Power quality indicators estimation using robust Newton-type algorithm

V. Terzija and V. Stanojevic Abstract: A two-stage robust Newton-type numerical algorithm for power quality assessment in electric power systems is described. The robust Newton-type algorithm is applied to estimate current and voltage spectra and the fundamental frequency simultaneously, in the rst algorithm stage. The algorithm robustness is achieved by developing an extra module called a bad data detector. In the second algorithm stage power quality indicators are calculated, particularly the active, reactive, apparent and distortion powers. The main advantage is that the technique provides estimates which are insensitive to frequency deviations and to bad data appearing as a consequence of communication error, incomplete measurement, errors in mathematical models etc. The algorithm performance is tested under laboratory conditions using the distorted voltage and current signals digitised during an AC motor start. A simulation example of processing distorted currents and voltages of an arc furnace is also presented.

Introduction

As deregulation imposes tighter utility competition for customers [1] power quality (PQ) assessment is causing much more interest in the industry. New digital instruments measuring power quality indicators are being developed. Some of the devices available on the market are used for automated PQ assessment [2]. During the process of A/D conversion of the input signals, the appearance of bad data (so called outliers) is possible. These are typical measurement errors. To process such signals, robust measurement algorithms must be applied. In an electric power system an increase or decrease in frequency occurs due to disturbances in the power system. Large blocks of load are being connected or disconnected, or large sources of generation are going ofine. Frequency variations are much more likely to occur for the loads that are supplied by a generator isolated from the utility system (islands). An overview of numerical algorithms used today in power engineering can be found in [3]. Various numerical algorithms for power measurements are sensitive to frequency variations. Typical examples are algorithms based on the fast Fourier technique (FFT), or algorithms based on the least error squares technique (LS) and on the assumption that system frequency is known in advance and constant (50 or 60 Hz). In this paper a two-stage robust Newton-type numerical algorithm for PQ assessment is described. In the rst stage of the algorithm the signals are processed independently from each other to estimate current and voltage spectra. In the second algorithm stage unknown PQ indicators, such as root mean square (RMS) value, power factor (PF), total harmonic distortion factor (THD), distortion power etc. are calculated by using suitable denitions. A numerical
r IEE, 2004 IEE Proceedings online no. 20040580 doi:10.1049/ip-gtd:20040580 Paper rst received 6th May 2003 and in revised form 14th January 2004 The authors are with the ABB Calor Emag AG, Oberhausene St 33, Gatiger D40472, Germany IEE Proc.-Gener. Transm. Distrib., Vol. 151, No. 4, July 2004

algorithm presented in this paper considers the system frequency as an unknown signal-model parameter to be estimated. This approach solves the problem of sensitivity to frequency variations. By the introduction of power frequency in the vector of unknown model parameters, the signal model becomes nonlinear, so strategies of nonlinear estimation are used. For the purpose of voltage and current spectra estimation, the robust Newton-type algorithm (NTA) is successfully implemented in PQ assessment. The new algorithm is not sensitive to outliers appearing as an error caused by, for example, communication channels, incorrect mathematical models, problems by A/D conversion, incomplete measurements etc. This important feature is achieved by extending the existing algorithm with a bad data detector (BDD) module, capable of recognising outliers in a series of samples belonging to a data window being processed. The features of the new robust algorithm are demonstrated by processing distorted voltages and currents measured on a real AC motor during motor start. In addition, a simulation example for processing distorted currents and voltages of an arc furnace is presented. 2 Robust Newton-type algorithm

Let us assume the following observation model of the input voltage (or current) signal, digitised at the measurement device location: vt hx; t xt 1 in which v(t) is an instantaneous voltage at time t, x(t) a zero mean random noise, x a suitable parameter vector and h( ) nonlinear function expressed as: hx; t V0
M X k 1

Vk sink ot jk

For the generic model (2), a suitable vector of unknown parameters is given by: x V0 ; o ; V1 ; . . . ; VM ; j 1 ; . . . ; j M T 3 where V0 is the magnitude of the decaying DC component
477

at t 0, M is the highest order of the harmonics presented in the signal, o is the fundamental angular velocity, equal to 2pf, f being frequency, Vk is the magnitude of the kth harmonic and jk is the phase angle of the kth harmonics. The adopted signal model is a highly nonlinear function of the unknown frequency, so application of nonlinear estimation is required. The expected benet of introducing power system frequency into the vector of unknown signal parameters is algorithm insensitivity to frequency changes, both small and large. If the input signal is uniformly sampled with sampling frequency fs and sampling period Ts 1/fs, the value of t at a discrete time index is given by tm mTs and the following discrete representation of the signal model can be used: vm hxm ; tm xm ; m 1; 2; 3; . . . hxm ; tm V0m
M X k 1

The elements of the Jacobian are calculated in terms of the estimates estimated in the step before, (i.e. by processing the data belonging to the preceding data window). It is assumed that the input data are corrupted with bad data, so the algorithm presented is extended with the module called the bad data detector (BDD). With this module the algorithm robustness is achieved. The BDD module calculates the following residual vector r: ^i ; t r v h x 12 Residual vector r has N elements, ri,i 1, y, N. In Fig. 1, the narrow part of a data window with sampled values and predicted values is presented. The outlier in Fig. 1 is obvious. Consequently, if an outlier exists in the data window, its residual value will be far from other residuals, which is shown in Fig. 2.
100 model samples 50

4 5

Vkm sink om tm jkm

where all unknown parameters from (3) now have a subscript m. The number of unknowns (i.e. the model order) is n 2M+2. The input signals are sampled during a nite period of time, called a data window. By providing N samples on the data window, a set of N (NZn 2M+2) nonlinear equations, given by (1) and (2), in n unknowns are obtained. The problem is to solve the overdetermined system of nonlinear equations (i.e. to determine the unknown model parameters). In [4] the Newton-type algorithm for the simultaneous estimation of voltage phasors and power system frequency is presented. It is derived under the assumption that the input voltage is a pure sine wave. In this paper, in which a problem of power quality is considered, distortion of the input signals is taken into account, as it has been during the signal model development. The NTA algorithm belongs to non recursive, nonlinear estimators. The key relation of the NTA algorithm is given by:
1 T ^ i JT ^i ; t ^i1 x x i Ji Ji v hx

0 U1, V 50 100 150 0.4615

0.4620

0.4625

0.4630 t, s

0.4635

0.4640

0.4645

Fig. 1

Segment of arbitrary data window, showing an outlier

40 20

0 20 U, V 40 60 80 100 120 140 0.4615 0.4620 0.4625 0.4630 t, s 0.4635 0.4640 0.4645

^ is estimated vector, J# where i is an iteration index, x i 1 T T Ji Ji Ji is referred to as a left pseudo-inverse of ^i ; t is Jacobian Ji, v is an (N 1) measurement vector, hx an (N 1) vector of nonlinear functions determined by the assumed mathematical model of the input signal and N is the number of samples belonging to the data window. The Jacobian matrix J is an (N n) matrix, having as its elements the partial derivatives of signal model (2). Let us denote with j an arbitrary row of the Jacobian, where j j1 ; j2 ; j3 ; ; j22M j1 @ hx 1 @ V0 7 8

Fig. 2

Residuals corresponding to data from Fig. 1

j2

M @ hx X Vk kt cosk ot jk @o k 1

j2 k j2 M k where k 1,y, M.
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@ hx sink ot jk @ Vk @ hx Vk cosk ot jk @ jk

10

11

To recognise and remove outliers from data window and consequently to improve both the robustness and the calculation performances of the NTA algorithm, the maximum (normalised) residual test (MNRT) [5, 6] for testing outliers is used in the BDD module. The MNRT can be successfully applied if the data series analysed is normally distributed. By using a standard statistical test such as the chi-square test [7, 8], for goodness of the t, it was proved that the residuals processed are distributed by normal distribution with zero mean. The MNRT is applied
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on the vector of residuals. The null hypothesis in this method is: H0: There is no outlier in the data. The alternative hypothesis is: Ha: There is at least one outlier in the data. In the rst step, the residual which is farthest from the other residuals is recognised. It is achieved by computing the following test statistic: rj jri  13 G max s where  r is the mean of the residual vector, s is its standard deviation, and ri is the residual that maximises G. The test statistic G is then compared with the critical value GCR: v u 2 t N 1u a=2N ;N 2 14 GCR p t 2 N 2 t N a=2N ;N 2 where N is the number of residuals, a is the signicance level and t is the critical value of the t distribution with (N2) degrees of freedom. The signicance level a is the probability of rejecting the null hypothesis when it is true. The degree of freedom is a parameter of the t-distribution. When the degree of freedom tends to innity, the t distribution converges to the standard normal distribution. In the BDD module the signicance level is set to a 0.05. That means that there is probability of 0.05 of rejecting the null hypothesis when it is actually true. If G4GCR, the null hypothesis H0 of no outliers is rejected. In other words, the residual ri corresponding to the sample vi in data window is an outlier. Consequently, vi is deleted from data window and this process is repeated until no outliers are detected. The new algorithm design procedure requires the appropriate choice of sampling frequency, the length of data window Tdw and the initial guess for the vector of unknown parameters x0. For example, the initial vector x0 can be calculated by using FFT. In [4] it is shown that the number of iterations provided at one data window i can be reduced to a single iteration, (i.e. to set i 1). By this, the estimate from the preceding iteration is used as an input to the next. This simplication signicantly reduces CPU requirements, and at the same time does not inuence the algorithm features. The NTA algorithm presented is adaptive in nature. That allows us to provide a high measurement accuracy over a wide range of frequency changes. With the initial guess x0 correctly determined, the true estimates can be obtained in the frequency range of fs/2 to +fs/2. Given a step change of one (or all) model parameter(s), after a short convergence period tcnv, the true estimates are obtained. The convergence period is approximately equal to the length of data window (i.e. tcnv  Tdw [4]). 3 Second stage numerical algorithm

Total power factor (PF):

PF
M X 1

v1 !,0v uM uM uX 1 uX 1 2A t 2 @ Vk Ik cosjk ck Ik t V 2 2 2 k k 1 k 1 k 1

16 Total harmonic distortion (THD), e.g. for voltage: ,v1 0v uM uM uX 1 uX 1 t t 2 @ Vk Vk2 A100% THDv 2 2 k 2 k 1

17

Active and reactive powers of the fundamental harmonic are expressed as: 1 P1 V1 I1 cosj1 c1 18 2 1 19 Q1 V1 I1 sinj1 c1 2 Several denitions of power components in linear sinusoidal and nonsinusoidal systems [912] are proposed. The average power is expressed as: Pav V0 I0
M X 1 k 1

Vk Ik cosjk ck

20

where jk and ck are the voltage and current kth harmonics phase angles. There is not an unique denition for the reactive power. The following Budeanus reactive power denition [9] is used in this paper: QBud
M X 1 k 1

Vk Ik sinjk ck

21

Apparent harmonic power: S VRMS IRMS Budeanus distortion power: q 2 Q2 D S 2 Pav Bud 22

23

The second stage algorithm calculates PQ indicators from the current/voltage spectra estimated by the robust NTA. The basic formulas used by this are given in the following text. Voltage and current root mean square (RMS) values: v v uM uM uX 1 uX 1 Vk2 IRMS t I2 15 VRMS t 2 2 k k 1 k 1
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In Sections 4 and 5 two test examples are presented. In the rst test example, typical motor start signals are processed. These signals are obtained under laboratory conditions. A typical motor starting current and its fast amplitude changes were a challenging task to be considered. The second test example considered voltages and currents obtained at the terminal of an arc furnace. These were obtained through computer simulation. The simulation offered the opportunity for changing the system frequency. The arc furnace distorted voltages processing was an excellent test example for checking the features of the new robust Newton-type algorithm. The new algorithm for power quality indicators estimation can be also applied in some other examples important from the power quality point of view. It is important to know the nature of signals processed, which determines the selection of the optimal signal model and the minimal sampling frequency. The methodology presented could be coupled with the stand-alone software packages for classication of power quality disturbances. The prerequisite for this step is the suitable interface between the corresponding inputs (of the power quality disturbances analyser) and outputs (of the algorithm presented). In both test examples investigated the bad data are articially added to the corresponding signals being
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processed. The nature of bad data is random, so those added to the signals were of the following nature: (a) zero input, corresponds to the lost of the input sample (e.g. due to wrong A/D conversion), (b) maximal input, corresponds to the wrong assigned maximal value (e.g. due to wrong A/ D conversion), (c) random amplitudes (e.g. due to unknown random electromagnetic interferences etc.). The issue of bad data nature is extremely difcult and depends on the problem under consideration. 4 First test example: the motor start

400 300 200 100

i1, A

0 100 200 300 400 1.5 1.6

4.1

Data acquisition during motor start

Under laboratory conditions the motor voltages and currents are recorded during the motor start test. An AC motor, coupled to a loaded DC machine was switched to the power system at ts 1.65 s. In Fig. 3 the schematic structure of the test machine unit is given. The AC motor used in the test has a double squirrel cage rotor and is air cooled. The main rated data of the motor are given in Table 1. The DC machine from Fig. 3 is separately excited, with Pn 11 kW, and variable speed in the range of 02100 rev/min.

1.7

1.8

1.9

2.0 t, s

2.1

2.2

2.3

2.4

2.5

Fig. 4

Motor current before, during and after start

400 300 200 100

u1, V
power system induction machine d.c. machine coupling load

0 100 200 300

Fig. 3

Schematic structure of test-machine unit

Table 1 Rated data of AC motor under test

Un In Pn fel cos jn nn Tn 380/220 V 22.5 A 11 kW 50 Hz 0.86 1470 rev/min 72 N m

400 1.5

1.6

1.7

1.8

1.9

2.0 t, s

2.1

2.2

2.3

2.4

2.5

Fig. 5

Motor voltage before, during and after start

400 300 200 100

Signals are digitised before and after the beginning of the motor start (ts 1.65 s). The total observation time was to 2.5 s. Data are sampled with the sampled frequency fs 5 kHz. Data window size used in NTA algorithm was 40 ms. In Figs. 4 and 5 the recorded current and voltage of one of three phases are presented. Both signals are severely distorted. During data recording bad data did not occur. They are articially injected into the originally recorded signals. Their amplitudes varied in the range of +/400 A (V). The instants and the values are selected randomly. The starting current is shown in Fig. 4. The motor start lasted approximately Dt 0.3 s. It is simple to observe the outliers existing in the current signal. In Fig. 5 a slight voltage drop during the motor start is visible. In Fig. 6 the outliers in voltage signal are presented. Under these severe circumstances the PQ indicators are calculated. From the current amplitude estimation point of view, the fast amplitude changes make the estimation difcult. Such a fast change can only be tracked with estimators possessing excellent convergence properties.
480

u1, V

0 100 200 300 400 2.190

2.195

2.200 t, s

2.205

2.210

Fig. 6

Outliers in voltage signal: a selected example from Fig. 5

4.2

Estimation results

In this Section the main results of the application of the two-stage robust NTA numerical algorithm will be given. In all graphs showing the estimation results the black curve presents the estimation obtained by using the robust approach, while the grey curve presents the result that is not based on the robust estimation (algorithm without BDD module). First, the results obtained directly by the application of the robust NTA algorithm are given: current RMS values
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for one phase (Fig. 7), voltage RMS values for one phase (Fig. 8), and voltage frequency (Figs. 9 and 10). In Fig. 10 the ltered frequency is presented. A simple low-pass moving average lter is used for the ltering. The moving average lter simply calculated the average value of estimated frequencies belonging to the current data window. Before the motor start, the input signals are practically zero, presenting a measuring noise (see zero RMS estimated values of currents). Even under these conditions, the frequency is estimated, but these values do not have any
180 160 140 120 l1, V 100 80 60 40 20 0 1.5 1.6 1.7 1.8 1.9 2.0 t, s 2.1 2.2 2.3 2.4 2.5

50.15

50.10

50.05 f , Hz

50.00

49.95

49.90 49.85 1.5

1.6

1.7

1.8

1.9

2.0 t, s

2.1

2.2

2.3

2.4

2.5

Fig. 10

Filtered estimated frequency from Fig. 8

Fig. 7

Estimated RMS values of motor currents

practical meaning. During the motor start both the current and voltage RMS values are correctly estimated (compare the original signals from Figs. 4 and 5 with the estimates plotted in Figs. 7 and 8). During the testing an independent measuring device was not available to verify the presented results. In all Figs. (710) it is shown that the robust approach delivered the more accurate result. Based on the estimates obtained in the rst algorithm stage, the other indicators important for the PQ assessment are derived. In Figs. 11 and 12, the estimated THD factors
50 45 40

230

225

220 THD i1, % 1.6 1.7 1.8 1.9 2.0 t, s 2.1 2.2 2.3 2.4 2.5 u1, V

35 30 25 20 15

215

210 10 5 200 1.5 0 1.5 1.6 1.7 1.8 1.9 2.0 2.1 t, s 2.2 2.3 2.4 2.5

205

Fig. 8

Estimated RMS values of motor voltages

Fig. 11
18 16 14

Estimated THD values of motor currents

50.2

50.1 THDu1, %

12 10 8

f , Hz

50.0

49.9

49.8

6 4 1.5

49.7 1.5

1.6

1.7

1.8

1.9

2.0 t, s

2.1

2.2

2.3

2.4

2.5

1.6

1.7

1.8

1.9

2.0 2.1 t, s

2.2

2.3

2.4

2.5

Fig. 9

Estimated frequency of supplying voltage

Fig. 12

Estimated THD values of motor voltages

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for current and voltage are presented. As mentioned previously, before the motor start, the input signals were practically a noise, so the THD factors before the motor start are relatively large values. During the steady state the current THD factor is greater than the voltage THD factor. As expected, the robust approach gave the more accurate estimates. In Fig. 13 the estimated total power factor is presented. Note that, during the motor start, the power factor is essentially larger value than in the steady state. In Figs. 1418 the active, reactive, apparent and distortion powers are, presented respectively. All powers present
0.8 0.7 0.6

11 10 9 8 7 S, VA 104 6 5 4 3 2 1 0 1.5 1.6 1.7 1.8 1.9 2.0 t, s 2.1 2.2 2.3 2.4 2.5

Fig. 16
0.5

Estimated 3-phase apparent power

p.f.

0.4 0.3 0.2 0.1

10000 9500 9000 8500 8000

0 1.5

S, VA

1.6

1.7

1.8

1.9

2.0 t, s

2.1

2.2

2.3

2.4

2.5

7500 7000 6500 6000 5500

Fig. 13
6

Estimated total power factor

5000 2.15

2.20

2.25 t, s

2.30

2.35

2.40

Ptot, W 10 4

Fig. 17
3 10000 2 9500 9000 1 8500 0 1.5 8000 1.6 1.7 1.8 1.9 2.0 t, s 2.1 2.2 2.3 2.4 2.5 D, VA 7500 7000 6500 8 7 6 6000 5500

Zoomed segment from Fig. 16

Fig. 14

Estimated 3-phase average active power

5000 1.5

1.6

1.7

1.8

1.9

2.0 t, s

2.1

2.2

2.3

2.4

2.5

Q Bud, VAr 104

5 4 3 2 1 0 1.5

Fig. 18

Estimated 3-phase Budeanus distortion power

1.6

1.7

1.8

1.9

2.0 t, s

2.1

2.2

2.3

2.4

2.5

Fig. 15
482

Estimated 3-phase Boudeanus reactive power

the total motor powers (the sum of the single powers per phase). As expected, during the motor start the greater values are obtained, compared with the steady state. The steady state started at approximately 2.15 s. The importance of the robust estimation is particularly experienced by the estimation of the distortion power presented in Fig. 18. In Fig. 17 a zoomed segment from Fig. 16 (estimated apparent power) is presented. The robust NTA numerical algorithm delivers much more accurate results compared with those without BDD module.
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Second test example: arc furnace

5.1

Arc furnace simulation

f 49.5 Hz. The inuence of frequency changes on the algorithm accuracy was simultaneously investigated.

In this Section an example of processing signals typical for arc furnaces is presented. The nonlinear arc furnace model and the test example from [13] are used. The simulation has been provided by using a unique software package suitable for the simulation of fast electromagnetic transients and nonlinear phenomena like electrical arcs [14]. In this example data are sampled with the sampled frequency fs 3200 Hz. Data window size used in NTA algorithm was 40 ms. Based on the simulation, the current and the voltage signals at the terminal of the arc furnace are obtained and are presented in Figs. 19 and 20, respectively. Only short segments of signals are presented. From Fig. 20 it can be noted that the voltage signal is a distorted signal (THDE11.5%), additionally corrupted by bad data (a sudden drop of three successively sample values from the expected values to zero at t 1.11 s). The current signal (Fig. 19) is also a distorted signal. Its distortion is smaller (THDE0.8%) and only notable in the spectral domain. The current signal is additionally corrupted with bad data. At t 1.11 s three successively sample values are put to the maximal current amplitude value. Both signals were additionally corrupted around t 1.28 s with an articially +/10% sample amplitude change. It has been shown that this small bad data corruption did not essentially affect the estimation procedure. Simulation was provided for system frequency

5.2

Estimation results

0.8 0.6 0.4 0.2 I , kA 0 0.2 0.4 0.6 0.8 1.08 1.09 1.10 1.11 t, s 1.12 1.13 1.14 1.15

Fig. 19

Measured current at arc furnace terminal

Before processing the arc furnace signals from Figs. 19 and 20, a 50 Hz simulation was provided. To investigate the spectrum features, suitable voltages and currents are processed. It has been concluded that both signals have odd harmonics only. This determined the signal model implemented by the NTA application. The signal model included 15 odd harmonics. Simulations are provided on signals with and without bad data and for 50 and 49.5 Hz system frequencies. Using this test example, a Newton-type algorithm with and without BDD module and the common fast Fourier technique (FFT) are implemented and compared. In the simulation without bad data and for f 50 Hz equal results are obtained for all algorithms mentioned. The NTA algorithm with and without BDD module delivered accurate estimates for f 49.5 Hz signals. Both algorithms are capable of adapting the estimation to the actual system frequency. That was not the case with FFT. As known, the FFT is a useful technique only if the signal fundamental frequency is equal to the assumed one (the nominal frequency). Otherwise, the known leakage effect occurs. In other words, for the off-nominal frequencies the spectral components are calculated incorrectly [15]. In the case of processing signals corrupted by bad data, only the NTA with BDD module was capable of processing signals correctly, independent of the system frequency. The most challenging test example estimation results, bad data distorted 49.5 Hz test signals processing (Figs. 19 and 20), will be presented in this Section. Due to limited space, only selected results are presented. In Figs. 2125 selected power quality indicators are presented. Figure 21 shows that FFT is not capable of processing signals with an off-nominal frequency correctly. The NTA with BDD module delivers correct estimates also in the ranges where signals are corrupted with bad data. For the +/10% sample amplitude change (t 1.28 s) it can be observed that estimates for NTA with and without the BDD module are slightly different. These obtained by NTA with BDD module are correct. The advantages of the new robust NTA are also observable in Figs. 2225, in which the results for NTA with and without BDD module and FFT are presented. The presented test example is an additional proof that NTA extended with a BDD module can be successfully
50.1

3 50.0 2 49.9 1 u, kV 0 1 2 3 1.08 1.09 1.10 1.11 t, s 1.12 1.13 1.14 1.15 f , Hz 49.8 49.7 49.6 49.5 49.4 49.3 1.0 NTA-Grubbs NTA FFT

1.1

1.2 t, s

1.3

1.4

1.5

Fig. 20

Measured voltage at arc furnace terminal

Fig. 21

Frequency estimated from voltage signal

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0.5415 0.5410 0.5405 I RMS, kA 0.5400 0.5395 0.5390 0.5385 0.5380 D, MVA NTA-Grubbs NTA FFT

0.070 0.065 0.060 0.055 0.050 0.045 0.040 0.035 1.0 NTA-Grubbs NTA FFT 1.1 1.2 t, s 1.3 1.4 1.5

1.0

1.1

1.2 t, s

1.3

1.4

1.5

Fig. 22

Estimated RMS values of arc furnace current

Fig. 25

Estimated single-phase arc furnace distortion power

2.060 2.055 2.050 U RMS, kV 2.045 2.040 2.035 2.030 2.025 2.020 1.0 NTA-Grubbs NTA FFT 1.1 1.2 t, s 1.3 1.4 1.5

Fig. 23

Estimated RMS values of arc furnace voltage

1.110

1.105

S, MVA

1.100

estimation of distorted signals. The algorithm is not sensitive to the changes of the frequency of the input signal. These are typical for power systems during faults and abnormal operations. The NTA algorithm is extended with a BDD module offering the robust algorithm features (i.e. providing the ability of processing the signals corrupted with bad data). The BDD module is based on the maximum normalised residual test. The algorithm is successfully applied in the processing of currents and voltages recorded during the laboratory start of an 11 kW AC motor and analysis of signals typical for arc furnaces. During the motor start both currents and voltages were severely distorted and articially corrupted with bad data. In particular, the amplitude of motor current was changing during the transient. In the case of arc furnace simulation the voltage processed was severely distorted and with an off-nominal frequency (49.5 Hz). The results obtained offered a hope that the algorithm presented could be efciently applied in practice. It is proved that the new robust algorithm delivers better results compared with the algorithm without the BDD module. The NTA itself delivered better results compared with the standard Fourier technique-based methods (e.g. FFT). This technique is not limited only to measurement applications in power systems. It may be also used in designing the algorithms for the applications in other elds of engineering. 7 References

1.095

1.090

NTA-Grubbs NTA FFT 1.1 1.2 t, s 1.3 1.4 1.5

1.185 1.0

Fig. 24

Estimated single-phase arc furnace apparent power

applied for the processing of distorted signals corrupted with bad data. 6 Conclusions

In this paper a two-stage robust numerical algorithm for the estimation of power quality indicators is presented and successfully applied through two test examples: (a) laboratory motor starting and (b) arc furnace simulation. It is based on the application of the robust Newton-type algorithm for the simultaneously frequency and spectrum
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