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Seleccion Wavelet Madre-2008
Seleccion Wavelet Madre-2008
Abstract--In the literature, wavelet techniques are proposed for first one employs Meyer. The second one presents a method
the analysis of power system transients. Many mother wavelets for the boundary protection of series-compensated lines and
have been used for this analysis such as Haar, Daubechies (db), fault classification using db4 and db1.
Symlets, and Coiflets. This paper describes a strategy to choose a
As reported in [1-10], researchers agreed on the object
suitable mother wavelet for this analysis. It also shows the
deviation between Matlab and theoretical (mathematically
which is using wavelet transform in electrical power system
calculated) db-wavelets when they are used for the analysis of transients analysis. However, they differed in the type of
power system transient. The simulation study is carried out using wavelet used. Reference [1] shows that for short and fast
PSCAD simulation program and Matlab wavelet toolbox. The transient disturbances, db4 and db6 wavelets are the best,
simulation results show that the theoretical db wavelet is more while for slow transient disturbances; db8 and db10 are
suitable for analyzing power system fault transients than the particularly good. The db4 wavelet is then chosen in [1] for
Matlab db wavelet. fast transient because it is the most localized in time. On the
other hand, it is shown in [6] that db8 is more suitable in
Index Terms-- Daubechies wavelet, Matlab wavelets toolbox,
comparison with db4 wavelet in representing the transient
Power system fault transient.
signals because it is smoother and more oscillatory in nature.
I. INTRODUCTION Although, there have been a great effort in these references
to prove that one wavelet is more suitable than another, there
have not been a comprehensive analysis involving a number of
©2008 IEEE.
2
d1[n] FIR filter is a causal filter, which uses only the present and
g[n] 2
co[n] past of the input [13]. The causality property is used for fast
g[n] 2 d2[n] detection of transients in power system using sample by
sample technique.
h[n] 2 c1[n]
The order of wavelet corresponds to the filter length. As the
h[n] 2 c2[n] filter length increases, better approximation is obtained.
Fig. 1. Two signal decomposition levels of co[n]. However, higher number of coefficients smoothes the output
decomposition which leads to indistinguishable transient.
φ (t ) = 2 ∑ h(n ) φ (2t − n ) (1) For short and fast transient disturbances in power systems,
n the wavelet must be localized in time and oscillate rapidly
ψ (t ) = 2 ∑ g (n ) φ (2t − n )
within a very short period of time. This means short length of
(2)
n LPF and HPF filters. However, a very short filter length leads
In Fig.1 co[n] denotes the samples of a continues signal x(t), to a blockness problem [11].
the output c1[n] is a smoothed version of co[n] and d1[n] is a For dyadic MRA, the minimum filter order is equal to two
detailed version of co[n]. The next higher scale of coefficients. However, for more freedom and to eliminate the
decomposition is now based on the signal c1[n] and the blockness problem, the filter length must be greater than or
decompositions are performed in the same way. equal to 4 coefficients [11].
From the above discussion, the wavelet must be
B. Choice of a Suitable Wavelet orthonormal with FIR filter. The filter length is not suppose to
The choice of a suitable wavelet for power system transient be less than four coefficients and not much longer. The
study depends on the waveform shape of the signal. The chosen wavelet must give a prefect reconstruction. It means
chosen wavelet must be close to the analyzed signal. Hence, it that, the reconstructed signal estimated from the chosen
gives a prefect reconstruction with few decomposition levels. wavelet must be close to the analyzed one.
The chosen wavelet must be orthonormal with FIR filter. The
orthonormality is important because: III. FORMULATION OF PROBLEM
1- It implies that the energy content of a signal is Consider a three-phase transmission line, Clark
preserved through the wavelet transform; therefore transformation matrix is used to transfer the phase signals into
the transient signals are not missing any information their modal components in order to uncouple the mutual
through the transformation. coupling between phases as follows [3]:
2- It allows for multiresolution analysis (MRA), S mod e = T S phase (6)
therefore, the WT have different analysis in different
scales to extract high and low frequency details of the where T is the Clark transformation matrix, S mod e
transient signals.
3- The inner product of the signal with the orthonormal and S phase are the modal and phase signals vectors (voltage
basis obtains the wavelet coefficients. and current).
The necessary and sufficient conditions for orthonormality The first mode (mode 0) is usually referred to as the ground
are: mode, and its magnitude is significant only during faults
⎧1 if n = 0 having a path to ground. The second mode (mode 1 and mode
∑ h(m ) h(m − 2n ) = δ (n ) = ⎨ (3) 2) is known as the aerial mode. It is present for any kind of
⎩0 otherwise
fault. In this paper mode 1 is used for signal analysis as signal
∑ g (m ) h (m − 2 n ) = 0 ( 4) reconstruction error was the least when using mode 1. Hence,
where m, n ∈ Z , and Z is a positive integer number. it has been decided to use mode 1 rather than using the phase
To ensure the orthogonality and perfect reconstruction quantities or the other modes.
(PR), h(n) and g(n) must satisfy the following condition : In this paper, the choice of a suitable wavelet is based on
the prefect reconstruction of the power system signal. The
g [n ] = ±(− 1) h[N − n ]
n
( 5) error between the original signal (x) and reconstructed
where N-odd and N ∈ Z . signal ( x̂ ) should be the smallest for prefect reconstruction.
FIR filter is used to provide a compact support which means The reconstruction criterion is evaluated using the most
that φ(t) and ψ(t) must be zero outside the interval [0 , N-1] common method, which is the root mean square difference
[12]. The compact support propriety provides a window method given in (7).
technique which is very useful for transient signal analysis N −1 2
(nonstationary signal). ε error = x − xˆ = ∑ x ( n) − xˆ ( n) (7)
FIR filters must have number of zeros at ω = π (Z = -1) to n= 0
provide a measure of smoothness (regularity condition). The The chosen filter length is not less than four coefficients
regularity condition propriety provides a smoothness of the and not longer than sixteen coefficients. In this paper a
wavelet function. The smooth wavelet gives a good comparison is done between
representation of transients in the signal.
3
WAVELET NAME
Wavelet decomposition and db4 1.20E-08
reconstruction by using db6 1.15E-08
db2-db8, sym2-sym8, coif1 and coif 2 coif1 1.01E-08
Reconstructed signals ( x̂ )
sym6 8.58E-09
sym7 8.12E-09
sym2 6.65E-09
Calculation of error between x
db2 6.65E-09
and x̂ according to (7) sym4 5.23E-09
sym8 1.95E-09
sym5 1.80E-09
Check for minimum error to 0.00E+00 2.00E-08 4.00E-08 6.00E-08 8.00E-08 1.00E-07 1.20E-07
find the most suitable wavelet ERROR
db2 – db8, sym2 – sym8, coif1 and coif2 (these wavelets sym3 4.98E-07
db3 4.98E-07
satisfy the conditions indicated in Section II). Fig. 2 shows the db8 2.59E-07
flowchart of the proposed algorithm for choosing the most db5 1.74E-07
coif2 2.25E-08
sym3 2.19E-08
80.00%
71.05%
db3 2.19E-08
70.00%
db8 5.19E-09
VERIFYING PERCENTAG
db5 4.76E-09
60.00%
db7 3.11E-09
WAVELET NAME
db2 5.11E-09
db8 4.64E-09 Daubechies Wavelets are regular orthogonal and compact
db6 4.56E-09 support with minimum size for any given number of P-
db7 3.91E-09 vanishing moments. Daubechies used the flowing relationships
coif1 2.05E-09
to satisfy wavelets conditions [14,15,16].
sym4 1.08E-09
p
⎛ 1 + e −iω ⎞
( )
sym6 7.60E-10
sym7 7.15E-10 H (ω ) = 2 ⎜ ⎟ Q e −iω (8)
sym8 2.13E-10 ⎜ 2 ⎟
sym5 1.76E-10
⎝ ⎠
p
0.00E+00 1.00E-08 2.00E-08 3.00E-08 4.00E-08 5.00E-08 6.00E-08 ⎛ 1 + e −iω ⎞
ERROR The part ⎜ ⎟ to provide for regularity
⎜ 2 ⎟
⎝ ⎠
-b-
Fig. 5. Comparison between wavelets in terms of reconstruction error for phase (zeros at ω = π ) and Q(e-iω) to provide for orthogonality.
B to ground fault.(a) Voltage signal.(b) Current signal. H(ω) must satisfy the quadrature condition to provide the
orthogonality condition:
2 2
H (ω ) + H (ω + π ) = 2
100.00%
89.47% (9 )
90.00%
80.00% The quadrature condition can be written as a poly- nomial
VERIFYING PERCENTAG
70.00%
in y as follows:
60.00% (1 − y ) p p( y ) + y p p(1 − y ) = 1 (10)
50.00% where |H(ω)| is an even function. The polynomial in y
2
p −1 ⎛ p − 1 + k ⎞ k
P (y) = ∑⎜ ⎟⎟ y (13)
k =0 ⎜⎝ k ⎠
5
−1 ⎞
2 ω ⎛⎜ 2 − Z − Z ⎟
coif2 8.75E-08
y = sin = (14)
2 ⎜⎝ ⎟ sym3 5.62E-08
4 ⎠ db3 5.62E-08
Then t hdb8 1.88E-08
⎛ 2 − Z − Z −1 ⎞
( )
db8 1.88E-08
P⎜
⎜ ⎟
( )
⎟ = Q Z Q Z −1 (15) db5 1.55E-08
⎝ 4 ⎠ db7 1.20E-08
( )
8.55E-09
−1 coif1 7.92E-09
WAVELET NAME
QZ : Zeros outside the unit circle
sym6 6.45E-09
For minimum phase choose Q (Z ) . sym2 5.81E-09
p p db2 5.81E-09
⎛ 1 − Z −1 ⎞ p−1 ⎛ p − 1 + k ⎞⎛ 2 − Z − Z −1 ⎞
h (Z ) = 2 ⎜
sym7
⎟ ∑ ⎜
5.78E-09
⎟⎟⎜ ⎟ (16)
⎜ 2 ⎟ k =0 ⎜ k ⎜ 4 ⎟ sym4 3.94E-09
⎝ ⎠ ⎝ ⎠⎝ ⎠ sym8 1.48E-09
The above explained algorithm has been implemented in sym5 1.34E-09
this paper to calculate the coefficients of the theoretical db- t hdb7 5.25E-10
wavelet. The obtained coefficients are then compared with t hdb6 4.99E-10
that there is a difference between the coefficients in the last t hdb3 5.83E-12
three digits. Even though the difference in coefficients is very t hdb2 5.76E-12
small, the usage of the coefficients obtained from the t hdb4 3.05E-12
algorithm presented above (theoretical db-wavelet) gave better 0. 00E+00 2.00E-08 4.00E-08 6.00E-08 8.00E-08 1.00E-07
ERROR
results in terms of error as will be shown later.
TABLE I -a-
MATLAB AND THEORETICAL DAUBECHIES WAVELET
coif2 3.54E-07
sym3 2.05E-07
P db-Matlab db-Theoretical
db3 2.05E-07
0.48296291314469 0.48296291314453 t hdb8 1.02E-07
0.83651630373746 0.83651630373781
2 db8 1.02E-07
0.22414386804186 0.22414386804201 db5 7.18E-08
-0.12940952255092 -0.12940952255126 db7 4.95E-08
0.33267055295096 0.33267055295008 db6 4.20E-08
0.80689150931334 0.80689150931109 db4 4.14E-08
3
-0.13501102001039 -0.13501102001025 sym6 2.89E-08
. . . t hdb3 2.52E-11
t hdb2 2.14E-11
. . .
t hdb4 1.23E-11
0.05441584224308 0.05441584224314
0.31287159091446 0.31287159091448 0.00E+00 1.00E-07 2.00E-07 3.00E-07 4.00E-07
ERROR
. .
8 . .
-b-
. . Fig. 7. Case 1 comparison between wavelets and reconstructed error for a three
0.00067544940600 0.00067544940645 phase to ground fault with 300 ohm and 350 Km from bus A. (a) Voltage
-0.00011747678400 -0.00011747678412 signal.(b) Current signal.
6
VERIFYING PERCENTAG
t hdb8 1.3618E-09
db8 3.0501E-09
40.00%
db5 3.0501E-09
db4 2.9749E-09
30.00%
db6 1.8445E-09
sym2 1.7045E-09
20.00%
db2 1.4993E-09
WAVELET NAME
coif1 1.443E-09
10.00%
db7 1.2178E-09 2.36%
sym6 8.14E-10
0.00%
sym4 5.1439E-10
thdb2 thdb4 thdb5
sym7 4.1801E-10
WAVELET NAME
sym8 1.8555E-10
sym5 1.7646E-10
t hdb7 7.7375E-11 -a-
t hdb6 7.5488E-11
t hdb3
90
3.5526E-11
78.95
t hdb2 1.8421E-11 80
t hdb5 1.2569E-11
VERIFYING PERCENTAG
70
t hdb4 1.2234E-11
60
0.00E+00 5.00E-09 1.00E-08 1.50E-08 2.00E-08
ERROR 50
40
-a-
30
sym3 6.59E-08
20 15.79
db3 6.59E-08
10 5.26
coif2 2.62E-08
t hdb8 1.52E-08 0
db8 1.52E-08 thdb4 thdb5 thdb6
db4 1.24E-08 WAVELET NAME
db5 1.07E-08
sym2 6.67E-09
-b-
db2 6.67E-09
Fig. 9. The percentage of the most suitable wavelet as obtained from the
db6 5.35E-09
WAVELET NAME