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A Fault Steady State Component-Based Wide Area Backup Protection Algorithm

Jing Ma, Member, IEEE, Jinlong Li, James S. Thorp, Life Fellow, IEEE, Andrew J. Arana, Qixun Yang, and A. G. Phadke, Life Fellow, IEEE

AbstractA novel wide area backup protection algorithm to identify fault branch based on the fault steady state component is proposed. Under normal conditions of the power system, subsets of buses called protection correlation regions (PCRs) are formed on the basis of the network topology and phasor measurement unit (PMU) placement. After the fault occurs, by analyzing the fault steady state component of differential current in each PCR, the fault correlation region is conrmed and then a fault correlation factor (FCF), is calculated in real time to locate the fault branch. The simulation results for the 10-generator 39-bus system verify that this method is able to easily identify fault branch with limited measurement points. Index TermsFault correlation factor (FCF), PMU, protection correlation region (PCR), wide area backup protection.

branch current vector in the fault steady state network. faulted bus voltage vector. faulted branch current vector. virtual branch voltage vector. normal branch voltage vector. employed as FCF to identify the fault branch. the fault steady state component of differential current injecting into each PCR. I. INTRODUCTION

Symbols incidence matrix of buses with PMUs. incidence matrix of buses without PMUs. incidence matrix between the buses with and without PMUs. bus admittance matrix. branch admittance matrix. bus-branch incidence matrix. bus injection current vector. fault transient state bus voltage vector. fault state transient branch current vector. postfault variation of injection current vector. bus voltage vector in the fault steady state network.
Manuscript received September 23, 2010; revised April 29, 2011; accepted May 25, 2011. Date of current version August 24, 2011. This work was supported by the project of National Science Foundation of China (No. 50907021, 50837002), the Fundamental Research Funds for the Central Universities (11MG01), and 111 project (B08013). Paper no. TSG-00136-2010. J. Ma is with the School of Electrical and Electronic Engineering, North China Electric Power University, Changping District, 102206 Beijing, China, and also with the Bradley Department of Electrical and Computer Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061 USA. J. Li and Q. Yang are with the School of Electrical and Electronic Engineering, North China Electric Power University, Changping District, 102206 Beijing, China. J. S. Thorp , A. J. Arana, and A. G. Phadke are with the Bradley Department of Electrical and Computer Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061 USA. Digital Object Identier 10.1109/TSG.2011.2158861

ACKUP protection systems traditionally have been selfcontained, and in general do not depend upon wide area measurement information. With only local measurements conventional backup protection can misoperate when the system is highly stressed. In todays competitive environment, transmission grids are more tightly interconnected, and transmission lines are operated close to their limits, in order to maximize power transfers and take advantage of different energy costs [1], [2]. It is appropriate to review traditional backup protection and consider changes to meet todays competitive challenges. Recommended practice in the National Grid Company is that backup protection relies on earth fault overcurrent protection and overreaching zone 2 and zone 3 distance protection [3], [4]. It is required for Zone 2 elements to detect earth and phase faults on the busbar at the remote end of the feeder. Zone 2 elements operate in typically 0.5 s. if the fault had not been cleared by primary busbar protection, Zone 3 elements are required to determine earth and phase faults on any transmission line which is connected to the remote end of the main protected line. Zone 3 elements operate in typically 1.0 s. However, this practice often encountered the problem of Zone 3 elements tripping on overload. With recent advances in communication, information, computer networks and the signicant development in phasor measurement unit (PMU), technology today has the capability of expanding the scope of the protection system [5][7]. The strategy under investigation is the substitution of a PMU for the backup relay, the system of PMUs must then provide all backup protection. Using the fault steady state component of PMU currents and voltages, the problem of third zone relays tripping on overload can be overcome. Furthermore, the algorithm allows fast operation compared with what is currently done, since it does not need coordination between several protection zones. It is

1949-3053/$26.00 2011 IEEE

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Fig. 1. Fault steady state network of a generalized PCR.

Fig. 2. Fault steady state expanded network of the generalized PCR.

now feasible, and timely, to apply more sophisticated protection algorithms with a wider view of the protected network so that the high standards of dependability and security inherent in modern protection systems can be maintained. In addition, the impact of a fault on the whole network can be minimized by precisely locating the fault branch and tripping the minimum number of circuit breakers to isolate the fault. There are two ways to identify the fault branch. One is implemented by judging the open/closed states of circuit breakers and the operational response of conventional protection relays on the network [8], [9]. The other is achieved by analyzing branch currents throughout the network [10][13]. To employ wide area measurement information more sufciently and effectively, this paper proposes an algorithm to precisely locate the fault branch by utilizing the fault steady state component of the currents and voltages. Before the fault occurs, the protection correlation regions (PCRs) are formed by analyzing network topology and PMU placement. After the fault occurs, if the primary protection fails to operate, the wide area backup protection will take over. The steady state component of the differential current in each PCR is used to determine the PCR in which the fault exists. The fault correlation factor (FCF) in this region is calculated in real time to locate the fault branch. The simulation results validate the proposed method. II. FORMATION OF PROTECTION CORRELATION REGION A. PMU Placement Rules Under Fault Conditions It is no longer sufcient to know the bus voltage and the branch current to determine the voltage at the other end of the branch for the faulted branch. Knowledge of the voltage at both ends of a branch is also insufcient to determine the branch current if the fault is on that branch. With a fault on the system, the following 2 PMU placement rules are no longer valid, as the fault location is unknown and the fault may occur on any branch. If bus voltage and branch current at one end of a branch are known, bus voltage at the other end of the branch can be calculated.

If bus voltages at both the ends of a branch are known, the branch current can be calculated. Alternatively, the following rules are valid even in the presence of a fault [14], [15]. If there is a PMU at a bus, the bus voltage and currents of all the branches connected to the bus can be measured. If a zero injection bus has n branches connected to it and of the currents are known then the remaining current can be calculated. If n nonzero injection buses with PMUs are adjacent to a zero injection network (no circuit loop in the network), voltages and currents in the network can be calculated. If there is a loop in the network, a PMU is added on the loop to make the system observable. B. Formation of Protection Correlation Region On the basis of network topology and PMU placement, the protection correlation region (PCR) is formed as follows. Step 1: Generate the bus-bus incidence matrix A of the whole network in the order of buses with PMUs in the former lines and columns, and buses without PMUs in the latter (1) where is the incidence matrix of buses with is the incidence matrix of buses without PMUs. PMUs. is the incidence matrix between the buses with and without PMUs. Step 2: Any two connected buses where both have PMUs ) are formed into a protection correla(hence in tion region, dened as a specialized PCR. along with the buses to Step 3: Connected buses in form a generalwhich they are connected in ized PCR. is straightforward. The inciThe calculation of PCRs in and dence matrix is formed from the branch data with

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if there is a branch connecting and . Specialized PCRs are formed from all off-diagonal entries in which are not zero. To nd the generalized PCRs, the matrix is repeatedly multiplied by itself [16] (2) until (3) The th entry of the th power of an incidence matrix is known to give the number of different paths of length beginning at and ending at [ ]. Multiply by a column of ones, and then give a vector of integers indicating the connectivity of the non-PMU buses (4) For the example in Section IV the resulting column has four 1s, two 2s, and six 6s. The interpretation is that four of the non-PMU buses are not connected to any other non-PMU buses, that 2 of the non-PMU buses are connected to each other, and that the remaining 6 buses are connected to each other. The mathen gives the PMU buses that are connected to these trix groups of non-PMU buses and denes the generalized PCRs. For example if the six interconnected non-PMU buses are (5, 6, 10, 11, 13, 14) then all the PMU buses connected to these six buses (4, 7, 8, 12, 15, 31, 32) combined with the six non-PMU buses form a large generalized PCR. More details are in the example in Section IV.

is postfault variation of injection current vector. where In the fault steady state network, the bus voltage vector and branch current vector are given by (7) where is the faulted bus voltage vector, and is the faulted branch current vector. the fault steady state compoDuring normal conditions, nent of differential current injecting into each PCR is calculated to monitor the system status. If a fault occurs somewhere in the system, the primary protection should determine the fault within typically 11.5 cycles. After this period plus breaker time, if the in some PCR, fault still persists, indicated by the decision-making unit will take over and perform its backup function. Then a fault branch location mechanism based on fault correlation factor (FCF) is activated in this PCR until the fault branch is inferred. B. Fault Correlation Factor A fault steady state network of a generalized PCR, containing interconnected non-PMU buses along with PMU buses, is shown in Fig. 1. non-PMU buses The PMU buses are connected to the branches. and are the branch impedance and via the ground admittance of the th branch respectively, where . are voltages of the PMU buses. are voltages of the non-PMU buses. are branch currents owing from the PMU are branch currents owing into buses. the non-PMU buses. Assume a fault occurs on the branch , and the distance between fault point and bus accounts for percent of the total branch length. The current injection from fault point to the network is . To determine the fault branch, the non-PMU buses and the PMU buses are needed to be expanded to buses. As shown in Fig. 2, the network has been changed by connecting the new buses with original buses via virtual zero-impedance branches. as injection currents of the Consider non-PMU network (blocks in Figs. 1 and 2). The bus voltage vector and branch current vector can be expressed as (8) where impedance matrix and constitute the partitioned bus

III. FAULT BRANCH LOCATION ALGORITHM A. Basic Theory When a fault occurs in the power system, the superposition theorem [17], [18] allows us to consider the currents and voltages as containing a prefault component, a fault transient component and a fault steady state component. Assume generators and loads to be current injection sources. and branch current vector in the The bus voltage vector prefault network are given by (5) where is bus admittance matrix, is branch admittance is bus-branch incidence matrix, and is the bus matrix, injection current vector. The variation of the injection currents after the fault inception results in the transient process. Therefore, the bus voltage vector and branch current vector in the fault transient state network are given by (6)

. . . . . .

. . . . . .

. . . . . .

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TABLE II TOPOLOGY ANALYSIS OF THE SPECIALIZED PCRS

Also, the virtual branch voltage vector

Fig. 3. Ten-generator 39-bus New England test system. TABLE I PMU PLACEMENT RESULT

is calculated as

. . . . . .

. . . . . .

. . . Injection currents corresponding to nonfault branches are . . .

. . . . . . (13)

(9) , and . where The injection current corresponding to the fault branch is

where . Using (9), the normal branch voltage vector

is given by (14)

Substitute (9) and (10) into voltage vector of buses

(10)

The difference between the virtual branch voltage vector and the normal branch voltage vector is

, and can be expressed as . . . . . .

. . . . . . (15)

. . . . . .

. . . . . .

. . . (11) . . . Vector is dened as

Assume the fault branch to be nonexistent and the injection currents of all branches to be calculated as (9). Then the virtual voltage vector of buses is obtained

. . . . . . . . .

. . . . . .

. . . (12) . . .

(16) . . .

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TABLE III TOPOLOGY ANALYSIS OF THE GENERALIZED PCRS

Fig. 5. Fault steady state differential currents in different PCRs when a threephase fault occurs. TABLE IV THE CALCULATED FCFS OF BRANCHES 1; 2 AND 3

Fig. 4. Fault steady state differential currents in different PCRs when a singlephase fault occurs.

If

, . . . . . . . . . (19) . . .

where is a diagonal matrix and is formed by the th column of . . . Vector is Let dened as (17) If ,

From (18) and (19), we can nd that if branch is not the fault branch, all entries in the vector are different from each other. Or else, all entries in the vector are identical except the th entry. The maximum absolute difference between entries in the vector (except the th entry) is given by (20)

. . . . . .

. . . (18) . . . where

is employed as FCF to identify the fault branch. If only of some branch is less than a thresholdthe decision-making unit determines that a fault occurs on that branch and trip the fault. If of each branch is more than a threshold, the decision-making unit determines that there is a fault in the non-PMU network. In and corresponding this case, voltages of buses branch currents are calculated by (9) and (14). Then, the above procedure is executed repeatedly until fault branch is located. IV. TESTING RESULTS AND ANALYSIS The 10-generator 39-bus New England test system [19] is used to demonstrate the effectiveness of proposed PCR formation method and wide area backup protection algorithm. The system structure is shown in Fig. 3 and there is no circuit loop in any zero-injection network. By adopting three rules in Section II, PMUs are only needed to be placed at the nonzero injection buses to make the system observable. The result of PMU placement is shown in Table I. On the basis of power network topology and PMU placement

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result, bus-bus incidence matrix is obtained. are given in (21)(23), at the bottom of the page.

and

Any two connected buses where both have PMUs (hence in ) are formed into a specialized PCR, as shown in Table II.

(21)

(22)

(23)

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To nd the generalized PCRs, the matrix is repeatedly . Multiply multiplied by itself. When by a column of ones, and then the vector of integers indicating the connectivity of the non-PMU buses is as follows: (24) From (24), it can be found that non-PMU buses 9, 17, 19, and 22 are not connected to any other non-PMU buses, non-PMU buses 1 and 2 are connected to each other, and non-PMU buses 5, 6, 10, 11, 13, and 14 are connected to each other. The matrix then gives PMU buses that are connected to these groups of non-PMU buses and denes generalized PCRs as shown in Table III. A. Fault Correlation Region Determination There are three branches in PCR 21: (16-19), (20-19) and (33-19). A single-phase earth fault and a three-phase fault were applied separately at branch (16-19) at the 5 cycle (0.1 s). The fault steady state components of the differential currents of all PCRs in both cases are calculated and shown in Figs. 4 and 5, respectively. In each case, the calculated steady state component of the differential current of PCR 21 is very noticeable, whereas steady state components of different currents in other PCRs are negligible and only have little variation resulting from the measurement and calculation errors. These results are in accordance with the practical state of the power system and prove that the method is effective to identify the fault correlation region no matter what type of fault. B. Fault Branch Location Various types of faults with values of fault resistances 0 ohms and 300 ohms are adopted to test the effectiveness and reliability of the FCF. The calculated FCFs of branches and are shown in Table IV. The values of FCFs of the faulted branch are no more than 0.238, whereas the values of FCFs of nonfault branches and are no less than 43.997. These results prove that it is effective and sensitive to locate the fault at branch by this method. V. CONCLUSION A fault steady state component-based method to precisely locate the fault branch is proposed. Before the fault occurs, the protection correlation region (PCR) is formed by analyzing network topology and the PMU placement. After the fault occurs, the fault correlation region is determined by calculating the fault steady state component of the differential current in each PCR and the fault correlation factor (FCF) in this region is calculated in real time to locate the fault branch. The simulation results validate the proposed methods and show that they are effective for the identication of various types of faults. In the real world, there may be many non-PMU buses which are connected only to other non-PMU buses, but these connected non-PMU buses as a network are nally surrounded by boundary PMU buses. If a fault occurs in the non-PMU buses network, including the case of a fault occurring between 2 non-PMU buses, the algorithm rst detects the fault between the boundary PMU buses and the non-PMU buses connected to them. If no fault occurs between

these buses, the voltages of the non-PMU buses adjacent to the boundary PMU buses and corresponding branch currents can be calculated. Therefore, these non-PMU buses can be equivalent to the PMU buses. Then, the fault branch location mechanism is executed repeatedly until the fault branch is inferred. ACKNOWLEDGMENT Many faculty members and students contribute greatly to this research. The authors would like to thank Dr. Yilu Liu. REFERENCES
[1] M. G. Adamiak, A. P. Apostolov, M. M. Begovic, C. F. Henville, K. E. Martin, G. L. Michel, A. G. Phadke, and J. S. Thorp, Wide area protectionTechnology and infrastructures, IEEE Trans. Power Del., vol. 21, pp. 601609, Apr. 2006. [2] M. Zima, T. Krause, and G. Andersson, Evaluation of system protection schemes, wide area monitoring and control systems, in Proc. 6th Int. Conf. Adv. Power Syst. Control, Oper., Manage., Hong Kong, 2003, pp. 754759. [3] A. G. Phadke and J. S. Thorp, Computer Relaying for Power Systems. Taunton, U.K.: Research Studies Press, 1988. [4] P. M. Anderson, Power System Protection. New York: IEEE Press, 1999. [5] A. Suranyi, J. Bertsch, and P. Reinhardt, Use of wide area monitoring, protection and control systems to supervise and maintain power system stability, in Proc. 8th IEE Int. Conf. AC DC Power Transm., 2006, pp. 200203. [6] A. G. Phadke, Synchronized phasor measurements in power systems, IEEE Comput. Appl. Power, vol. 6, pp. 1015, Apr. 1993. [7] A. G. Phadke and J. S. Thorp, History and applications of phasor measurements, in Proc. 2006 IEEE PES Power Syst. Conf. Expo., pp. 331335. [8] J. C. Tan, P. A. Crossley, D. Kirschen, J. Goody, and J. A. Downes, An expert system for the back-up protection of a transmission network, IEEE Trans. Power Del., vol. 15, pp. 508514, Apr. 2000. [9] J. C. Tan, P. A. Crossley, P. G. McLaren, I. Hall, J. Farrell, and P. Gale, Sequential tripping strategy for a transmission network back-up protection expert system, IEEE Trans. Power Del., vol. 17, pp. 6874, Jan. 2002. [10] Y. Serizawa, M. Myoujin, K. Kitamura, N. Sugaya, M. Hori, A. Takeuchi, I. Shuto, and M. Inukai, Wide-area current differential backup protection employing broadband communications and time transfer systems, IEEE Trans. Power Del., vol. 13, pp. 10461052, Oct. 1998. [11] K. Kangvansaichol and P. A. Crossley, Multi-zone differential protection for transmission networks, in Proc. 8th IEE Int. Conf. Develop. Power Syst. Protection, Amsterdam, The Netherlands, 2004, pp. 428431. [12] J. S. Thorp, A. G. Phadke, S. H. Horowitz, and M. M. Ekgovic, Some applications of phasor measurements to adaptive protection, IEEE Trans. Power Del., vol. 3, pp. 791798, May 1988. [13] Y. Serizawa, H. Imamura, and M. Kiuchi, Performance evaluation of IP-based relay communications for wide-area protection employing external time synchronization, in Proc Power Eng. Soc. Summer Meet., Jul. 1519, 2001, pp. 909914. [14] S. Chakrabarti and E. Kyriakides, Optimal placement of phasor measurement units for power system observability, IEEE Trans. Power Syst., vol. 23, pp. 14331440, Aug. 2008. [15] N. H. Abbasy and H. M. Ismail, Unied approach for the optimal PMU location for power system state estimation, IEEE Trans. Power Syst., vol. 24, pp. 806813, May 2009. [16] O. A. Amoda and N. N. Schulz, An adaptive protection scheme for shipboard power systems, in 2007 IEEE Electric Ship Technol. Symp., pp. 225230. [17] H. Gao and P. A. Crossley, Directional relay for EHV transmission lines using positive sequence fault components, in 2005 IEEE Russia Power Tech., 2004, pp. 15. [18] V. V. Terzija and Z. M. Radojevic, Numerical algorithm for adaptive autoreclosure and protection of medium-voltage overhead lines, IEEE Trans. Power Del., vol. 19, pp. 554559, Apr. 2004. [19] T. S. Bi, X. H. Qin, and Q. X. Yang, A novel hybrid state estimator for including synchronized phasor measurements, Elect. Power Syst. Res., vol. 78, pp. 13431352, Aug. 2008.

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Jing Ma (S06M08) was born in Hebei Province, China, on February 25, 1981. He received the B.S. and Ph.D. degrees from North China Electric Power University, Beijing, in 2003 and 2008, respectively. He is currently an Associate Professor in the School of Electrical and Electronic Engineering, North China Electric Power University. He was a Visiting Scholar in the Bradley Department of Electrical and Computer Engineering, Virginia Polytechnic Institute and State University, from 2008 to 2009. His major interests include wide-area protection and control.

Andrew J. Arana received the B.S. degree in electrical engineering with the Sexton Distinction from Dalhousie University, Halifax, NS, Canada in 2005 and the M.S. degree from Virginia Tech in 2007. He is currently a Ph.D. candidate in the Bradley Department of Electrical and Computer Engineering at Virginia Polytechnic Institute and State University, Blacksburg. His research interests include wide-area monitoring, analysis of electromechanical travelling waves, relaying technology, and adaptive protection.

Jinlong Li received the B.S. degree from Zhengzhou University in 2007. He is currently working toward the M.S. degree in the School of Electrical and Electronic Engineering, North China Electric Power University, Beijing. His interests mainly include wide area power system measurement, dynamic analysis, and backup protection.

Qixun Yang was born in Shanghai, China, on October 30, 1937. He received the B.S. and Ph.D. degrees from Zhejiang University, China, and South Wales University, Australia, in 1960 and 1982, respectively. He is currently a Chinese academician of engineering and a Professor of North China Electric Power University, Beijing. He is also the Board Chairman of Beijing Sifang Automation Co., Ltd. His research interests include power system protection and control, and substation automation.

James S. Thorp (S58M63SM80F89LF03) received the B.E.E., M.S., and Ph.D. degrees from Cornell University, Ithaca, NY, in 1959, 1961, and 1962, respectively. He was the Charles N. Mellowes Professor in Engineering at Cornell University from 1994 to 2004. He was the Director of the Cornell School of Electrical and Computer Engineering from 1994 to 2001, a Faculty Intern, American Electric Power Service Corporation in 19761977, and an Overseas Fellow, Churchill College, Cambridge University in 1988. He is currently the Hugh P. and Ethel C. Kelley Professor of Electrical and Computer Engineering and Department Head of the Bradley Department of Electrical and Computer Engineering, Virginia Polytechnic Institute and State University, Blacksburg. Prof. Thorp was an Alfred P. Sloan Foundation National Scholar and was elected a Member of the National Academy of Engineering in 1996. He received the 2001 Power Engineering Society Career Service award, the 2006 IEEE Outstanding Power Engineering Educator Award, and shared the 2007 Benjamin Franklin Medal with A. G. Phadke.

A. G. Phadke (M64SM97F80LF04) received the B.Sc., B.Tech. (Hons.), M.S., and Ph.D. degrees from Agra University, IIT, Khargpur, IIT, Chicago, and the University of Wisconsin, Madison, in 1955, 1959, 1961, and 1964 respectively. He is a University Distinguished Professor (Emeritus) at Virginia Polytechnique Institute and State University, Blacksburg. His primary research area is the microcomputer-based monitoring, protection, and control of power systems. He is a coauthor of two books on relaying: Computer Relaying for Power Systems and Power System Relaying, and is the editor of and contributor to the book Handbook of Electrical Engineering Computations. Dr. Phadke was awarded the IEEE Third Millennium Medal in 2000, named the Outstanding Power Engineering Educator by the IEEE in 1991, and received the Power Engineering Educator Award of the EEI in 1986. He received the IEEE Herman Halperin Transmission and Distribution award in 2000. He was the Chairman of the Technical Committee of USNC CIGRE, and Editor-InChief of IEEE TRANSACTIONS ON POWER DELIVERY. He was elected to the U.S. National Academy of Engineering in 1993. He was awarded Honorary Doctorate by INP Grenoble, Grenoble, France in 2006.