Wavelet Transform Approach to Distance

Protection of Transmission Lines

A. H. Osman, Student Member, IEEE O. P. Malik, Fellow, IEEE
Dept. of Electrical and Computer Engmeermg
University of Calgary, T2N 1N4, Canada
Abstract: An apphcatlon of wavelet transform to digital distance
protection for transmission hnes is presented in this paper. Fault
simulation is earned out using the Power System Computer Aided
Design program (PSCAD). The simulation results are used as an
input to the proposed wavelet transform protection-relaying
technique. The technique Nbased on decomposing the voltage and
current signats at the relay location using Wavelet Filter Banks
(WFB). From the decomposed signals, faults can be detected and
classified. Also the fundamental voltage and current phasors,
which are needed to calculate the impedance to the fault point can
be estimated. Results demonstrate that wavelets have high
potentiat m distance relaying.
Keywords: Distance Protection Relaying,
Wavelets.
1. INTRODUCTION
Power Systems,
Great attention has been paid to distance relaying
techniques for the protection of transmission lines. The
main target of these techniques is to calculate the
impedance at the fundamental frequency between the relay
and the fault point. According to the calculated impedance,
the fault is identified as internal or external to the protection
zone. This impedance is calculated from the measured
voltage and current signals at the relay location. In addition
to the fundamental frequency, the signals are usually
contain some harmonics and DC component, which affect
the accuracy of the phasors estimation [1].
Recently, distance relays have experienced much
improvement due to the adoption of digital relaying, Signal
processing is one of the most important parts of the
operation of the digital distance protection. Until recently,
Fourier analysis and Kalman filtering methods were the
mam tools in signal processing for distance relaying [2].
The trip/no trip decision has been improved compared to
the electromechanical or solid-state relays. However, the
reach accuracy of these methods 1s affected by the different
fault conditions particularly in the presence of high
frequency and DC offset in the signals.
Wavelet transform as an alternative solution to the
metmoned approaches for distance relaying of transmission
lines is introduced in this paper. Wavelets are a recently
developed mathematical tool for signal processing.
Compared to Fourier analysis, which relies on a single basis
function, wavelet analysis uses basis functions of a rather
wide functional form. The basic concept in wavelet
transform is to select an appropriate wavelet function
mother wavelet and then perform analysis using shifted
and dilated versions of this wavelet. Wavelet can be chosen
with very desirable frequency and time characteristics as
compared to Fourier techniques. The basic difference is
that, in contrast to the short time Fourier transform which
uses a single analysis window, the wavelet transform uses
short windows at high frequencies and long windows at low
frequencies. The basic functions in wavelet transform
employ time compression or dilation rather than a variation
in time frequency of the modulated signal [3],
This work describes tbe application of wavelet
transform in detecting and classifying faults as well as
extracting the voltage and current fundamental phasors
needed to calculate the impedance to the fault point.
Il. WAVELET TRANSFORM
Wavelet transform was introduced at the beginning of
the 1980s and has attracted much interest in the fields of
speech and image processing since then, Its potential
applications tOPOWer industry have been discussed recently
[4 7]. A brief introduction to the wavelet transform is
given here, more details can be found in [8, 9].
There are two fundamental equations upon which
wavelet calculations are based; the scaling function, tit)
and the wavelet function Y(t):
q(t) =N5 ;hk 47(2t -k) (1)
!4) =fi pkd2t - k)
(2)
The functions are two-scale difference equations based on a
chosen scaling function tp, with properties that satisfy
certain admission criteria and discrete sequence:
h, and gk = (-I)* h,.Lrepresenting discrete filters that solve
each equation. The scaling and wavelet functions are the
prototype of a class of orthonormal basis functions of the
form:
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(
~J,k(f) =2j/2
)
p2Jtk, j,kcz
yj,k(t) = 2J2
( )
y2~t k, j,kez
(3)
(4)
where the parameter j controls the dilation or compression
of the function in time scale and amplitude. The parameter
k controls the translation of the function in time. z is the set
of integers.
Wavelet system may or may not have compact support.
Compact support means that the wavelet system has finite
number of nonzero coefficients. A wavelet system with
compact support allows wavelets to localize in both time
and frequency, so only is dealt with here. Several
techniques have been used in the literature to create wavelet
systems, These include cubic splines, complex
exponentials, and parameter-space constructions. Once a
wavelet system is created, it can be used to expand a
function f(t)in terms of the basis functions:
where the coefficients c(l), and d(j, k) are calculated by
inner product as:
(6)
(7)
If the wavelet system has compact support and an upper
limit is placed upon the degree of dilation j, then the
expansion equation becomes:
(8)
The expansion coefficients c(l) represent the approximation
of the original signal ~(t) with a resolution of one point per
every 2J points of the original signal. The expansion
coefficients d(j, k) represent details of the original signal at
different levels of resolution. These coefficients completely
and uniquely describe the original signal and can be used in
a way similar to the Fourier transform. The wavelet
transform then is the process of determining the values of
c(1) and d(j,k) for a given f(t)and wavelet system. The
expansion equation naturally leads to a recursive algorithm
for the wavelet transform, given certain assumptions. First,
the function f(t) is taken as a sequence of discrete points
sampled at 2 points per unit interval. These points can be
viewed as the inner product of @and ~(t). That is, the sample
points are approximation, or c(l) coefficients, of the
continuous function ~(t). This allows c(l) and d(j, k) terms to
be calculated by direct convolution of ~(t) samples with the
coefficients h~and g~.
It was discovered in [10] the wavelet transform can be
implemented with a specially designed pair of Finite
Impulse Response (FIR) filters called a Quadrature Mirror
Filters (QMF) pair. QMFs are distinctive because the
frequency responses of the two FIR filters separate the high
frequency and low frequency components of the input
signal. The dividing point is usually halfway between OHz
and half the data sampling rate (the Nyquist frequency).
The outputs of the QMF filter pair are decimated (or
desampled) by a factor of two; that is, every other output
sample of the filter is kept, and the others are discarded. The
low-frequency (low-pass) filter output is fed into another
identical QMF filter pair. This operation can be repeated
recursively as a tree or pyramid algorithm, yielding a group
of signals that divides the spectrum of the original signal
into octave bands with successively coarser measurements
in time as the width of each spectral band narrows and
decreases in frequency.
The tree or pyramid algorithm can be applied to the
wavelet transform by using the wavelet coefficients as the
filter coefficients of the QMF filter pairs as shown in [11].
The same wavelet coefficients are used in both low-pass and
high-pass (actually, band-pass) filters. The low-pass filter
coefficients are associated with the h~ of the scaling function
#t). The output of each low-pass filter is the c(l), or
approximation components, of the original signal for that
level of the tree. The high-pass filter is associated with the
g~ of the wavelet function Y(t).The output of each high-
pass filter is the d(j,k), or detail components, of the original
signal at resolution 2J. The c(l) of the previous level are used
to generate the new c(l) and d(j, k) for the next level of the
tree. Decimation by two corresponds to the
multiresolutional nature of the scaling and wavelet
functions. The reverse wavelet transform essentially
performs the operations associated with the forward wavelet
transform in the opposite direction [12].
In wavelets applications, different basis functions have
been proposed and selected. Each basis function has its
feasibility depending on the application requirements. In the
proposed scheme, the Daubechies-4 (db4) wavelet [10]
served as the wavelet basis function for the detection and
classification of faults as well as for the estimation of the
voltage and current phasors. The db4 FIR filter coefficients
are given in Table 1.
Table 1. db4 FIR filter coefficients
k h,
~
o -0.0106 -0.2k304
1 0.0329 0.7148
2 0.0308 -0.6309
3 -0.1870 -0.0280
4 -0.0280 0.1870
5 0.6309 0.0308
6 0.7148 -0.0329
7 0.2304 -0.0106
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Ill. PROPOSED WAVELETS DISTANCE
PROTECTION ALGORITHM
In order to investigate the applicability of the proposed
wavelet transform distance protection algorithm, a
simulation of transmission line model for different fault
locations and different loading conditions is done. Fault
simulations were carried out using PSCAD. The simulated
power network is shown in Fig.1. The network consists of
two areas connected by a transmission line. The
transmission line was modeled as a distributed parameters
line, representing a 225km long 240kV ideally transposed
transmission line with impedance, ZL=(4. 15 + J84.66)f2.
The three phase voltage and current signals at the relay
location, which is at bus A, are sampled at 960Hz (16
samples/fundamental power cycle). These six signals are
then filtered using a pre-band-pass filter with cut-off
frequency 80Hz to attenuate the dc component. The output-
filtered signals are the input to the proposed wavelet
distance protection algorithm.
G1 A T. Line B G2
Zh
240kV, 225km
Sources X/R=60
Fig. 1 Transmission line model system
The proposed technique is divided into two sections:
1) The first section is the detection of the fault by
observing the output of the high-pass filter (details) of the
first decomposition level. This decomposition level has the
ability to detect any disturbances in the original signal
waveform. Fig. 2 shows an example for an original current
waveform during a fault and the output of the high-pass
filter (D 1) of the first decomposition level. It is clear that the
fault moment has been detected easily by this
decomposition. By passing all three phase currents and
voltages at the relay location through the wavelet first
decomposition level, it is possible to detect and classify the
faulty phase(s). The data window length till the moment of
faul~ detection is half a cycle (8 samples).
Oriaina!current smal
01
Detail (Dl)
*
Eo
g
-01
0 20 40 60 80 100 120 140 160 180
Fig.2 Original current waveform and D1 during a fault
2) The second section of the algorithm is the estimation
of the fundamental frequency voltage and current phasors. It
can be done by observing the output of the low-pass filter at
the second decomposition level, Theoretically, The
frequency band of the fundamental frequency should be
obtained from the fourth level of decomposition, and this
requires a very long data window, which is not possible to
be applied on line. The second level of decomposition gives
a very good approximation for the phasors. At this level the
high frequencies in the signal are eliminated by the high-
pass filters of the first and second decomposition levels and
the DC component has already been eliminated by pre-
band-pass filtering the signal. The data window length for
estimating the phasors before the fault is half a cycle (8
samples). However, at the moment of fault detection, the
last half cycle data window is kept and it starts to increase
by one new sample until it reaches a full cycle (16 samples)
and then it continues with this window length. This is
equivalent to an adaptive data window, and gives the
advantage of fast clearance to the near faults, while the
faults at the end of the line need about% to one full cycle to
be classified. The estimation of the phasors is based on
capturing the peak of each signal (magnitude), and locating
its position from the beginning of the data window (phase).
For each new sample, the impedances for ground and phase
faults that are seen by the relay at A are calculated using
the well-known equations:
i- For phase to ground faults
v
z phase = ~
phase
(9)
Pha.w(l)+ Iphaw(x + K(o) Zpha,, (o)
, K(o)=ZL(o)/zL(l)
where Vp,,,,,,,is the estimated phase voltage phasor, 1,,.,,(1),
1,,,,,,,,(2), 1,,.,.(0), are the positive, negative, and zero sequence
estimated phase currents respectively, and K(O) is the ratio
between the zero sequence to the positive sequence
impedance of the protected transmission line.
ii- For phase faults (example: phase a to phase bfault)
where V,,, and V~are the estimated voltage phasors, l., and Ib
are the estimated current phasors.
IV. SIMULATION RESULTS
The described wavelet transform approach to distance
protection for transmission lines is applied for the model of
Fig, 1, The performed tests include different fault types,
different fault locations, and different loading conditions,
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1) The first set of tests is carried out with a power angle
of 1(Ydegrees between the two sources, and fault resistance
Rf=O, for different fault locations.
Fig.3 shows the impedance calculated at the relay location
for a single line to ground fault at 50km from the relay
location. Fig.4 shows the impedance fault trajectory for this
fault, from which one can recognize how fast the fault
trajectory entered the tripping area, It took about 3ms to
classify the fault as an internal fault. Fig. 5 shows the
impedance calculated at the relay location for a double line
to ground fault at 100km, and Fig.6 shows its impedance
fault trajectory. It took about 7ms to classify the fault as an
internal fault. Fig.7 shows the impedance calculated at the
relay location for a single line to ground fault at 150km
from the relay location, and Fig.8 shows its impedance fault
trajectory. It took about 12ms to classify the fault as an
internal fault. This also clarifies the idea of using longer
data window in order to classify the far fault locations.
2) The second set of tests is carried out with a power
angle of 20 between sources, and fault resistance Rf=O, for
different fault locations.
Fig. 9 shows the calculated impedance at the relay location
for a single line to ground fault at the beginning of the line
near bus A, and Fig. 10 shows its impedance fault
trajectory. The trajectory entered the tripping zone
immediately after the fault. Fig. 11 shows the calculated
fault impedance at the relay location for a double line to
ground fwlt at 50km from the beginning of the line, and
Fig. 12 shows its fault impedance trajectory. The trajectory
entered the tripping zone after 3ms. Fig. 13 shows the
calculated impedance at the relay location for a phase-to-
phase fault at 100km, and Fig. 14 shows its fault impedance
trajectory. The trajectory entered the tripling zone after 8ms.
The results show that wavelet transform enabled the
detection of faults, and estimation of the phasors at the relay
location. The wavelet distance relay successfully classified
every type of fault at any distance.
o
0 10 20 30 40 50 60
Tme Samples
Fig,3 Single line to ground fault (A-G) at 50km
Fault trajectory for SLG (A-G) at 50km
R (ohm)
Fig.4 Fault trajectory for single line to ground fault (A-G) at 50km
Double line to around fault 1A-C-G) at 100km. Rf=O
Tme Samples
Flg5 Double Line to ground fault (A-C-G) at 10Okm
R (ohm)
F]g.6 Fault trajectory for double line to ground fault (A-C-G) at 100km
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Tme Samples
-:20 0 20 40 60 80 100 120 140
R (ohm)
Fig.7 Single line to ground fault (A-G) at 150km Fig. 10 Fault trajectory for single line to ground fault (A-G) at the
beginning of the line
R (ohm) Tme Samples
Fig.8 Fauk trajectory for single line to ground fault (A-G) at 150km Fig. 11 Double Line to ground fault (A-B-G) at 50km
SLG fault (A-G) at the beginning of the line, Fif=O
Tme Samples
Fault trajectow for DLG (A-B-G) at 50km, Rf=O \
j
. . . ..
II
-20 I :
,.: !
I
-20 0 20 40 60 80 100 120 140
R (ohm)
Fig.9 Single line to ground fault (A-G) at the beginning of the line Fig. 12 Fault trajectory for double line to ground fault (A-B-G) at 50km
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Double line fault (B-C) at 10Okm, Rf=O
2500
! ! !
! ! ~ -I
o
0 10 20 30 40 50 60
Tme Samples
Fig. 13 Double Ltne fault (B-C) at 100km
Fault trajectory for DL,!sak@-C) at 100km, Rf=O
140,
, , ,., . .... ,
I
! 1
:20 0 20 40 60 80 100 120 140
R (ohm)
Fig. 14 Fault trajectory for double hne fault (B-C) atl 00km
V. CONCLUSIONS
Use of the wavelet transform in distance protection
relaying of transmission lines is introduced in this paper.
The ability of wavelets to decompose the signal into
frequency bands (multi-resolution) in both time and
frequency allows accurate fault detection as well as
estimation of the signal phasor at the fundamental
frequency. The results show that the proposed technique
used to introduce wavelets in distance protection is
applicable and encouraging. Various types of faults on the
transmission line can be classified accurately within one
cycle according to the fault location. Further studies are in
progress in testing the relay for high resistive ground faults
and line energization.
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
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VI1.BIOGRAPHY
A. H. Osman(SM01) received his B. SC. and M. SC. in
electrical engineering from Helwan University, Cairo,
Egypt in 1991 and 1996 respectively. Currently, he is
working towards a Ph.D. degree at the University of
Calgary, Canada, His areas of interest include power
system engineering, digital protection relaying, and
power electronics,
O. P. Malik (M66-SM69-F87) graduated in
electrical engineering from Delhi Polytechnic, In&la,
in 1952, and obtained the M.E. degree in electrical
machine design from the University of Roorkee, India,
in 1962. Ju 1965 hereceived the Ph,D. degree from the
University of London, England, and D.I.C. from the
Jmperial College of Science smd Technology, London,
or at the University of Calgacy in 1974 and is a faculty
professor emeritus. He is a Fellow of the Institution of Electrical Engineers
(London), and a registered professor Engineer in the provinces of Alberta
and Ontario, Canada.
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