Voltage Sag Detection Methods based on
Synchronized Phasor Measurements using RTDS
Matheus Pereira Antunes, Igor Delgado de Melo, José Luiz Rezende Pereira,
Matheus Alberto de Souza, Nathan de Lima Silva.
Federal University of Juiz de Fora, Department of Energy
Juiz de Fora, Brazil
Email: matheus.antunes@engenharia.ufjf.br, igor.delgado@engenharia.ufjf.br, jluiz@ieee.org,
matheusalb@gmail.com, nathan.lima@engenharia.ufjf.br
Abstract—This paper presents voltage sags detection methods
based on PMU (Phasor Measurement Unit) measurements. Volt-
age magnitude, phase angle jump, frequency deviation and RO-
COF (Rate of Change of Frequency) are continuously monitored
during the sag phenomena in order to analyse the capability of
PMUs for the sag disturbance detection. Real time simulations
using RTDS (Real Time Digital Simulator) are used to evaluate
sag duration, latency time and systematic errors by varying PMU
reporting rates.
I. I NTRODUCTION
Voltage Sag is one of the most common power quality
disturbance during power systems operation [1]. It is defined
by IEEE as a reduction in voltage magnitude for a short
period of time. The disturbance duration is generally less than
1 minute but more than 0.5 cycles of 50/60 Hz systems.
The amplitude of the reduction is between 10% and 90%
of the normal root mean square (RMS) nominal voltage at
fundamental frequency. Voltage sags can also be defined as “a
temporary reduction of the voltage at a point in the electrical
system below a threshold” according to IEC standard. Both
definitions are considered interchangeable and acceptable [1].
Sudden load changes can cause voltage sags as well as
temporary short-circuits such as line-to-ground faults, electric
machines starting and transformers energizing [2], [3]. In
modern distribution systems, this kind of problem is quite
frequent due to the increase of power demand, distributed
and intermittent generation based on renewable energy sources
such as wind power plants and photovoltaic panels, and the
insertion of power-electronic based equipments to enhance the
systems controllability [4].
The main problems associated to this power quality dis-
turbance is inadequate relays and contactors in motor starters
operation, malfunction of transformers and power-electronic
based devices installed at a power grid. Other equipments,
such as personal computers and notebooks may experience
intermittent lock-ups [2].
Detecting voltage sags is not a trivial task once they
are instantaneous or temporary events. High sampling rates
equipments are necessary to adequately detect and characterize
this power quality event [5].
PMUs represent an important advance within the concept of
smart technologies to monitor power system dynamic distur-
bances including its operation, controllability and protection
l-))) 
[6]. They are capable of providing accurate measurements
obtained from the network at high sampling rates: up to 2880
samples per second. Time synchronization source determined
by GPS (Global Positioning System) allows the phasors syn-
chronization even when they are measured by installed PMUs
geographically and electrically far from each other [7]. The
acquired measures, also known as synchrophasors are then sent
to a PDC (Phasor Data Concentrator), generally considering
reporting rates defined by IEEE C37.118 standard such as 10,
30 and 60 frames per second for 60Hz systems [8].
The main objective of this paper is to evaluate the PMU
potentiality for monitoring, detecting and characterizing volt-
age sags caused by temporary faults occurred at distribution
substation level. The detection methods are based on voltage
magnitude, phase angle jump, frequency deviation and RO-
COF real time measurements.
Latency time, reporting rates, voltage sag characterization
and TVE (Total Vector of Error) are evaluated using the virtual
PMU simulated within RTDS software, developed for real-
time power system analysis.
II. PMU- BASED VOLTAGE S AG D ETECTION M ETHODS
PMUs measure voltage and current phasors continuously
from sampled data at high sampling rates. All the acquired
information must be synchronized accurately to a common
reference time provided by GPS [1].
A pure-sinusoidal voltage signal, v(t) can be defined by (1):
v(t) = Vm cos(θ)
(1)
θ = wt + φ
where Vm is the magnitude of the signal, w = 2πf , in which
f is the fundamental frequency value and φ is the phase of
the signal. Its synchrophasor representation is determined by
(2): √
V = (Vm / 2)(cos(φ) + jsin(φ))
(2)
V = Vr + jVi
√
where (Vm / 2) is the RMS value of the measured signal,
Vr and Vi are real and imaginary parts of the synchrophasor,
respectively.
Equation (3) is used for calculating frequency value:
1 d(θ)
f (t) = (3)
2π dt
 The following PMU-based methods for detecting voltage
sags are described according to [1], [5] and [9]:
A. Voltage Magnitude (Vm )
Monitoring RMS values of voltage magnitudes in real-
time is the most common technique for voltage sag detection.
Once PMUs are capable of providing accurate measurements
considering power systems dynamics, synchronized measures
can be used for the purpose of detecting sags and swells [1].
Fig. 1 presents a typical voltage sag and parameters used
for their characterization such as sag duration, retained voltage
and threshold value.
Fig. 1. Sag Characterization parameters
The phenomena duration starts from the moment the RMS
voltage drops to below 90% of nominal voltage (threshold) to
when it rises to above 90% of nominal voltage. The duration
may vary from 0.5 cycles to 1 minute according to IEEE
definition. The retained voltage is the minimum value observed
during the sag. It ranges from 10% and 90% of the nominal
value of voltage.
B. Phase Angle Jump (Δφ)
PMUs are also capable of providing phase angles measure-
ments. During voltage sags, phase angles may vary drastically.
That is called ’Phase Angle Jump’. Monitoring phase angle
jumps represents a voltage sag detection method of consider-
able value within this context.
C. Frequency deviation (Δf )
During short-circuits, high-impedance faults, sudden load
changes, sags and swells or any other type of power systems
disturbances, the frequency of the electrical system may alter
as a response to unexpected phenomena. Thus, if the frequency
is monitored in real time, it can be used for identifying power
quality disturbances. PMUs measure frequency deviations dur-
ing power systems dynamic changes representing an attractive
measurements system for that purpose.
D. ROCOF
Frequency deviations are detectable when measuring elec-
trical signals. However, the frequency may vary within a
limited range, generally from 59 to 61 Hz for 60Hz systems.
Measuring the rate of change of frequency (ROCOF) may be

an attractive solution to detect how quickly are the frequency
deviation during voltage sags, representing an extremely im-
portant voltage sag detection methodology. ROCOF is defined
by (4):
d(f (t))
ROCOF = (4)
dt
With the advance of synchrophasor technology, PMUs
are able to provide voltage magnitude, phase angle jump,
frequency and ROCOF measurements assuming their high
sampling rates. However, some requirements must be tested
before implementing the detection method based on PMU
measurements because voltage sags can be detected by them,
but sag characterization may not be adequate [1].
1) Reporting Rates: According to IEEE C37.118 standard
[10] defined for steady-state applications, PMUs must
send measured information to the PDC (Phasor Data
Concentrator) using reporting rates such as 10, 30, 60,
120, 240 frames per second for 60Hz systems and
10, 25, 50 for 50Hz systems. Considering power sys-
tems steady-state, this rates allows real-time monitoring.
However, for the transients or temporary phenomena
such as sags, this requirements defined by the IEEE stan-
dard may not be enough for power quality disturbances
characterization. It does not mean that the phenomena
cannot be detected and identified;
2) Latency time: Due to existing communication channels
limitations among PMUs and PDCs, the measured infor-
mation is not sent instantaneously to a data concentrator.
Additionally, there is a natural delay time associated to a
PMUs due to synchronization requirements. According
to [11], this latency must be less than 1 second for
applications such as state estimation and voltage sta-
bility and less than 100ms (microseconds) for transient
stability. Once voltage sags are temporary events, latency
time may impact on the estimation of the exact moment
when the sag occurred in a system. As a consequence,
it is indispensable to know the latency time for several
applications;
3) TVE: The total vector of errors (TVE) is the measure-
ment of how much distant is the measured value from
a reference one. Under steady-state, TVE must be less
than 1% for voltage measurements [8].
III. RTDS: R EAL T IME D IGITAL S IMULATOR
RTDS is a simulation tool used worldwide for several appli-
cations such as power electronics and PMUs simulation. The
RTDS Simulator consists of custom hardware and software.
They are specifically designed to perform real time electro-
magnetic transient simulations. It can be used for hardware-in-
the-loop (HIL) and closed loop tests for testing protection and
control equipments and simulating power system dynamics in
real time [12].
A. Custom Hardware
RTDS simulator is carried out by processor cards, which are
mounted in card cages (racks), and they are housed in cubicles,
presented by Fig. 2. According to specific requirements, differ-
ent processor cards can be added to the racks. The available
input/output cards allow the simulator to be interfaced with
other external equipments such as protective relays, protection
and control devices [12].
Fig. 2. Cubicles of the RTDS harware.
B. Software
RSCAD is the name of the RTDS software. RSCAD is
comprised of several modules [12], including:
1) Draft: This environment is to assemble schematic di-
agrams of the electrical system to be simulated by RTDS.
It contains a vast library including various power system
components, transformers models, metering systems, control
and automation components. The schematic diagram can be
compiled in order to provide error checking of component
and simulation parameters. For power systems, there is an
embedded load flow program which calculates the bus voltages
for each busbar of the system for a given operating point.
Networks can be evaluated for single line or unbalanced three-
phase systems.
2) Runtime: It is used to run the simulation, plot graphs
while the simulation is running, and also to control some
parameters of the simulations in real time. The canvas is
customized for each simulation by creating plots, meters,
sliders and buttons. It is possible to control and interact with
the simulation through this graphical environment. Various
plots can be saved in PDF, JPEG and CFG formats.
3) T-line: It is used to create realistic transmission lines,
including positive/zero sequence parameters.
4) Cbuilder: It is used to create and implement customized
components and run them in real time on the simulator.
C. GTNET-PMU
The virtual PMU/PDC developed by RTDS Technologies is
found in the library of RSCAD in the control and automa-
tion components. The firmware used in this paper provides
output for up to eight PMUs with symmetrical component
information related to three-phase sets of voltage and current
using TCP connection. Reporting rates as high as 240 frames
per second are supported for 60Hz systems. The GTNET-
PMU/PDC requires the use of a GTSYNC card inserted into
the rack of a RTDS cubicle. The GTNET-PMU component
output is synchronized to an external 1PPS, IRIG-B, or IEEE
1588 signal via the GTSYNC card, which is used to syn-
chronize the RTDS simulation time-step to an external time
reference such as GPS clock [13].

IV. S IMULATIONS AND R ESULTS
For the simulations, the IEEE 4 bus test feeder [14] is used
in order to validate the voltage sag detection methods. It is
illustrated in Fig.3. Its schematic diagram is assembled using
RSCAD software.
Fig. 3. IEEE 4 bus test feeder.
A GTNET-PMU is simulated at the substation of the
distribution feeder (Bus number 1), in which a 60Hz three-
phase generator of 7.20 kV (line-to-neutral value) is connected.
Voltages at phases A, B and C are continuously monitored
by the PMU as well as the currents flowing from the energy
source to the power grid. The frequency and ROCOF value
are also measured at the substation.
A temporary line-to-ground fault is simulated in order to
cause the voltage sag at bus 1. The fault impedance value and
its duration are used in order to evaluate the following results.
Once this paper focus on PMU-based voltage sag detection
methods, different reporting rates are tested. The tests evaluate
how the reporting rates influence the sag detection and other
parameters measured by PMUs such as:
• Voltage Magnitude measured by a PMU (ΔVpmu );
• Phase Angle Jump (Δφ);
• Frequency deviation (Δf );
• ROCOF;
• Latency time;
• Disturbance total time duration (DTT);
• Sag duration;
• Retained Voltage;
• The time associated to the retained voltage (tRV ).
A. Case 1: Sag to 70% of voltage nominal value
Considering a line-to-ground fault at substation, the fault
impedance is 2.20 Ω, with total duration of 4.4 cycles,
assuming the system frequency as 60Hz. As a consequence,
with this value of impedance and duration, a sag to 70% of
voltage nominal value is simulated in RTDS software.
During the disturbance, electrical quantities monitored by
the virtual PMU (GTNET) are evaluated considering different
reporting rates: 240, 120, 60 and 30 frames per second (fps).
1) 240 frames per second: Fig. 4 presents the reference
RMS voltage value (actual value) for the simulated voltage
sag when using RTDS software, 7.2 kV. The voltage sag starts
at 50ms and the retained voltage is equal to 5 kV (70% of the
RMS nominal value).
Considering the reporting rate of the GTNET-PMU as 240
fps, voltage magnitude, phase angle, frequency and ROCOF
measurements are used to detect the voltage sag as presented
by figures 5, 6, 7 and 8, respectively.
The PMU-measured RMS voltage (Fig. 5) is only detectable
at 84ms because of latency time associated to the PMU/PDC
.

Fig. 4. RMS Voltage magnitude (Reference)
Fig. 5. RMS Voltage magnitude (PMU-measured)
Fig. 6. Phase Angle (PMU-measured)
Fig. 7. Frequency (PMU-measured)
Fig. 8. ROCOF (PMU-measured)

It can be noted that the phase angle varies significantly
during the sag, as well as the system frequency and ROCOF
as a consequence of the occurred disturbance.
Despite of all measurements are synchronized, they all are
associated to a delay time, corresponding to the difference
between when the phenomena actually occurred and the mo-
ment in which the measurement is available at PDC. That is
the latency time.
As partial conclusion, voltage sags clearly can be detected
by PMU measurements. However, there is a latency time
which must be determined as well as the capability of PMUs
for sag parameters characterization.
Results are presented in Table I, considering variations
of voltage magnitude (actual/reference values and PMU-
measured ones); phase angle jump, frequency and ROCOF
measurements. TABLE I
VOLTAGE S AG D ETECTION FOR GTNET PMU WITH 240 FPS .
Electrical Before During After Latency DTT
Quantity SAG SAG SAG (ms) (cycles)
ΔVref (p.u.) 0 0.300 0 0 4.4
ΔVpmu (p.u.) 0 0.220 0 34 5.2
Δφ (o ) 0 1.143 0 24 6.8
Δf (Hz) 0 0.318 0 21 7.0
ROCOF (Hz/ms) 0 32.9 0 21 7.0
Reference values for voltage magnitude variation, ΔVref
are included in Table I for the purpose of comparisons with
the real-time monitored electrical quantities measured by a
PMU. It can be noted that before/after the sag, there were no
voltage variation. During the sag, the minimum voltage value
is 0.7 p.u. (per unit), corresponding to a maximum voltage
variation of 0.3 p.u. as presented by the results. Once ΔVref
is the reference value, the latency time is set equal to zero
(there is no latency time associated to a reference value). The
disturbance total time (DTT) is 4.4 cycles.
The PMU-measured voltage variation, ΔVpmu is equal to
0.220 p.u. during the voltage sag. Therefore, the phenomena
can be detected, but with a latency time of 34ms. Phase Angle
Jump, Δφ can be an alternative method for detecting the
voltage sag, once this parameter is equal to 0.220o (degrees)
when the sag is detected by PMU with a latency time of 24ms.
The frequency variation, Δf represents another sag detec-
tion method, once the system frequency varies during the
sag as a response to the temporary event. Maximum ROCOF
measurement is equal to 32.9 Hz/ms during the sag, which
occurs at time 145ms according to Fig. 8, once the system
frequency varies in short time intervals.
By the presented results in Table I, it can be noted that no
variations are measured before and after the sag phenomena.
However, during the voltage sag the monitored electrical
quantities vary drastically, representing a viable solution to
detect the sag phenomena.
The disturbance total duration (DTT) is 4.4 cycles. However,
when being measured by PMUs, the disturbance has different
duration time. It is a consequence of the limited reporting rate
and latency time associated to the measurements.
 Voltage sag characterization parameters are presented in TABLE V
Table II for 240 fps. Reference values are compared to the VOLTAGE S AG D ETECTION FOR GTNET PMU WITH 60 FPS .
measured ones. Electrical Before During After Latency DTT
TABLE II
Quantity SAG SAG SAG (ms) (ms)
VOLTAGE S AG C HARACTERIZATION FOR GTNET PMU WITH 240 FPS .
ΔVref (p.u.) 0 0.300 0 0 4.4
Electrical Before Retained After tRV SAG ΔVpmu (p.u.) 0 0.180 0 36.5 12
Quantity SAG Voltage SAG Duration Δφ (o ) 0 0.628 0 19.5 13
Vref 1.00 p.u. 0.70 p.u. 1.00 p.u. 1.6 cycles 3.0 cycles Δf (Hz) 0 0.115 0 19.5 13
Vpmu 1.00 p.u. 0.78 p.u. 1.00 p.u. 1.2 cycles 2.5 cycles ROCOF (Hz/ms) 0 5.39 0 19.5 13

Before and after the sag, the voltage magnitude is 1.00
p.u. considering the reference values. The retained voltage is
equal to 0.70 p.u. (70% of nominal value). The sag duration
is determined as proposed by Fig. 2 and is equal to 3.0
cycles. The time, tRV in which the voltage is equal to 0.7
p.u. (retained value) is 1.6 cycles.
There is no significant difference between the measured
voltage magnitude values before and after the sag (1 p.u.).
However, during the sag, the retained voltage is equal to 0.78,
tRV is 1.2 cycles and the sag duration is 2.5 cycles.
The TVE before and after the sag is equal to 0.0001%.
During the sag, TVE is equal to 11.41%. Thus, sag is not
characterized with good quality, but it is detectable.
After/before the sag, there is no variation. During the sag,
all the measured electrical quantities vary, but the variations
are less expressive than those measured in Tables I and III.
However, latency time is smaller. Thus, it can be concluded
that the variations are larger with more frames per second.
For the sag characterization, Table VI presents results for
some parameters. The retained voltage detected by a PMU is
0.82 p.u. differently from the reference value (0.7). the sag
duration is 3 cycles but the PMU measures 1.1 cycles. As a
conclusion, sag is really not well characterized using 60 frames
per second.
TABLE VI
VOLTAGE S AG C HARACTERIZATION FOR GTNET PMU WITH 60 FPS .

2) 120 frames per second: Table III presents results when Electrical Before Retained After tRV SAG
using 120 fps. It can be noted that the variations during the Quantity SAG Voltage SAG Duration
Vref 1.00 p.u. 0.70 p.u. 1.00 p.u. 1.6 cycles 3.0 cycles
sag phenomena are less than the previous situation (Table I). Vpmu 1.00 p.u. 0.82 p.u. 1.00 p.u. 1.0 cycles 1.1 cycles
However, all the measurements keep drastically varying during
the voltage sag, being capable of detecting it. The latency time 4) 30 frames per second: Table VII presents results when
associated to the measurements provided by PMU is less than using 30 fps for detecting sags. All the PMU-measured electri-
those measured in Table I. cal quantities does not vary much, but sags are still detectable
TABLE III during the event.
VOLTAGE S AG D ETECTION FOR GTNET PMU WITH 120 FPS . TABLE VII
VOLTAGE S AG D ETECTION FOR GTNET PMU WITH 30 FPS .
Electrical Before During After Latency DTT
Quantity SAG SAG SAG (ms) (ms) Electrical Before During After Latency DTT
ΔVref (p.u.) 0 0.300 0 0 4.4 Quantity SAG SAG SAG (ms) (ms)
ΔVpmu (p.u.) 0 0.220 0 30.0 6.0 ΔVref (p.u.) 0 0.300 0 0 4.4
Δφ (o ) 0 1.140 0 20.1 7.0 ΔVpmu (p.u.) 0 0.120 0 61.0 18
Δf (Hz) 0 0.318 0 20.1 7.0 Δφ (o ) 0 0.333 0 60.5 20
ROCOF (Hz/ms) 0 32.7 0 20.1 7.0 Δf (Hz) 0 0.042 0 60.5 20
ROCOF (Hz/ms) 0 3.03 0 60.5 22
In Table IV, sag characterization parameters are also pre-
sented. Measured values are equal to the reference ones before The total disturbance duration measured by a PMU is 18
and after the occurrence of sag, but they are different from the cycles for voltage measurements, which does not corresponds
reference values during the sag phenomena. For instance, the to the reality. In Table VIII, results are presented for sag
measured sag duration is equal to 2.0 cycles, different from the characterization. Retained voltage and sag duration measured
actual/reference one (3.0 cycles). Calculated TVE is 11.69% values are very different from the reference values. The sag
during the voltage sag. cannot be characterized using 30 fps. TVE is more than 25%
TABLE IV during the sag.
VOLTAGE S AG C HARACTERIZATION FOR GTNET PMU WITH 120 FPS . TABLE VIII
VOLTAGE S AG C HARACTERIZATION FOR GTNET PMU WITH 30 FPS .
Electrical Before Retained After tRV SAG
Quantity SAG Voltage SAG Duration Electrical Before Retained After tRV SAG
Vref 1.00 p.u. 0.70 p.u. 1.00 p.u. 1.6 cycles 3.0 cycles Quantity SAG Voltage SAG Duration
Vpmu 1.00 p.u. 0.78 p.u. 1.00 p.u. 1.0 cycles 2.0 cycles Vref 1.00 p.u. 0.70 p.u. 1.00 p.u. 1.6 cycles 3.0 cycles
Vpmu 1.00 p.u. 0.88 p.u. 1.00 p.u. 0.9 cycles 0.9 cycles
3) 60 frames per second: According to IEEE standard
C37.118, for real time monitoring, a typical value of reporting B. Case 2: Sag to 20% of voltage nominal value
rate is 60 fps. In Table V, results are presented considering this In order to test another situation, the line-to-ground fault
rate for sag detection. impedance now is set to 0.25 Ω in order to increase the


voltage sag to 20% of the nominal value. In order not to show V. C ONCLUSIONS
repetitive results, only reporting rates of 240 and 60 frames This paper focused on a practical application of PMUs for
per second are evaluated for this second case. voltage sag detection. Different reporting rates were simulated
1) 240 frames per second: Using 240 fps, the sag can be in order to test the capability of detecting voltage sags.
detected by the variations of PMU measurements as presented Voltage magnitude, Phase Angle Jump, frequency deviation
in Table IX. and ROCOF were measured in real-time using RTDS for the
TABLE IX simulations. It was demonstrated that the measurements vary
VOLTAGE S AG D ETECTION FOR GTNET PMU WITH 240 FPS .
significantly during the sag phenomena. Thus, they can be
Electrical Before During After Latency DTT used for detecting voltage sag disturbance.
Quantity SAG SAG SAG (ms) (ms) It can be concluded that the latency time is closely related
ΔVref (p.u.) 0 0.800 0 0 4.4
ΔVpmu (p.u.) 0 0.300 0 42 6
to the reporting rates, as well as the capability of detecting
Δφ (o ) 0 3.88 0 39 6.8 voltage sags. Although PMUs are smart devices generally
Δf (Hz) 0 1.28 0 39 7.0 used for steady-state applications, they can be used for voltage
ROCOF (Hz/ms) 0 99 0 39 7.0 sag detection. However, the characterization of the phenomena
may not be adequate considering all the reporting rates defined
Due to the sudden decrease of voltage magnitude (from 1.00 by the IEEE C37.118 standard.
p.u. to 0.2 p.u.), it was already expected that the retained VI. ACKNOWLEDGMENT
voltage would not be well characterized as it can be noted
The authors would like to thank INERGE, CNPq,CAPES
by Table X even using the higher reporting rate. The actual
and FAPEMIG for providing financial support for this project.
voltage magnitude variations should be 0.8 p.u., but the
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