CVT. Furthermore, the transfer function of an ideal CVT
assumes the form of (4). Thus, the path followed in this paper
7yj-pv
C'=C',+C; R'
Fig.2. Simplified equivalent to find the appropriate values of A4 .. A7 is as follows:
diagram of a CVT with the 1. Assume the parameters of an ideal CVT to be obtained
R, parameters related to the secon- as a result of compensation.
L, dary side of the step-down
transformer.
R, 4
118
2. Compute the transfer function of the ideal CVT in the IV. FREQUENCY DOMAINANALYSISOF THE
form of (4); the coefficients of the denominator are the CVT COMPENSATOR
sought values of A4 ,. A7.
A. The design
B. The discrete time algorithm
The compensator in the form of (7) has been designed
Different numeric procedures can be applied for obtain- taking as a compensation target the ideal CVT operating at
ing the discrete form of the compensator (3). In this paper the almost pure open circuit mode. Thus, the target transfer
following trapezoidal rule is applied for discretization: fubction of the compensation assumes the form of (4) and
(1 - 2-) results from the circuit shown in Fig.2 with the following
s=3w--- parameters:
(1 + z-)
(0 r, c ~ = c ~ , , u : L ~ c=~
I O=R ~
, , ,,UR, L, =
, ~ O O R , ,R, , = o ,
where: W=
tan(05o r, ) Lo =0, RI = R2 = W .
the fundamental radian frequency, where: C, ,bn the rated CVT parameters (Appendix I).
the sampling period, For the above data, the coefficients A4, A 4 4,A7 have
the operator representing a time delay of a been computed. The rest of the coefficients of the compensa-
single sampling period. tor transfer function (3) are pre-computed from the CVT
The advantage of using (5) is that it gives the gain and the parameters (Appendix I). Using (6) one gets the compensat-
phase displacement at the fundamental frequency exactly the ing algorithm in the form of (7). lkHz has been used as a
same as under continuous differentiation. sampling rate in this paper.
Application of (5) to (3) yields: B. The analysis
Fig. 3 presents the frequency responses of the CVT itself
and the CVT equipped with the proposed compensating al-
where: gorithm.
The CVT displays the distinctive maximum of its fre-
N, = B,w4 - B,w3 -+ B, W - B, W +B, (64 quency response in the subharmonic region (at about 20Hz
N, = -4B4w4 +2B,w -2B,w+4B, (6b) for the data used in this paper). In order to reject the CVT
A, =6B,w4 -2B,w2 +6B, (sc> induced transients, the compensator ought to provide possi-
bly flat resultant characteristic (CVT together with its com-
N , =-4B4w4 -2B,w3 +2B,w+4Bo (0 pensator) in this subharmonic region. Application of the
N o = B, w4 + B, w3 + B, w2 + B, w + Bo (64 designed compensator provides this in comparatively wide
the denominator (M4,...,MO) is obtained analogously, i.e. range of frequencies. At the same time, the resonant peak is
with the use of (6a-e) in which Bs are replaced by Ds from shifted to about 2Hz. It is worth to emphasize that transients
the denominator of (3): of such frequencies (2Hz) appearing in the compensated
0 4= A 3 4 (60 voltage are easy to reject by the majority of measurement
D3=A24+A3A5 (64 algorithms.
The designed compensator (7), however, exhibits too
0 2 =A2Ag+A3Ag (a) high gain for the frequencies higher than the 6 harmonic.
Dl =A2Ag+A3A7 (69 This is a simple result of the difference between the continu-
Do =A2A7 ($1 ous time differentiation and the discrete time differentiation.
Transformation of (6) to the time domain leads to the To avoid this, certain extra nonrecursive digital filter of low-
following digital compensator in the form of a recursive pass type is proposed to be applied at the output from the
filter: original compensator (7).
COThe improved compensator
The improved compensator is a cascade of the original
where: n present sampling instant, compensator given by (7) and a short window non-recursive
v2 uncompensated secondary voltage (as digital filter added to its output. The self-explanatory as-
supplied by an A/D converter), sumptions for such a filter are summarized as follows:
v c o M ~compensated
, secondary voltage - the e zero gain at half the sampling frequency,
output from the filter (7). unity gain and zero phase displacement for the
The filter (7) constitutes the simplest compensator for a fundamental frequency,
CVT. This compensator may be even more optimized as e possibly short data window.
I
The proposed compensating algorithms are very efficient
0
0 100 200 300 400 500 600 700 SO0 from the numerical point of view. The original algorithm
frequency, H a
calls for only 9 multiplications and 8 additions, while the
I ,b) improved algorithm requires 11 multiplications and 10 addi-
't A CVTB COM-I 1 tions. This on-line computational burden may be easily ac-
a 2 . 25 t I
I\ \
commodated by the Digital Signal Processing (DSP) units of
contemporary digital relays.
V. EVALUATION OF THE COMPENSATING ALGORITHM
IN
THE TIMEDOMAIN
I , /-
0.5
. f A. The sample cases
I
0 I .
\,/ I
0 100 200 300 400 500 600 700 800 Fig. 4 presents the compensation effect of the improved
frequency, H z
Fig.3. Frequency domain analysis of the compensation effect. (a) the compensator (9) under abrupt reduction of the primary volt-
CVT itself and the CVT with the original compensator, (b) the CVT with age to 5% of the rated value. The voltage drops when its
the original and improved compensators. wave crosses zero. Considerable rejection of the CVT in-
duced transients is observed. The compensated voltage wave
In this paper the three-sample filter is recommended. The (Fig. 4b) is almost pure sinusoidal, except few samples right
output from the improved compensator, vc, is thus computed after the fault incipience (caused by the three-sample tran-
as : sient of the filter (8)). Fig. 4c presents, in turn, the orthogonal
components based estimation of the amplitude of the voltage
for compensated and uncompensated secondary voltages.
where: Half a cycle digital filters having sine and cosine impulse
2 cos(w,T,) -1 responses, but the latter shifted in such a way that the d.c.
b=
1 + 2 cos(w,T,)
,c=
1+ 2 cos(w T, ) ' , offset is completely rejected, were used for that. It is worth to
add that the filters have to have the zero gain at the sampling
1 frequency in order to neutralize the significant gain of the
a=
1+ b cos(w,T,) + ccos(2wIT,) compensating algorithm for this frequency. Considerable
The cascade of the original compensator (7) and the low- improvement of the voltage amplitude estimation is obtained
pass filter (8) gives the resultant compensation algorithm of when the compensated secondary voltage is processed. The
the following recursive form: amplitude of the uncompensated voltage exhibits large oscil-
i=6 i=4
lations, while the amplitude under compensation stabilizes
vzc(n) = P,vz(n-i) - QivZc(n
-i) (9) after around half a cycle and displays very small oscillations.
i=O i=l Fig. 5 presents, in turn, the compensation effect for the
where: Pi,Qi the coefficients (see Appendix 111). case of voltage reduction at the wave maximum. In this case,
The frequency response of the improved compensator is the CVT induced transients are not so extensive, and there-
shown in Fig. 3b. The resonant peak at 500Hz is canceled fore, the compensation effect is not so visible. However, even
and for lower frequencies the amplitude only slightly exceeds in this case the estimated amplitude stabilizes faster when the
unity (by 15% at 200Hz). compensated secondary voltage is processed (Fig. 56).
As an alternative, to avoid the delay introduced by the B. The performance index
filter (8), rejection of the frequencies of half the sampling In order to measure the ability of the compensating algo-
frequency can be left to the measuring algorithm itself. rithms to reconstruct the primary voltage waveform, the
D.The starting procedure following self-explanatory performance index has been in-
troduced:
Both the compensators - the original (7) md the improved
(9) - as recursive digital filters require a kind of a starting
c
M
,=O
JV', ( i ) - V Z C (91
100% (10)
A CA/ = M
procedure. To initiate the filters (7) or (9) one needs four
historical samples of the compensated voltage. For this pur- ,=O
lVll ( i ) - v2 (ill
120
x lod
I
I
0 001 002 003 004 005 006 007
100, , b)
time, 1
time, s
c)
+
"\
8 X
I V
7 . I 7 -
vc
>
6..
I rl
I l l
I ; ! -
/
_ I - L
c
6 -
=
;5
e
3 4 .
.
L I
-1 -
1'
-
L I 1
-LL-
$ 5
g3-
1 4 -
- --___- -- -._ -- - - - ~ _.
-..
P 1. J
: 1 . \vc -L 1 _- V
2 . 2 -
-
1-/
I _
0
0 02 0 03 0 04 0 0'5 0 06 0 07 0 02 0 03 0 04 0 05 0 06 0 07
$200 1
005
,
006 007
,
008
, ,
009
,
01 011
, ,
012
conclusions: hme, s
4
1. Substantial improvement of protective relays operation 2
":I
I
as a certain prefiltration block.
2. The compensating algorithm resulting in a transfer
function of an ideal CVT is sufficient from the technical
!t
point of view. The attempts to design more ideal compensa-
-1
tor providing completely flat frequency response, lead to 004 005 006 007 008
hme. s
009 01 011 012
very complex filters having problems with the numerical Fig.7. Sample measurements: (a) the primary voltage, (b) the uncom-
stability and initial conditions. pensated and compensated secondary voltages, (c) the apparent resistance
3. The modifications of the frequency response of the estimated without (R ) and with compensation (K), (d) the apparent reac-
tance estimated without (X) and with compensation (XJ.
original compensator (7) in the region close to half of the
sampling rate may be done by the non-recursive filter (S), but
also by combining in a single recursive algorithm the func- VIII. REFERENCES
tions of CVT compensation and frequency filtration required Bornard P. and Bastide J.C.: "A prototype of multiprocessor based
for a particular relaying algorithm. distance relay", ZEEE Trans. on Power Apparatus and Systems,
4. The performed evaluation of the compensating algo- VoLPAS-101, No.2, February 1982, pp.491-498.
rithm proved its satisfactory performance. As a result of Kang Y.C., Kang S.H., Park J.K., Jones A.T. and Aggarwal R.K.:
applying the dynamic compensation of CVTs, an accurate "Development and hardware implementation of a compensating algo-
estimation of proteotive criteria quantities is provided in rithm for the secondary current of current transformers", IEE Proceed-
ings - Electric Power Applications, Vo1.43, No.1, January 1996, pp.41-
substantially shorter time comparing with the measurements 49.
that use the uncorrected secondary voltage signals.
122