IEEE TRANSACTIONS ON POWER SYSTEMS.

V L IS. NO. I, FEBRUARY 2000 O.

Educational Use of EMTP MODELS for the Study of a Distance Relaying Algorithm for Protecting Transmission Lines
Chul-Hwan Kim, Member; IEEE, Myung-Hee Lee, Raj K. Aggarwal, Senior Member: IEEE, and Allan T. Johns, Senior Membel; IEEE

Absfract-This paper presents the implementation of a distance relaying algorithm using EMTP MODELS, in which we have simplified the procedures of system modeling and distance relaying system by using a single structure of MODELS. The technique presented is hased on integrating the modeling of the power system and the protective system in one program module. The purpose of this paper is to provide systematic relaying concepts by modeling a digital relaying system using MODELS functions within EMTP in a closed-loop manner, principally to facilitate and enhance an understanding of the basic concepts of distance relaying of final year undergraduate studentslpostgraduate studentslyoung engineers who are new to the subject of power system protective relaying. Various element7 of digital distance relaying are organized to generate a systematic approach to modeling the actual hardware of digital relaying systems. Case studies relating to the most commonly encountered single phase-to-ground fault and phase-to-phase fault are presented and various fault distances and fault inception angles are considered.

separated tasks into one programming module in simulation is both desirable and advantageous. In this respect, Chaudhary and Phadke 161 have developed the EMTP EPRIDCG Version 3.0 that allows all thc possible FORTRAN subroutines to be utilized. The MODELS in EMTP recently introduced, makes it possible to control the interaction between the power system and protective system operations [7], r10],[11]. This paper presents a technique whereby the modeling of a powcr system and a protective system is integrated into one program module, All the procedures for the simulation of a digital relaying system are in an EMTP formatted file, thus simplifying the implementation and evaluation of a new protective algorithm; it is particularly useful for enhancing an undcrstanding of the fundamental concepts of a particular relaying technique (in this case distance relaying) from an undergraduatelpostgraduatela newly qualified young power systems engincer points of view.

I.

INTRODUCTION

HE PURPOSE of a protective relaying system is to detect the abnormal signals indicating faults on a transmission system, isolate the faulty pdrt from the rest of the system and hence prevent the propagation of the fault into other parts. Since the complexity of modem power systems is increasing (longer lines, more and more power transfer over existing lines due to the limitations imposed by environmental pressures, etc.), traditional analog relaying is no longer able to cope with the performance requirements, and hence the advantage of digital protective relays which are much better suited to cope with the modem-day protection problems (particularly in terms of speed and accuracy) [I ]-[5]. In this respect, there is now ongoing work to further improve the performance of digital protection relays [8],[91. In order to develop a new relay system, it necds to he either tested in a laboratory-based power system model or to be simulated with the fault data obtained usually from the EMTP (Electromagnetic Transients Program). With the latter approach, there are (WO steps involved in the simulation process: i) obtain the simulation data for various fault cases and ii) sirnulate the relay algorithm using the fault data. Combining the two
Manuscript received August 10, 1998; revised December 3. 1998. This work was suppartcd by the British Council and the Korca Science and Engineering Foundation. C. H. Kiln and M. H. i e e arc with the School of Electrical and Computer Engineering, Sungkyunkwen University, Suwon, Korea. R. K. Aggarwal and A. T. Johns arc with the Department of Electronic and Electrical Enginccring, Universily of Bath, BA2 7AY, UK. Publishcr Item Identifier S 0885-8950(00)01846-0.

11. EMTP MODELS

MODELS is a symbolic language interpreter for the EMTP thal has recently gained popularity for the electromagnetic transients phenomenon modeling. MODELS provides the monitoring and controllability of power system as well as some other algebraic and relational operations for programming. MODELS approaches to model the power system by describing the physical constants andlor the subsystems functionally for target systems. With some compromisedfunctions, it is also called a new TACS, which is a well known subsystem available within the EMTP. Some control statement features of a programming language are added in addition to the TACS for more controllability. They are repetition, conditional path selection, and userdefined functions IIO]. While having such strong features for prograinining in simulation tasks, the MODELS, however, has a drawback i n that memory allocation is limited in size for data arrays.
Ill. 1MPI.P,MKNIXl'ION C i DISTANCE RELAYING MODELS BY

A distance rclayiiig system implcmented in a microprocessor . - . is widely used for protecting transmission systcins principally because of high reliilbility all,jvery littie maintenance, lts fast operation and independence of thc capacity of the power system are responsible for it's popularity. Distance relaying scheme makes iisc of the transient voltage and current values passed through the CT (current transformer) and PT (potential transformer) for the calculation of the impedance. The

0885-895l1/00$10.00 0 2000 IEOB

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10

IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. IS, NO. 1, FEBRUARY 2000

distance relaying methods rely on their estimation of fault distance based upon the partial vahies and their convergence: there has been a lot of research done in this field. Among many aonroaches considered. the transmission line orotection based on the fundamental frequency signals is widely used. The work presented herein is concerned with an alternative implementation of the latter approach with a viewpoint of fast and accurate extraction of the fundamental components from the measured voltage and current signals. When a fault occurs, the transient voltage and current values are mainly composed of the high frequency and exponentially decaying dc-offset components. For the reliable estimation of the fault distance, the fundamental component needs to be extracted via various digital signal processing algorithms. In this paper, we have implemented the anti-aliasing low-pass filters and the dc-offset removal filter using the MODELS.
I

where At is sampling interval, r is time constant, N is the number of samples per period.
yp =

zn

zk-l/exp(AL/r).

(4)

Applying (3) to (4) yields the following signal nfter the dc-offset removal:

where, E,, = 1 - [l/cxp(At/r)] cus(Zna/N , F,, [(l/ x p ( A t / r ) ] sin(Zna/N), an e &$ T;

~

$on

tan-'(Fn/En). Ascanbeseenfrom(5)thefiltering

function shown in(4) removes the dc-offset component.

C. Digital Filter for Fundamental Frequency Component Extraction

There are three approaches used in digital transmission line protection algorithms. These approaches depend on the form of the final input signal used to make the relaying decision. The technique employed herein is the widely accepted method that uses the fundamental frequency signal. The voltage and the current values from the extracted fundamental signals are used to calculate the impedance from the system to the point where the fault occurs. In this respect, there have been proposed many algorithms for the fundamental component extraction; Fourier Transform, Walsh Function, Harr Transform, and block pulse functions are the orthogonal functions that have been used for this purpose 1 l:],[ 121. We used the Fourier Transform and the Walsh Function methods which are implemented with MODELS strtictiire.

A. Anti-Aliasing Low-PassFilter
In order to meet the sampling theory, the sampling rate should be twice the maximum frequency in the analog signal. Sampling with a lower sampling rate results in eirors due to the aliasing effects in the discrete time signals. The anti-aliasing filter which in practice is an analog filter is used to minimize such aliasing effect as well as attenuate the high frequency components, For the purposes of removing the unwanted components, simulation of an analog second order butterworth low-pass filter are employed [13]. The specifications fur the filter are that the passband cutoff frequency is 60 Hz, the stop-band cutoff frequency 360 Hz, stop-band attenuation 28 dB and the sampling frequency used is 1.8 kHz (30 samples/cycle and is well above the requisite Nyquist rate of 720 Ha). The transfer function of the low-pass filter is:

D. Extraction of Fundamental Frequency Component via DFT

Assuming that N samples are obtained for each period and that the discrete time signals are z ( k ) ,then sampled signals are given as [11:
N-1

From a modeling point of view, this is transformed using the bilinear transformation, resulting in the 2-plane digital transfer function given by:

X(n)
k=O

z(k)W;'(n = 0, I , 2, . . . , N

1)

(6)

= 0.000108058, a, = 0.000216116, where, no a2 = 0.000108058, bz = -1.9708328899, bz = 0.970815132.

B. DC-Offset Removal Filter When a fault occurs, the abnormal components ofthe voltage and the current are due to the high frequency and the dc-offsct components, The aforementioned anti-aliasing filtering removes thc majority of the high frequency components but not the dc-offset crfcct. The next step is to apply the dc-offset removal filter. We assume that the dc-offset component is of an exponential form when a fault occurs, i.e.

where, Wz' = e - j ( 2 s n p / N ) ,n is the order of the harmonics. The fundamental frequency signals are the ones with n = 1. k is the number of samples contained in the data window. In (6), all the N samples are used in the calculation of the fundamental frequency signal, resulting in a full cycle DFT (FCDFT), but for faster calculation, half cycle DFT (HCDFT) is sometimes used.

E. 13xtraction of i'undamental Frequency Component via Wnlsh Transform

One-cycle Walsh-related algorithms estimate the phasors from its CAL and/or SAL components [12]. ( C A L directly symmetrical Walsh function, SAL: inversely symmetrical Walsh function). For the fundamental frequency these cnmponents are:

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KIM et<,l,: BDUCATIONAI. IJSE OF HMTP MOOBLS

160KM

TABLE II THBSIMUi.hTED FAULT TYPt ANU PAUKT CONDITIUN

Tv
IWKV
IOOMVA

I
BUSP

I
. FAULT

Fault type

Fault distances

Fault inception angle

30%,
L 104llohm

so%,

70%

, 90'

Fig. I. Model system

"[VIo

.
6

'IABLB I DRrA 0 1 7 LINEAND SOUKCC

2 , 0.3434
~

-2
-4

Line
conStanU

2, 0.1342

21

-6

0.1342

-8

~
Source
Load

L [Qikml _ 1.3158 - 0.4765 _ _ C [aPikml _ Capacity Power

0.4165
n.oo9o _

I
0

10

20

30

40

50

60

0.0052

ion MVA

_ o.on9o

t [msecl

factor Suhtransient reactance

0.85
1.11 %

Fig. 2. Voltage waveforms when fault occurs at fault inccption anglc 90"

capacity

xn

MVA

where, W3,< = CAL Walsh function and Wz,< = SAL Walsh function. Walsh filter calculates the phasor using both the CAL and SAL components; the fundamental frequency phasor is:

-8
0

10

20

SO

40

50

60

t Insecl

IV. SIMUI.ATION RESULTS AND DISCUSSION

A. Siniulution Method

Fig. 3.

Voltage waveforms after llic anti-aliasing

low-pass liltcring.

A set of simulation tests were carried to show the validity and the simplicity of the EMTP MODELS implementation of the power system and the protectivc relaying system. The subsystems are largely for obtaining the fault data, implementing the anti-aliasing low-pass filter, removal of the dc-offset component, extraction of the fundamental frequency component and the impedance calculation. All the subsystems arc in a single EMTP file and the diferent tests are carried out for various fault lypcs and fault distances. The transmission system modeled is the Korean systcm comprising of a total liiic length of 160 kin and of 154 kV as shown in Fig. I . Thc conductor size is ACSR 411MCM 240 and the clectrical constants are shown in Table I. The simulatioii assumes both a single phase-to-ground fault and phase-to-phase fault which arc the most common to occur. Studies with A-phase to ground fault and A-B phase fault are carricd ont for various distances and fault inception angles as shown in Table 11.

B. MDdelinR Anti-Aliusing Low-Pass Filter with MODELS We examined the validity of the MODELS-implemented antialiasing low-pass filter. It is well known that the high frequency components are found more at around the 90' fault inception angle than at around the 0' faults. For the validity of the filtering, we modeled the faull data at the 9O0 faults for tlic case of A-phase to ground fault and fault distance of 50% from the generating end. Figs. 2 and 3 show the voltage waveforms before and after the anti-aliasing low-pass filtering for single phase-toground fault. The outputs of the filter shown i n the Fig. 3 reveals the filter effect in removing the high frequency components. Also the phase delay can be seen from the two figures. Here, the filter order is inversely related to the resulting group delay; this therefore affects the speed of the relay operation. Figs. 4 and 5 show the corresponding voltage waveforms bcfore and after the anti-aliasing low-pass filtering for phase-to-phase fault (phase A to B).

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12

IEEE TRANSACTIONS ON POWER swrms, vol.. 15. NO. I . FEBRUARY 2000

IO,

I
8

e h"" : C"l,D"t
6 4

weue,orm

L: ~ u r i e nwaveform eRer ismovlns dc-onnet l

I[AI

;
1
0 20

-2 -4 -6
-8

20

40

60

60

100

120

140

160

40

60

80

100

120

110

160

t lmecl
Fig. 4. Voltcge waveforms when fault occurs at fault inception angle 90".

t [mecl

Fig. 6. Current waveforms of fault and after removing dc-offset (fault inception angle: 0". fault distancc: 20%).

a: I * " CUIRl", Im"el0,m 6 4

2 B
b cwrent wa"orm efler rem.J.ins dC.-o"*el

6 4

v [VIo

,[AI;
-2 -4 -6 -U -10 0
20 40
60

-2
-4 -B BO

100

120

110

160

-6
0

t [msecl
Fig. 5 . Voltage wavelorrns after the imti-aliasing low-pass filtering.

20

40

60

BO

100

120

140

180

t [mecl

C. Modeling dc-OfSset Removal Filter with MODELS

When a fault occurs, the distortion measured in the voltage consists mostly of the high frequency components while the measured current values are affected by the exponentially decaying dc-offset component. It should be mentioned that in comparison to voltage signals, cuirent signals are more affected by dc offset. They experience maximum dc-offset for voltage zero faults and minimum for voltage maximum faults. For an algorithm using the fundamental component, the dc component should be removed for correct results. The approach adopted here is bascd on using all the three phase components and removing the dc components accordingly. The current waveforms distorted by the dc component at fault inception angle of zero and fault distances of 20% and 70% for single phase-to-ground fault (faulted phase A only) are shown in Figs. 6 and 7, respectively. Also, the outputs of the dc-offset removal filter are illustrated in Figs. 6 and 7. Again, note the phase delay of the filtered current values in the figures and especially the removal of the dc component for the voltage zero fault. It should be mentioned that although not shown here, the dc offsct removal filter is also very effective in removing the dc offset in faulted A and B phase currents for the phase-to-phase fault, for a fault occurring near zero of the V,, voltage. The aforementioned anti-aliasing low-pass and the dc-offset removal iiltcrs are implemented in a single EMTP file and the simplicity of controlling the power systems and the protective digital relaying systems is hence ensured.

Pig. 7. Current waveforms of fault and aftcr removing dc-olfset (fault inception angle: , fault distance: 70%). ' O

Pig. 8. Ovcrall black diagram of sirnulation using MODELS

D. Results
At the preprocessing stages, the anti-aliasing low-pass filter and the dc-offset removal filter are implemented to produce the voltage and the current values for the extraction of the fundamental frequency component, which in turn is used for the impedance calculation. For the fundamental frequency signals, Fourier Transform and Walsh Function methods are used in the simulation. In order to confirm the impedance convergence, the algorithm is tested for each fault type and distance. The system diagram for the simulation is shown in Fig. 8.

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KIM

et 01.:

RDUCATIONAL USE OP EMTP MODEIS

1120,

.....................

I
(a) resistance (a) resistance

I 'I "I
120

~~~~~

.e.. .....................................................................................................................
..................................................................................................

.......................................................................................................

........................................

ID%l>l*ml

12

..............................
sa":: nuder
3R

oJ,, , , , , , , , , , , , , , , , , , , , , , , , , , 38 12 S m le ?Iunber a

-.

, ,

,I

(b) reactance
Fig. 9. Convergence charactcriatics of itnpedaocc at fault inception angle 0" (using FCDFI').

(b) reactance
Fig. IO. Convergence characteristics of irnpcdancc Rt fault inception anglc 90(using FCDFT).

Fig. 9 shows the convergence of the resistance and reactance for voltage zcro faults and for different fault distances for single phase-to-ground fault, the convergence taking place to the requisite levels in approximately half a cycle after fault instance. The resistance and reactance convergencies far the 90' fault for single phase-to-ground fault in Fig. I O reveal the following facts. Comparing the two phases of fault instances proves the validity of the simulation in terms of convergence time. For the resistance convergencies from the two figures Figs. 9 and 10, the faster whilc convergence for the 90 fault can be clearly seen, while the 0' fault revcals the faster convergence for the reactance measured. A protection action can be obtained from the faster reactance component convergencc for the 0' faults. Also, Figs. I I and 12 show the convergence of the resistance and reactance for phase-to-phase fault. In addition, the fiill cycle DFT (FCDFT), the half cycle DFT (HCDFT), and Walsh Transform are used for the fundamental frequency component extraction. The corresponding results is used in FCDFT, and this slows down the protection relay of the resistance and the reactance convergence properties for operation while in the case of HCDFT, the computation process single phase-to-ground fault are demonstrated in Fig. 13 for is much faster. However, in the case of FCDFT, its convergence faults at 45" and the fault distance a1 50% of the line. is significantly better. In order to show the stability in the FCDFT and HCDFT each has its own merits in the funda- impedance convergence, the traces are shown in Fie. 14 for the mental frequency component extraction process. More data FCDFT,

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14

IRBE TRANSACTIONS ON POWER SYSTEMS, VOL. 15, NO. I FEBRUARY zoo0 .

2oo,m

...........................
............................

...........
...........
701(112 hml

_._.__

30% (48 hm)

I ~ I ~ I
4000

............
' I
50.00

om

'

'ow

20,M 3000 sam.1a M b e r

Fig. 12. Convergence characteristics of reactance at fault inception angle 0 ' (using FCDFT).

<--

.............................
* _ m _ . _ _

'am

.......................

' I oz

.am

__

I+

...........
.....................

.........................

.........................

.........................

~ c O _ _ _ _ _

WALSH

-O m

........... ...........

.-

- - -s.mp1.
numb..

(a) resistance

.__7.. ........................

...................

WALSH

...................
HCDFT

I -

=-,. S . "

"i4mb.r

_ ) r

(b) reactance
Fig. 13. Cornparisan of impedance convergence characteristics via the FCDFT, HCDFT and Walsh transform: (a) resistance und (b) reactance.

The horizontal and vertical axes are for the resistance and the reactance, respectively in the figures. Thus, the resistance converges from the right side and the reactance from the upper side. Predefined convergence areas are set for the resistance and the reactance. Protection trip signals are issued as soon as

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KIM et 01.: EDUCATIONAL USE OF EMTP MODELS

15

...............

technique. Moreover, other types of fault such as two phase-toground, 3-phase will also bc considered. Furthermore, work is also in progress in developing similar EMTP Models for other types of protection rclays such as the Overcurrent relay and the Current Differential relay and these will be presented in another paper at a lilter date.
REFERENCES

IMM

om

+am

- - - ......

...................

111 A. G. Phadke and J. S. Thorp, Computer Kehrybty for P u m r Sysiem.~:

'

John Wiley & Sons Inc., 1993, pp. 112-162. 121 R. K. Aggarwal, D. V. Cuury, A. T. Johns, and A. Kalam, "A practical approach to accurate fault locition on extra liigli voltage teed feeders," IEEE Trmi,~, Powrr Delivery. vol. 8 , in". 3, pp. 874-883, July 1993. on 131 A. A. I I I ciirgis and C. M. Fallan, "Fault location techniques for radial 20 m 4auI euw end loop liilnsmission systems using digitiil fault rrcordcd data," I Samels numPer Trans. on Power Delivery, vol. 7, no. 4, pp. 1936-1945, Oct. 1992. (a) resistance 141 T. S. Sidhu, H. Singh, tinil M. S. Sachdev, "Dcsign, implementalion and tesling of an artificial neuiiil network based fault direction discriminator Cor pmtccting tiansiiiission lines," IEEE Trrms. on P U I Y P ~ Ilelive,y, vol. ..................... 10,no. 2, pp. 697-706, ~ p r 1995. . 1 1 0.P. Miilik and G . S.Hope, "A laboletory itwesti 5 tection techniquc for pmallel tiimsinission lines," Delivery, vol. IO, inn. I , pp. 187-193, Jan 1995. [ ] A. K. S . Chaudhary ;mrl A. G.Phadke, "Protection systcrn rcpcesenta6 timi in the electramagnctic transients program," IEEE T,am on Power ................. ileiivery, vol. 9, nu. 2, pp. 700-711, Apr. 1994. 171 R. E. Wilson and I. M. Nonlstrom, "EMTP transient modeling of a distance relay and a comparison with EMTP lahoriitaiy testing," IEEE ............... Trmv. on /'ow?? Delivery, vol. 8, no. 3, pp. 984-992, July 1993. ................... 181 J. N. Peterson and R. W. Wall, "Interactive relay controlled powcr system Tron.~. H Power Delivery, vol. 6 , no. I . pp, 96-102, O ift, "A (new direclional elcinent far iiumcro w on Power Drlivrry, vol. IO, no. 2, pp. 666-675, Apr. 1995.
(b) reactance
[IO] L. Dube, M o i i d s Rule nook, Apr. 1996. 01 OMTP MODELS for the study of 11 11 1. A. Mirrtinca, "Edocetional rotating amchine liansien1,O I Trans. nn P",,W,. syrtcms, vol. 8. nu. 4. lip. 1392-1399, Nov. 1993. 1121 E. M. Varqucs, 1. V. Dinz, and I. Hector, "Fuuriel- and Wdsh digital iiltering algorithms for disriince protection," I ICIII, vol. I I.no. I , pp. 4 5 1 4 6 2 , Feb. 1996. [I31 E. C. Ife;ichur and B. W. Jcrvis, Difiilol Sijinal Proccssirg: AddisonWesley Publishing Company, 1993, 1111. 374-398.

Fig. 15. Comparison of iinpedancc convergence charnctcristics via the FCDFT, HCDFT. and Walsh transform (a) resistance and (h) ieilctancc.
z ~ B ~ o

..........................

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...........

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8

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ChaI-Hwan Kim was born in Korea on binuary 10, 1961. Ile rcceived the B.S.. M.S., imtl 1'h.D. rlegrccs in hlcctrical Engineering Crom Sungkyunkwan University, Korca, in 1982 and 1984, respectively. Hc rcceivcd a Ph.D. i n Electrical Engineering Iron? Sungkyunkwan University in 1990. In I990 he joined Chcju Niitiond Univcrsity, Chcju, Korea, as aFull-tirnclccturer, In 1996 and 1998, he was n visiting Research Frofessai at the University OC Bath, UK. Since March 1992, he has been an Associatc Professor in the Electrical Engineering Departmenl, Sungkyunkwan University, Suwon, Korea. His re~eiiicli ititerests include power system protection, n e m l nctwark application. the modeliogiprotection of underground cable and tllc EMTP softwiwe.

,5000

1
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o m

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Myung-Hce Lcc was barn in Korea on January 2, 1971. Hc veceived the R.S. and M.S. degrees in Electrical Engineering h m Sungkyunkwaii Univcrsity, Karca, in 1994 and 1996, respectively. His current research interests are power systems and conipnter application

RJ K. Aggarwal obtaincd the degcees of B.Eng. and Fh.D. in Electrical BngiFig. 16. Impedance trajectories via the FCDFT, HCDFT, and Wdsh tiensforin (fault inception angle: 0" fault distance: 50%). ncering from the University of I-iveI'pnnl, UK, in 1970 and 1973, rcspectively. He then joined the Power System Gvoup at the University of Bath, whcre he is now a Reader. His main amas of resetach interests are power system inodeling itnd tho application of digital techniqucs and artiticiiil intelligence to protection and m i i t i d He has publislicd mole than 200 technical [lapcrs and is ti fellow of the IRE, UK.

and improvement as well as for the evaluation of the existing algorithms in a closed-loop manner; equally importantly, it give a much better insight into the behavior of the algorithm. The next stage in the research would be to use high level language such as C and interface it with the EMTP, thereby improving the computation speed of the aforementioned described

Allnn T. Johns veceived the dcgvcc of tl.Sc. iind Ph.D. from the University 01 Bath and i n 1082 he was awarded the degree pf D.Sc. for an original and substantial contribution to kiiowlcdgc of electiicd engineering. Hc is currently Professor of electrical engineering and Head uf the Powcr and Energy Systems Group at the University of Bnth. He is the author of more than 250pohlicatians in the area of electrical puwev systems iind i s it fellow of thc IEE, UK.

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