Signal processing method for faults location in DC

transmission system

Jacek Rezmer, Tomasz Sikorski

Institute of Electrical Engineering Fundamentals
Wroclaw University of Technology
Wroclaw, Poland
jacek.rezmer@pwr.wroc.pl

Abstract— The paper describes the use of advanced signal
processing method for analysis of faults in DC transmission
systems in order to determine the fault location. The fault
location is based on estimation of amplitude and frequency of
decaying oscillating component in current during transient. The
investigation shows the results of parametric Prony model
application.
Keywords – DC transmission system, fault analysis, digital
signal processing, Prony method
I. INTRODUCTION
Transient phenomena assessment at DC long line during
faults should consider both “slow” signal components and
“fast” traveling waves propagation (1). “Fast” element are
associated with short impulse propagated from the point of the
fault, in both direction of the line, including also influence of
reflection and suppression. “Slow” components usually have
exponential as well as oscillating decaying character.
used as set of benchmarking signals. Investigations were based
on mathematical model of DC transmission system.
For initial tests and verifications of selected signal
processing methods an equivalent of DC line during fault was
performed. This circuits is based with lumped element which
values are associated with distance of the fault from Station 1 -
x and from Station 2 - y. Total length of the line covers both
distances x+y=l.
Analytic derivation of this circuit referring to fault location
from Station 1 (x) is concentrated around analysis of given
circuit (Fig.1)
l
x y
DC line
Station 1 Station 2

Present application of traveling waves dedicated to fault

location method is realized in real time measurement system
with precise time synchronized units localized in both ends of x*R/2 x*L/2 x*R/2 x*L/2
the line (2). That system is often equipped by additional sensor
with quick response for capture the impulse. Analysis of i1
traveling waves of digital signal processing is difficult for
uC i2
performance, because requires high sampling rate referring to E x*G x*C
wave velocity and advanced methods for capturing the travel
time of the transient along the lines between the fault point and
the relay.
Figure 1. Analyzed circuit referring to fault location from Station 1 (x)
The investigations show the results of application of
parametric Prony method (3) for fault localization. This model
is found to be good method for identifying transient signal Differential equation of the circuit based on state variables
components (4). For fault localization is used amplitude and space can be represented as:
frequency of decaying oscillating component in current during
transient. ⎡ di1 ⎤ ⎡ R 2 ⎤
⎢ dt ⎥ ⎢ − L 0 −
x⋅L⎥ ⎡ i ⎤ ⎢
⎡ 2E ⎤
II. LINE MODEL ⎢ ⎥ ⎢ ⎥ 1 x⋅ L⎥
⎢ di2 ⎥ = ⎢ 0 R 2 ⎥ ⎢ ⎥ ⎢ ⎥
− ⋅ ⎢ i2 ⎥ + ⎢ 0 ⎥ (1)
Presented analytic derivation of transient state in DC has a ⎢ dt ⎥ ⎢ L x⋅L ⎥
⎢ ⎥ ⎢ ⎥ ⎢u ⎥ ⎢ 0 ⎥
task to reveal crucial relation between components of current
⎢ duC ⎥ ⎢ 1 1 G ⎥ ⎣ C⎦ ⎢ ⎥
during fault and fault location. It allows to define some − − ⎣⎢ ⎦⎥
⎢⎣ dt ⎥⎦ ⎢⎣ x ⋅ C x ⋅C C ⎥⎦
expectation for method of analysis. Moreover, analytic
derivation of signal parameters makes comfortable position for
verification of applied signal processing method and can be

978-1-4244-8782-0/11/$26.00 ©2011 IEEE

 ⎧ i1 ( 0 ) = 0 • fault location has direct influence on amplitude of every
⎪ components,
where initial conditions ⎨ i2 ( 0 ) = 0
⎪u ( 0 ) = E • fault location has direct influence on frequency of
⎩ C periodical decaying components,
• fault location has no influence on suppression index of
Analytic derivation of current during the fault visible in decaying components,
Station 1 i1 can be performed using Laplace transformation. • fault location has direct and linear influence of energy of
decaying components (or ratio of amplitude to frequency).
Set of Kirchhoff lows in Laplace domain are represented by:
x 10 4
I1 = I 2 + I 3 + I 4 4
E ⎛ x⋅R x⋅L ⎞ 1 3.5
= I1 ⎜ +s ⎟ + I2
s ⎝ 2 2 ⎠ x ⋅G
3
E ⎛ x ⋅ R x ⋅ sL ⎞ 1 u
= I1 ⎜ + ⎟ + I3 + C0 (2)
s ⎝ 2 2 ⎠ x ⋅ sC s 2.5

Current [A]
E ⎛ x ⋅ R x ⋅ L ⎞ ⎛ x ⋅ R x⋅L ⎞
= I1 ⎜ +s ⎟ + I4 ⎜ +s ⎟ 2
s ⎝ 2 2 ⎠ ⎝ 2 2 ⎠
1.5
After derivation desirable form of Laplace transform of
current at the beginning of the line is expressed by: 1

0.5
b0 s + b1
I1 = (3)
s ( a0 s 3 + a1 s 2 + a2 s + a3 ) 0
0 0.01 0.02 0.03 0.04 0.05 0.06
Time [s]
Particular coefficients are related with fault distance x and Figure 2. Base of analytic signals representing current in the beginning of
Station 1 for different fault location
unitary parameters:
Achieved direct relations between fault location and
⎛ x 2 L2 C ⎞ ⎛ x 2 L2 x 2 RLC ⎞ parameters of signal components define motivation and goal
a0 = ⎜ ⎟ a1 = ⎜ + ⎟
⎝ 4G ⎠ ⎝ 4 2G ⎠ for signal processing methods. In other words, if we have an
accurate signal processing methods which would calculate
⎛ x 2 RL L x 2 R 2 C ⎞ ⎛ R x2 R2 ⎞ automatically particular parameters of current during fault we
a2 = ⎜ + + ⎟ a2 = ⎜ + ⎟ (4)
⎝ 2 G 4G ⎠ ⎝G 4 ⎠ would be able to predict location of the fault.
xEL ⎛ 1 xR ⎞ In the centre of attention is method which can deliver
b0 = b1 = E ⎜ + ⎟ calculation of quotient of amplitude to frequency of oscillating
2 ⎝ xG 2 ⎠ decaying component and its relation with fault location A/f (x)
which stays in the interpretation of energy of the signal
III. SIMULATIONS AND ANALYSIS component.
The periodical decaying component is characterized by
On the basis of presented in previous subsection derivation amplitude A , frequency of oscillation f and suppression index
we have create a base of benchmarking signals for different α.
fault location. It allows to uncover characteristic relations
A ⋅ e −α t sin ωt (5)
between fault distance x and pole position as well as
parameters of particular signal component like amplitude,
Amplitude and frequency of oscillation is related to fault
frequencies, energy.
location x. This relation can be expressed by linear formula
Analytic derivation of the current during fault at the
based on quotient A/f
beginning of the line indicates existing, aperiodical decaying
component, oscillating decaying component and DC A/f ( x ) = μ +β ⋅ x (6)
component.
Parameters of particular components depends on unitary Inverse approach joins fault location with the quotient A/f
parameters of the line (constant parameter) and distance of the of oscillating decaying component:
fault x=var. Set of analytic derived signals has provided some
characteristic relations between components of current during A/f − μ
fault and fault location. x ( A/f ) = (7)
β
 Parameters β , μ can be achieved in process of
approximation of the characteristic. ⎡ z10 z 0M −1 z 0M ⎤
Mentioned quotient A/f has direct interpretation in energy ⎢ 1 ⎥
z z1M −1 z1M ⎥ (10)
of oscillating decaying component transferred during transient Z=⎢ 1
⎢ ⎥
state. ⎢ M −1 M −1 ⎥
400 ⎣⎢ z1 z MM −−11 z M ⎦⎥

Vector of complex values H can be calculated from:

300 Z⋅H = X (11)
fault location [km]

where
200 X = [ x1 x2 xM ]

Parameters of components for k=1, 2 ,…,M can be calculated

100 from:

Ak = h k amplitude,
0 α k = f s ⋅ ln z k damping factor,
0 0.04 0.08 0.12 0.16
quotient A/f ω k = f s ⋅ arg ( z k ) angular velocity.
Figure 3. Characteristic of quotient A/f of periodical component in the current
related to fault location for benchmarking signal. φk = arg ( h k ) initial phase,

IV. PRONY MODEL Application of the method in case simulated signals has met
some difficulties associated with sensitivity of the method
Prony method is predisposed to calculation of parameters of where many components are considered. In case of existing of
the oscillating component modulated by exponential function many oscillating decaying component appears question about
(2). This function lies in the center of interest of transients in “true” component and desirable “true” characteristic of
DC circuits. Proposed method is based on the calculation by quotient A/f in relation with fault distance x. To determine
Prony method amplitude as well as frequency of oscillating selection of “true” or most significant oscillating decaying
decaying component and particularly quotient of amplitude component we have used energy criteria for every component.
and frequency A/f.
Fault location can be predicted on the basis of correlation The energy is given by
between parameter A/f of oscillating decaying component and
fault location. ∞
A2α
E = ∫ ( A ⋅ e −α t sin ωt ) ⋅ dt =
2
(12)
Assuming the N data samples of current [ x1 x2 xN ] 0
α 2 + ω2
the investigated function can be approximated
by M exponential functions

M
(α k + jωk )( n −1)Ts + jψ k
y[n] = ∑ Ak e (8) Maksimum energy for
k =1 oscillating component
Energy

where n = 1, 2,..., N , Ts – sampling period, Ak – amplitude,

α k – damping factor, ω k – angular velocity, φk – initial phase.

The Toeplitz matrix created from samples, makes it possible

to determine the vector of coefficients a of the characteristic
polynomial

z M + a1 z M −1 + … aM −1 z + aM = 0 (9) 0 0.5 1 1.5 2

Frequency [kHz]
The roots of the characteristic polynomial define the
Vandermonde matrix: Figure 4. Energy of all components in current.
 V. CONCLUSION
The paper presents a new, Prony model based fault location
method in DC transmission systems. The fault location uses
amplitude and frequency of decaying oscillating component in
current during transient. Analytic derivations show, fault
location has direct and linear influence of ratio of amplitude to
frequency of decaying components. Prony method is
predisposed to calculation of parameters of the oscillating
component modulated by exponential function. To determine
selection of “true” or most significant oscillating decaying
component used energy criteria for every component.
Presented in he paper analysis and simulation results
demonstrate performance of the method.
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