EE483-Project III-Distance Relay Simulation-Sem2-2019-2020 PDF
EE483-Project III-Distance Relay Simulation-Sem2-2019-2020 PDF
EE483-Project III-Distance Relay Simulation-Sem2-2019-2020 PDF
EE483-Term Project-III
Modeling and Simulation of Digital Distance Relay Using
MATLAB/SIMULINK
LOYALTY OATH:
I signify by my signature below that all of the attached work on the Term Project for the course EE483 for the 2nd Semester
is that entirely of our own, and We did NOT seek assistance from any other classmate or other personnel, or provide any
assistance to any other classmate in the completion of this term project.
1
System under Study
Figure l depicts a 345 kV, 60 Hz simulated system one-line diagram. Figure 2 is the simulated system model by
SIMULINK. The other related parameters of the simulated system are shown in Table1. This example uses
MHO type to explain the relay operation performance. The phase difference between ES and ER is 15 degrees,
and the sampling frequency is 1920 Hz. The transmission line length is 100 km. Zone 1 is set at 80% of the
protected line length. Zone 2 is set at 120% of the protected line length. Zone 3 is set at 100% of the protected
line length + 100% of the adjacent line length.
Problem Statement
Use Matlab/Simulink to conduct the DFT technique to find the impedance seen by the relay for 10
cycles 3-phase fault, by
a. Estimating the magnitude of the peak voltage over the 10 cycles of voltage monitoring
b. Estimate the magnitude of the peak current over the 10 cycles of current monitoring
c. Estimate the magnitude of the apparent impedance seen by the relay over the 10 cycles of
voltage and current monitoring
d. Estimate the phase angle of the apparent impedance seen by the relay over the 10 cycles of
voltage and current monitoring
Using a sampling frequency of 1920 Hz, shift the window, say one sample at a time over the 10
cycles to estimate the above parameters.
2
Modeling and Testing of a Digital Distance Relay Using
MATLAB/SIMULINK
Abstract This paper describes modelling and testing of a analysis tool [4]. This tool was modelled by using a
digital distance relay for transmission line protection using graphically Object-Oriented environment approach
MATLAB/SIMULINK. SIMULINK's Power System Blockset integrated with the digital calculate technology that gives
(PSB) is used for detailed modelling of a power system more flexibility to create simulation system; therefore, we
network and fault simulation. MATLAB is used to implement can quickly develop a program of protective relay
programs of digital distance relaying algorithms and to serve algorithms, and a model of protection relays. Because they
as main software environment. The technique is an commonly exist in the same environment that involves
interactive simulation environment for relaying algorithm communication ability, it is very easy to develop a
design and evaluation. The basic principles of a digital
distance relay and some related filtering techniques are also convenient graphical tool for building interactive relay test
described in this paper. A 345 kV, 100 km transmission line system.
and a MHO type distance relay are selected as examples for The above-mentioned excellent advantages that
fault simulation and relay testing. Some simulation results MATLAB/SIMULINK has make MATLAB/SIMULINK a
are given. convenient and interactive tool for both numerous analysis
and direct communications with relay's test program. This
Index Terms-Digital relay Digital distance relay
- -
paper describes how to use MATLAB/SIMULINK for
Electromagnetic Transient Program (EMTP) Automatic automatic, interactive, and high performance testing relay
test system. Some examples and simulation results are also
provided in the paper.
I. INTRODUCTION
For transmission lines protection, choosing a suitable II. ALGORITHM OF DIGITAL DISTANCE RELAY
relay type or relay's setting is essential. Generally Digital distance protection is a universal short-circuit
speaking, we may make the fault analysis and the test by protection. It's mode of operation is based on the
the simulation software, and according to the actual measurement and evaluation of the short-circuit
system requirement, choose the suitable protective relay, impedance, which is named by the algorithm of digital
but for reliability and security considerations, the distance relay. This algorithm is used to input signals to
massive simulations tests are usually undertaken. This is a DSP by discrete voltage and discrete current to judge
quite numerous and diverse job; therefore, having a whether faults occur or not. However, this method is just a
superior simulated environment is important. program. MATLAB has the advantage of conducting
The EMTP [1](Electromagnetic Transient Program) massive calculation functions and its program can be
is the simulation tool that is used to simulate the easily developed. Therefore, it is a very suitable tool of
electromagnetic transient phenomenon, and power system protective relay designs and applications for protection
faults analysis, and it is one of the most widely used engineers.
programs in the electric utility since 1970. Generally It can't be denied that graphics reach out to people
speaking, Protective relay performance has been tested better than texts do. In addition, we focus not only on the
with the waveform signals generated by the non real-time correction of relay operations, but also on the dynamic
simulator like EMTP. This approach has the disadvantage characteristics of relay. Therefore, if we can use graphics
that it's difficult to provide real-time test for the relay to show the variance of impedances trace, then the
algorithm dynamically. In addition, we can't finished most software of interface will become more user-friendly and
test tasks at the same time with the tool. convenient. MATLAB includes excellent graphics
In school and industry, simulation tools based on capacity and multi-dimension of graphic function, and can
MATLAB/SIMULINK [2] are becoming popular for change graphics parameters at the same time. Therefore,
engineering applications. The MATLAB involves many many graphs can be shown on the same window to make
high instructions and tools for some systems designing comparison with one another. This paper focuses on the
applications and developing algorithms and the model and test of digital distance relay. Therefore, the
SIMULINK provides excellent GUI (Graphical User principles and relating techniques of the distance relay will
Interface) interface and block module that will allow the be discussed first, followed by the description of the
users to rapidly and easily build and simulate system distance relay practice by MATLAB.
models and executive massive simulation tests at the same Distance relays are also named impedance relays.
time. Furthermore, since the MATLAB/SIMULINK They are used to calculate line impedance by measurement
contain Power System Block Set Toolbox [3], the software of voltages and currents on one single end. For example,
tum into a powerful power systems simulation and for MHO type distance relays, the relays compare the
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setting impedance with the measurement impedance to be eliminated using low pass anti-aliasing filters with
determine if the fault is inside or outside the protected appropriate cut-off frequency, but the anti-aliasing filters
zone. They immediately release a trip signal when the cannot remove decaying dc components and reject low
impedance value is inside the zone 1 impedance circle of frequency components. This makes the phasors very
distance relay. For security protection consideration, the difficult to be quickly estimated and affects the
confirmation of a fault occurrence will not be made until performance of digital relaying. Therefore, we usually use
successive trip signals are released in one season. the mimic filter to removed the dc-offset components [6].
Different formulas should be adopted when The mimic filter can be developed by digital method. Here,
calculating the fault impedance due to different fault types. we want to pass the fundamental frequency signal (60Hz)
Table 1 indicates calculation formula for all of the fault by the filter. Then, assuming the gain K equals I and the
types [5]. Any three-phase faults can be detected from samples frequency is f5 (f5 = I IT ), finally, we obtain a
every formula in Table 1. In order to reduce calculation formula (2)
burden, we design a fault detector and fault type selector.
The fault detector can judge which fault type it is and then |K(1 JTf5) - KlTf cos T, + jKtfs sin T=1 (2)
calculate fault impedance by selecting a suitable formula Where o = 2* n *60 , T is time constant for user
from Table 1. If we don't use fault type judgment first, definition.
then the distance relay of programs must be calculated by To solve equation (2) can get the gain K
all the six formulas in table 1 at the same time, which I
causes much calculation burden. K = sqrt( (3)
Where
'Iable I fault impedance calculation formula oni diffieren1ce faults
Fault Type Formula M =1 + Tf5 -tfscos( ) (4-1)
AG VA/(1A+3k]o) fs
2 *n*60
BG VB/(IB+3kIo) N=cf sin( ) (4-2)
CG Vc/(Ic+3kIo) .fs
AB or ABG (VA-VB)/ (IA-IB) When we use mimic filter to remove the dc-offset
BC or BCG (VB-Vc)/ (IB-IC) components, MATLAB program is described as follows:
CA or CAG (Vc-VA)/ (IC-IA)
Where A - B and C indicates number of phase, G is ground t=2*1/60; % assumed time constant = 2
fault ,V and I are phasor of voltage and current, k=(Zo-Z1)/Z1 ' Zo
and Z1 are line of impedance zero-sequence, positive- sequence cycles
respectively. lo is zero-sequence current.
fs = 32 * 60; % samplingfrequency
When the distance relays receive discrete voltage and M=1 +t*fs-t*fs *cos(2 *pi *60/fs);
current signal, it has to convert them to phasor. The N=t*fs *sin(2*pi *60/fs);
Discrete Fourier Transform (DFT) is the most popular K=sqrt(l/(M^2+N^2));
method to estimate fundamental phasors for digital b=[K*(l+t*fs) -K*t*fs];
relaying. The full-cycle DFT is described as following a=[]];
equation (1): ia mf=filter(b,a, ia);
N-1
X--
2
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fast development of new technologies, which improve the possible to easily draw the power system network, but also
power transfer efficiency and the optimum utilization of to include its interactions with every electrical component.
system capability, power electronic equipment like In addition, the simulation system of block component can
TCSC UPFC STATCOM... and so on may be widely
- -
set relation electrical parameters from MATLAB
used in power systems In the future. Thus, the selection commands.
and the setting of protective relay should be evaluated and One thing should be noted is that SIMULINK is more
tested thoroughly [7]. Here, SIMULINK includes variant suitable for a small system for simulated tests. Execution
basic power components, which can be used alone or in speed of the simulation system will become slow when
combinative use to finish all kinds of power system simulating system is large. Luckily, the protective relays
network simulations. are for protection of one article of electrical equipment, so
It is very easy to create power system in SIMULINK we just focus on protected equipment. Other components
environment, which allows users to build a model by can be made in equivalent value. Therefore, by reducing
simple "click and drag" procedures. Because all of the the complexity of the simulation system, the simulation
electrical parts of the simulation interact with the system result will be in high performance.
SIMLLINK'S extensive modelling library, it is not just
Zs ZR '
Ls
relay
Fig. 1. One-line diagram of simulation system
vs_
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inductance, capacitor, and line length etc. This paper uses
distribution model for transmission line model of the
power systems simulation. In Fig. 2, the block for fault
type selection and fault resistances setting are located
below two distribution model blocks.
Here, we have finished the power system simulation
model as shown in Fig.2, but the graphic shown in
.'n
Subsybm Imesk)
=- window is a bit messy. Thus the SUBSYSTEM block is
used by covering all of blocks to produce a single block,
Pa *: as shown in Fig. 3. Fault simulation block. If we double
disle
click the block, the interactive interface window on right
130 side of Fig. 3. will be shown again, in which the interface
fa-t_lt_m
13160 window can renew some parameters for next time
-lII simulation when the simulation is finished. In addition, we
can simulate many cases at the same time. As discussed
-_m
above, the protective relay simulation system has become
a system of easy use and with efficiency.
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MATLAB/SIMULINK offers more possibilities in immediately. It is very convenient for designing protective
power electronics, signal processing and control. relay as well as for checking whether the setting of the
3. Users can easily create new relay model with interactive relay test environment is appropriate.
MATLAB/SIMULINK, whereas EMTP/ ATP doesn't
have such capacity. V. EXAMPLE
4. MATLAB/SIMULINK encompasses better graphic
function tools than EMTP/ATP of PCPLOT, PLOTXY Now that the theory and the structure of the
and so on. interactive relay test system are prescribed, the following
begins with an example of a power transmission line of
Therefore, this paper selects MATLAB/SIMULINK for fault simulation to test relay operation. Fig. 1 depicts the
interactive automatic relay test systems. 345 kV, 60 Hz simulated system one-line diagram. Fig. 2
is the simulated system model by SIMULINK. The other
related parameters of the simulated system are shown in
IV. INTERACTIVE RELAY TEST SYSTEMS Table 2. Zone 1 is setting 80% of the total line length. This
Based on the discussion made in the previous two example uses MHO type to explain the relay operation
sections, we can establish interactive relay test systems performance. The mimic filters with time constant 2 cycles,
based on MATLAB/SIMULINK as shown in Fig. 4. We the phase difference between ES and ER is 15 degrees,
can use MATLAB to write main program for protective and the sampling frequency is 1920 Hz. The transmission
relay test. The main program can not only start fault line length is 100 km. The phasor is estimated by
simulation systems with SIMULINK but also give full-cycle DFT.
commands and parameters to renew simulation systems at
the same time. As indicated in Fig. 3, we can change Table 2 The parameters of the simulation transmission system
parameters of simulation systems including fault locations,
fault resistances, fault time, and fault types etc., and then Voltage Rating: 345 kV
the main program will execute setting and change value. System frequency: 60 Hz
Finally the main program controls SIMULINK execution Equivalent Voltage Per Unit:
dynamic of simulation as shown on Fig. 2. After the
simulation is finished, the simulation result data will be ES =1/Z5(p.u.), ER =1Z0(p.u.)
stored in WORKSPACE or hard disk, and its waveform Equivalent Source Impedance:
can be shown directly on screen through user's command. zsi = 0.238 + 5.72(Q), Zso = 2.738 + 1 0(Q)
So far we have finished fault simulation task, and then got
related input data for protective relay algorithm. As far as ZRI =0.238+6.19(Q), ZR0 =0.833+5.12(Q)
the distance relays in this paper are concemed, we need to Length of Transmission Line: 100 km
get three-phase voltages and three-phase currents from S Line Constant:
terminal (Fig. 1.). Ro = 0.275(Q), Lo = 3.725(mH), C0 = 6.71 l(nF)
In the next step, input the simulation result data to
protective relay algorithm by MATLAB to distinguish RI = 0.0275(Q), LI = 1.345(mH), Cl = 9.483(nF)
whether the circuit breaker (C.B.) action occurs or not Filter:
from plan logic. When the fault impedance is calculated 2 Order of Butterworth Low Pass Filter High Cut-Off
and it is satisfied in the protection zone 1, the protective
Frequency 360(Hz)
relay operation then releases trip signal to C.B. without
additional delay. Here, MATLAB can easily show
impedance trace on screen for user's verification, and store First, In order to prove digital distance relay of
the test records. So far we have only finished one fault performance, an intemal fault is applied to the power
case for verification relay action. After this test is finished, system with the phase A to ground fault, the fault
the main program can automatically change parameters resistance is 1 ohm, the fault angle is zero degree (refer to
again to execute simulations, tests, and records continually. S terminal of phase A voltages waveform), and the fault is
With the inclusion of the loop function and the located sixty kilometers form S terminal. Therefore, the
modification of system parameters, the main program can fault currents will include dc-offset components.
finish hundreds and thousands of case tests at the same
time to meet the purpose of having automatic tests for Fig. 5 shows the phase A current waveform, the
protective relays. The reason why this function is so phase A voltage waveform, and the impedance trace for
powerful is that we integrate MATLAB/SIMULINK into the single phase to ground fault. Judging from Fig. 5-(a)
one single environment and make use of its easy and (b), filters can be eliminated high frequency
communication function. components form the fault waveform, but result in signals
In addition to the above-mentioned advantage of time delay. Therefore, the cutoff high frequency can't be
automatic protective relay tests, MATLAB can empower set too low, otherwise, the relay operation time can be
us to modify and adjust the problems that the initial relay affected. As shown in Fig. 5 the mimic filter can
design may have. With the powerful graphic function by effectively remove the decaying dc component. If the filter
MATLAB we can use the program to obtain easily output is no use in the relay algorithm, then the current phasor
signal values and waveforms for relay algorithms results in unstable phenomenon and the impedance trace
venrfication. If the relay algorithm is bad, then modify it will be oscillated. The relay may malfunction when some
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faults occur in near protection zone margin. In other words, adopts full-cycle DFT algorithm. Finally, the zone 1 fault
this is main reason why we want to remove the decaying of impedance trace is shown in Fig. 5-(e). Due to the
dc component. diagram we can find the impedance trace included by zone
X 1., 1; therefore, the relay releases a trip signal to C.B because
the relay detects the fault belonging to zone 1.
Below is a phase A-B fault test case. The fault
V. location, ninety kilometers form S terminal, is in zone 2,
so it won't affect the protective relay. The zone 2 usually
gives a time delay about twenty cycles as TPC's (Twain
Power Company) power networks. The Fig. 6 shows the
0 10 20 30 40 50 60 impedance trace excluded in zone 1, so the relay operated
lime (ms)
.^ 4 }~ ~ ~ ~ a with a time delay. The above two cases are illustrated to
explain protective relays of operation and test by
MATLAB/SIMULINK. In fact, we can apply automatic
~00 mode for more protective relay test.
0 .1/ \ . 1' /
. .. . a
'1 1.." \
VI. CONCLUSION
0 10 20 30 40 50 60
tife (ms) This paper describes the automated protective relay test
5 10 (
3 system based on MATLAB/SIMULINK. The system
combines MATLAB with SIMULINK for the use of
2.25 X MATLAB for main control programs and carry out relay
algorithms, and the use of SIMULINK of PSB for power
51
(a
2 ------ 1-1
system constructed tools. Due to that fact that both
MATLAB and SIMULINK are in the same environment,
0 10 2C 30
time (Ms)
Z 50 60 communications and convenient tests can be made easily.
Especially since the MATLAB has powerful capabilities
60001
it) for numerical robust and graphic function. In addition, the
I~~~~
SIMULINK has powerful capabilities for GUI interface
_z
. 4O.- and more and more modelling for the generation,
transmission, and distribution of electrical power etc...
.F --a
2000 -. These advantages can help protection engineer effectively
0 enhance the performance of the digital protective relay
0 10 20 30 40 50 60 v > w design, selection,
and elect setting. Its ability of massive
tir (me) tests and result records is excellent and convenient for
---------------- saving time and costs.
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His main research interests are power electronics, high
voltage test and power system protection.
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International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor:6.887
Volume 5 Issue VIII, July 2017- Available at www.ijraset.com
Abstract: The proposed work is about designing of numerical mho relay in MATLAB / SIMULINK to be used for distance
protection schemes of long distance transmission lines with better result and characteristics. The required mho relay algorithm is
evaluated by using MATLAB to model the power system under different fault condition and simulate it by using phasor based
method available in MATLAB simulation. Comparison of numerical mho relay is done with model of Impedance relay in terms
of performance, time required for clearing. Modelling of the numerical relay is important as it allows the users to test the
internal performance of relays during normal as well as abnormal condition. Thus the modelling and simulation of numerical
mho relay gives the improved result and greatly enhance the performance of mho relay.
Keywords: Distance protection, Mho characteristic, Impedance relays, Numerical relays,Matlab/Simulink
I. INTRODUCTION
Electric power systems are made up of facilities and equipment that generate, transmit and distribute electrical energy with the
purpose to provide energy for human in a secure, reliable and economic manner. To maintain sustainability of power systems
against faults that normally occur in the power systems, an additional protection system that is able to take corrective actions against
such faults have to be applied. This system consists of transformer, relays and circuit breakers. The purpose of the protection system
is to disconnect the faulted element in the power system and re-establish its services.
Distance protection system is used in most countries of the world for the protection of high voltage transmission line due to their
simple operating principal and capability to work independently under most circumstances. Transmission lines are typically
protected by distance protection .the use of distance relays has found to be the most feasible and effective as compared to other
type of protection. Distance relays are considered of the high speed class and can provide protection.
Numerical relay models can be divided into two categories. First, the ''Phasor-based models'', in which only the fundamental
frequency component of voltages and currents are used and were the first to be widely used by industry and academics to design
relays and check their performance. The second category models, ''Transient relay model'', take into consideration the high
frequency and decaying DC component of voltages and currents, in addition to the fundamental frequency components; this type is
rarely used as it needs sophisticated filters in order to remove the DC and high frequency components.
The proposed work presents the phasor based approach to design the numerical mho relay for distance protection. The relay is
modelled by using MATLAB to model the power system and simulates it for different fault conditions or incidents. Impedance relay
is also modelled by using MATLAB for different fault conditions. Sample results of these studies give the comparison between the
relays in detection and tripping time
The diverse units used in any discipline of protective relaying determine whether the system is normal or abnormal. A comparator
will give the relay system an output when the conditions for operation are satisfied. Since phasors are expressed in magnitude and
phase, there are two types of comparators: phase and magnitude[4].
Here Author suggested a new technique of impedance's trajectory after faults represents numerical output of the impedance
calculation. The output results show the behavior of the developed model under various fault locations and at different arc
resistances. The simulation study presented shows assist in demonstrating the importance of and need for accurate dynamic
modeling of distance protection relays[5,6].
The authors describe comparison of two different methods for phasor estimation of numerical relaying. The protective relays based
on different protection principals require that the phasor of current and voltage can be extracted .Here authors take Wavelet
Transform and Fourier Transform methods for comparison [7].
The operating characteristics of distance relays can be obtained by either amplitude comparison or phase comparison of the sets of
vectors derived from the current and voltage signals of the protected line. Phase comparison is more widely implemented in modern
relays[8].Here authors’ presents a simulink model is designed for the distance zone protection scheme. Logic circuit for relay
operation is developed from the observed impedance waveforms. From this model it is concluded that the zone at which the fault
occurs can be identified[9].
This research presented a detailed phasor model for a distance relay of mho characteristics. Mho relays are inherently directional so
there is no need for directional elements in the relay model. Simulation results of different faults regarding type and position show
clearly the accurate performance of the developed distance relay model[10].
a-b ungrounded
a-b grounded
3-phase ungrounded
3-phase grounded
b-c ungrounded
b-c grounded
3-phase ungrounded
3-phase grounded
c-a ungrounded
c-a grounded
3-phase ungrounded
3-phase grounded
a to ground
b to ground
C to ground
Fault impedance due to different types of faults can be calculate by different formulaes .The table below shows formula for different
faults. Table (a) & (b) provides the set of equations or algorithm which is required to calculate the positive sequence impedance
measured between distance relay location and the fault point for different fault types. Symbol (m) in Table (b)is the compensation
factor , and given by, ( m = ( 0 − 1) 1 ⁄ ). Z1 and Z0 are the line positive and zero sequence impedances respectively. The Ia, b, c
are the phase currents, the Va, b, c are the line to neutral phase voltages, and the a, b, c are the phase designation in a 3-phase
system.
A general distance relay characteristic is derived by a two-input comparator of vectors S1 and S2 given by equations (1 and 2).
S1 = Ir Zr –K1 Vr (1)
S2 =K2Vr +K3 Ir Zr +K4 Vpol ( 2)
Where, S1, and S2are the relay comparator input signals; Zr is the relay reach impedance, and the K1,2,3,4 are complex constants
define the relay characteristics.The parameters Vr and Ir are the appropriate loop voltages and currents resemble those given in
Table (a) and Table (b). Examples are listed below:
Vr = Va –Vb For the A-B element; Ir = Ia –Ib For the A-B element; and/or Vr = Va For the A-Ground element; Ir = Ia +m I0
For the A-Ground element;
The angular displacement of vectors S1 and S2 is considered positive if S1 leads S2. The phase comparator operates if the following
condition is satisfied :-
−900 ≤ ∠S1 −∠S2 ≤ 900 (3)
| ∠S1 −∠S2 | ≤ 900 (4)
By using such approach the distance mho relay characteristics can be developed which is shown in figure below.In numerical reays
we can design operating characteristics of almost any shape by changing the values of the 'K' parameters in the comparator inputs..
From above figure It can be seen that with Zr measured inside of the characteristic circle, the angular difference between S'1 and S'2
will be less than 90 degrees, which fulfils the operating condition. Figure1b demonstrates an example of the mho relay with the
operating conditions not met.
The above figure shows the trip output of impedance relays for line to line fault.
V. CONCLUSIONS
This work presents a detailed phasor model for a distance relay of mho characteristics. Mho relays are inherently directional so there
is no need for directional elements in the relay model. Here the developed simulation is evaluated for line to line fault on the system,
and the results found as
A. Simulation results of different faults regarding type and position show clearly the accurate performance of the developed
distance relay model in figure (2, 3).
B. From results in figure (4, 5) it is seen that speed of operation of numerical mho relay is faster than impedance relay.
The model versatility, adaptability and applicability promote it for use in power system simulators. Also, it can be used as a training
tool to help users understand how a distance relay works and how settings are performed.
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[10] Dr. Qais M. Alias, Ameer A. Mohammed, “Phasor Based Numerical Mho Distance Relay: Model Development”,University of Technology Department of
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