Artificial Neural Networks for Power Systems Harmonic Estimation
Ibrahim El-Amin Ihab Arafah
King Fahd University of Petroleum and Mineral
Dhahran, Saudi Arabia
Abstract:
An artificial Neural Network model was developed and
implemented for power system harmonics estimation. The
model was given the name F". which stands for Fourier
Neural Network. It was tested off-line under different
conditions and was compared with FIT. The results of the off-
line tests indicate that the FNN has very high estimation
accuracy. It has a recursive nature that makes it a candidate for
real-time measurements. It also gave good results in a noisy
environment where S N R is as low as 10 dB. The FNN model
was implemented on a PC using a data acquisition board. The
system was used for an on-line harmonic estimation study. The
F"was able to estimate the harmonic components of voltage
and current at various levels. The estimation results were
compared with the data obtained using a FLUKFi 41 harmonics
meter. The comparison revealed that the ANN based harmonic
estimation model performs similarly to industrial-approved
meters.
Keywords Power system harmonics. Harmonic estimation.
Artificial Neural Networks
1. Introduction
Nonlinear industrial loads, such as rectifiers, inverters,
AC drives and DC drives, generate power system
harmonics. Such loads use switching control with semi-
conductor devices. Harmonics may ais0 be generated by
the power system components. Transformers are known
to generate harmonics when they operate at the upper end
of voltage level limit, where saturation may occur.
Harmonics can flow into the distribution system, causing
many problems for the power network operation 11-21.
Consequently, to avoid all these problems and to improve
the quality of the delivered energy, harmonic parameters
such as magnitude and phase angle should be known.
Paper accepted for presentation at the s"L Intemationd
Conference on Harmonics and Qualio of Power
ICHQP '98,joint& organized by IEEEIPES and NTUX,
Athens, Greece, October 1416,1998
0-7803-5105-3/98/$10.00 0 1998 IEEE
999
Efficient measurement of these parameters will make the
elimination of harmonic signals possible through
filtering,compensation and other elimination methods.
The difficulty in measuring power system harmonics
comes from the fact that harmonic generating loads are
dynamic in nature. Fast methods for measuring and
estimating harmonic signals are thus required. Various
digital signal analysis techniques are being used for the
measurement and estimation of power system harmonics.
These include Fast Fourier Transform (FlT), Least
Square (LS) algorithms and others. The Least Absolute
Value (LAV) algorithm has also been used 131. In
addition, the Kalman Filter (KF) method has been
proposed and tested to estimate power system harmonic
levels 14-51.
Recently the applications of Artificial Neural Networks
(ANN) for power system problems have gained
considerable attention. One of the promising application
areas of ANN is state estimation. A typical state
estimation problem is power system harmonics
estimation. Many neural network based methods have
been proposed for harmonics estimation 16-I 0 I. Hiroyuki
used a three-layer network with input representing past
data, and including the present data 131. The error
associated with this network was low compared to other
estimation techniques. Hiroyuki compared his model with
other prediction models such as Auto Regressive, KF,
Recursive Least Square and others. It was concluded that
this ANN model had almost the same accuracy as the
most effective adaptive techniques. In another attempt by
Hartana [?,SI. ANN was applied to the harmonics
estimation problem. The study aimed to identify the
source of harmonics in the power system. The system had
measurement instruments only at some buses. A
structured neural network with multiple parallel two-layer
feed-forward nets was trained to identify the magnitude
of harmonic sources. In a process of hypothesis testing
developed by Hartana. the constrained neural net was
used to identify the new harmonic sources in the system.
The testing was successful in finding the unknown
harmonic source for observable buses. However, it failed
to identify the harmonic sources on unobservable or
closely linked buses. In a novel approach to the
estimation of harmonics in power system using a neural
network, Osowski 14.IO] proposed a method that uses the
optimization neural network theory. The method was
implemented in analogue form. The model was real-time
based.
This paper reports on the development of an on-line where 77 is a positive constant called the learning-rate
Artificial Neural Network (A")harmonic estimation parameter.
scheme. The scheme is used for harmonic estimation in
Given the old value of the kth weight W , , ( k ) at iteration
an industrial facility.
k, the updated value of this weight at the next iteration k
2. Development of a Fourier Neural Network Model +1 is computed as:
W,(k+l)= w,(k)+Aw,(k) (2.8)
2.1 Fourier Neural Network W,(k+l)=wn(k)-qV%J(k), n=1,2, . . . p (2.9)
A special type of ANN model will be derived and
formulated. The model is similar to the one presented by Equation 2.9 can be applied to the problem of estimation
Osowski [9,10]. Cichocki [ll-161 did further work on the of A, , A,, and B,, . Moreover, the frequency can be
model.
The method of steepest descent can be applied to the adapted if there is any deviation from nominal 0,. The
estimation of harmonic parameters (amplitude and phase adjustment applied to the dc component A, at iteration k
angle) from noisy measurements. Assume that the signal
is defined by
x(t) that has been measured or observed is in the form:
N dE
A,(k+l)= A,(k)-q,- (2.10)
x(t) = A, + n=l
C X, cos(noo + e,) (2.1)
JA,
where
00 =2@0 (2.2) By chain rule, equation 2.10 can be re-written as:
A. dE ah
00is the fundamental angular frequency, is the DC A, (k + 1) = A, (k)- qo -- (2.1 1)
& dA,
component, x, and @,, are the magnitude and phase
Using equations 2.3 and 2.6, equation. 2.1 1 can be
angle of the nth harmonic of the estimated signal
rewritten as:
respectively. Equation 2.1 can be re-written in the form:
N A,@ + 1) = A,(k) + 9 , [ W ) - x(k)l (2.12)
x(t) = A, + n=l A, sin nuor + B, cos mot (2.3) Similarly A, and B, can be written as:
A,(k + 1) = A , ( k ) + qn[d(k) - x(k)Jsin(nw(k)t)
where A,, and B,,
are the deterministic, but
(2.13)
unknown, amplitudes of the in- phase angle and
B,(k + 1) = B,(k) + q n [ d ( k )- x(k)]sin(no(k)t)
quadrature components of the estimated harmonic. By
estimating A,, and B,, the magnitudex,, and phase
(2.14)

angle @n are calculated as follows: Moreover, the same technique can be applied to 0

x, =Jm (2.4)
which might encounter some variation from nominal
value 0,.
N
0, = tan-'(B,, 1 A,,) (2.5) o ( k + 1) = m ( k ) + q [ d 9 k ) - x ( k ) ] t n{ A, (k)cos
0
n=l
where A,, = X,, cos@, and B,, = X,,sin@,, -
((nw(k)t) B ( k ) sin(nw(k)t)]
n
(2.15)
Treating 0 as variable complicates the structure of the
Harmonic estimation can be done using the neural
network steepest descent method to minimize the error in estimator ait will intmon-linearity to the model.
the least-square sense. The error is defined as follows: Equations 2.12, 2.13, 2.14, and 2.15 wbe used to update
harmonic parameters in the estimator model. In .this
1 2
E ( k ) = - ( d ( k ) - x(k)) paper, this model will be referred to as the Fourier
(2.6)
2 Neural (FNN).This name was chosen since the model
Let w,,(k)denotes the value of weight w,, calculated at resembles the Fourier Transform to some extent.
discrete time k by the method of steepest descent. The
adjustment applied to the weight at iteration k is defined In order to reduce the spiky noise [16], the energy
by: function defined in equation. 2.6 can be modified as
follows:
E ( k ) = OH (0)) (2.16)
AW,(k) = -qVwn J(k), n=1.2 ,...,p (2.7)
where

-
e(k)= d(k) x(k) (2.17)

and 0 ,,is defined as follows: The estimation of the frequency 0 will be as follows:
N
o ( k + 1) = o ( k ) - q w [ d ( k )+ x(k)]t Cn
n=l

where /3 > 0. The term (d(k)-x(k)) will be replaced by

"(e), which is defined as:
1 (2.23)

This model will be tested to evaluate its performance in

comparison to the linear model.
(2.19)
3. Model Testing and Simulation

The F"model will be simulated, trained and tested using

An analogue version of this model is depicted in Fig. a pre-defined harmonic signal. A comparison will be made
2.1. between FNN and FFT in terms of estimation precision
under n different conditions. The different conditions cover
a range of signals and noise levels added to the predefined
signal.
3.1 System Simulationand ANN Training

I
The model FNN was simulated using a specially written
program. The parameters were estimated according to
equations 2.12, 2.13, 2.14, and 2.15. The program contains
a subroutine to simulate a sinusoidal signal with harmonic
content and measurement noise. Parameters like the learning
rate, sampling time and thresholds of the non-linear limiter
are to be selected.

3.1.1 Test Signal

A pre-defined signal was used to simulate a measured
voltage. The signal was a typical voltage waveform with
some harmonic content [3]. The magnitude and the phase
angle of the harmonic components are shown in Table 3.1.
Fig. 2.1 The FNN Model In Analogue Form
Table 3.1 Predefined Voltage with Harmonic Contents
2.2 Non-Linear Model
In the previous derivation, the signal model of equation
2.1 was put in a linear form. In this model the estimation
ofA,,'S and Bn's is done first. Afterwards the
magnitude and phase angle were calculated. The original
non-linear model given in equation 2.1 can also be
treated using the same principle.
The dc component will be the same as:

A0 (k + 1) = A, (k)+ q o [ d ) k )- x ( k ) ) (2.20)
The estimation of X, is given as:
3.1.2 Signal To Noise Ratio (SNR)
x, (k + 1) = x, 9k)+ qx(d( k) - x ( k ) )cos(n(lll+t$ )
In order to study the influence of noise on the estimation
(2.21) model, a simulated Gaussian (normal) distribution noise
signal was generated and injected into the estimation model

1001
with the measured input signal. The level of noise to be starting frequency (nominal) and the actual frequency is
injected into the model is related to the power of signal by small. The best value for 7, was found to be 0.8.
the Signal to Noise Ratio (SNR).
The model was tested under different values of SNR,
3.1.5 Error Limiter
ranging from no noise to 0 dB noise. A Gaussian noise of
zero mean and variance that changes according to S N R was In an effort to reduce the influence of spiky noise
used. The power system voltage and current signals are (outlier), Huber's function was used to shape the error
contaminated by impulsive noise and large isolated errors e(r) as shown in equation 2.19. The limiter has a
caused by the malfunction of some sensors and transient threshold that is set to give the best performance in
components. These large wild noises (spiky or impulsive)
are called outliers. The impulsive noise was included in
different conditions. A relatively low p was used for
frequency adaptation.
measurements to simulate an outlier.
3.2 Model Testing
3.13 Sampling Time
3.2.1 Linear Model
The measurements of the estimated waveform are After the model was tuned, its performance was studied
sampled at a time h or at a sampling frequency in comparison to the FFT.The F"and FFT models
f, = 1/ h . It was assumed that harmonics up to the 64" estimate all harmonic frequencies up to the 64"
order might exist in power systems. High harmonic harmonic. The trajectory of frequencies that were
orders are too small to be considered. For power systems originally injected in the power signal will be traced
with nominal frequency of 60 Hz,the 64" harmonic is through the estimation time. Other frequencies are not
3840 Hz.The sampling time h was then calculated to be shown but they were checked to make sure that their
l.3028X1O4seconds. estimated values go to zero. Table 3.2 shows the results
of a simulation that was done on 1024 sample points. No
3.1.4 Learning Rate noise was added to the measurement in this simulation.
The trajectories of the estimated signals are shown in
figure 3.1. The estimation of the 7", 11" and 13"
Learning rates, or q's, of the FNN model are very harmonics follow the same pattern as the 5" harmonic.
important parameters. They affect the convergence and
the accuracy of results. These rates are, namely, the Table 3.2 Comparison Of Estimated Harmonics
learning rate of the A component: 7 A , the learning rate
of the B component qB, the learning rate of the DC
component VA,, and the learning rate of the system
frequency q , . Each A, and B, component has an
independent learning rate. This means that 2N values are
to be assigned for learning rates where N is the number of
harmonics estimated. After several trials, it was found
that assigning all these rates to one value, ,would
help the system to converge faster. As a compromise
between accuracy and time of convergence, q A B was
set to 0.017. The learning rate of the DC component
q h had to take a relatively lower value. A value of
0.008 gave good results. The learning rate of frequency,
q , ,is very sensitive. Large values cause the system to
diverge. Low values give better performance if the
difference between the starting frequency (nominal) and
the actual frequency is small. The best value for 7,
was found to be 0.8.

1002

I
,3) mrmdmagihded 5lh h;rmnric
The FNN model produced estimation values that
are nearer to the actual values than the FFT. The FNN
produced better estimation for phase angle than the FNN.
The F"model converges to the actual value, while the
FFT has a constant value throughout the estimation. The
FFT converges to the estimation value slightly faster than
the FNN model, but its steady state error is higher.
1003
E
l...-.-
Noise has an effect on the performance of the estimation
method. The noise does not prevent the model from
convergence but it affects the accuracy of the estimation.
The model was tested under different SNRs to define its
limitations. An SNR of 20 dB was injected into the
measurement. The estimation was good for the
magnitudes and phase angle of all estimated harmonics.
Table 3.3 shows the estimation results.
Table 3.3 Comparison of Estimated Harmonics with 20 dB
Both the F" and the were affected by the additive
noise in terms of the accuracy of the estimation. The FNN
model has a better steady state error than the FFT. The
estimation ophase angle is more accurate in the FWN as
well. Tests were also conducted using signals with 10 dB
and 0 dB S N R Table 3.4 shows the results for 0 dB SNR.
Neither model gives a reliable estimation in this case. The
estimation of the fundamental component is still valid.
Other harmonics converge but with a very low accuracy.
The results of the system simulation and
comparison to the FFT revealed that the FNN is a reliable
power frequency estimator. It has a high accuracy even in
noisy environment. The FNN has a frequency adaptation
system that traces deviations. It also possesses a recursive
nature that makes it a candidate for real time
implementation.
1004
4. Model Implementation
An on-line measuring system, based on the FNN
model, was constructed. The system collects continuous
signals. Signals are then discretized by an analogue to
digital converter and are stored temporarily in a memory
buffer. An online program scans the stored data and
transfers it to the FNN module. The output is displayed
on a screen and is stored in data files as well.
4.1 Hardware Description
In order to read the voltage and current signals in
a digital form, an interface between the computer and
sensory devices is needed. A software- configurable 12 bit
Data Acquisition (DAQ) board is used. The board is AT-
MIO-16 manufactured by National Instrument (NI). The
board can interface to Signal Conditioning Extensions for
Instrumentation (SCXI) system. It can acquire over 3,000
analogue signals from voltage sources, current sources,
thermocouples, and others [17,18,19].
The NI-DAQ has a driver software with extensive library
of functions. Functions can be called from application
programrning environment to board operation. It has eight
channels in differential connections for floating signal
sources.
The voltage signal is connected to Channel no.0 while
the current signal is connected to channel no. 1.
4.2 Software Description
A software program was developed using the C
language.. The program calls NI-DAQ DOS functions
for programming double buffered A/D conversions on
an NI-DAQ board. The first phase of the program is
system configuration. The FNN module configuration
sets the learning rates and the initial conditions of the
parametrs. The Board configuration is the next step.
This informs the NI-DAQ board about the measurement
mode and it configures the board for subsequent data
acquisition. The size of the data Buffers are adjusted
according to the sample rate. The sampling rate is
assigned at 7680. The number of samples to be saved in
a disk file is also set at this point.
The acquisition phase of the program involves
translating the sampling rate from units of points per
second to a time base and sample interval. The
computation phase then starts. In this phase the data are
scanned from the buffers and read by the FNN module.
The FNN updates the estimated parameters according to
the measurement. After the sampled data have been
scanned, the program displays estimated parameters on
the screen and saves the estimation results for future
use.
 4 3 System Specifications
The system specifications are as follows:
0 Input: Single voltage and current signals
0 Measured voltage range: 0 - 500 V.
Measured current range: 0 - lo00 A.
0 Input Power: 110 V AC.
0 Over Voltage protection k 1.7 %
Over Current Protection f 1.7 96
0 Voltage sampling Rate: 7680
Current sampling Rate.: 7680 Hit any key to return to main
menu.:-
4.4 I3.ogrcun User Interfme Figure 4.2 Voltage and Current Waveform plot. Option 4

The program is driven from a main menu
that is first displayed when the program is
called..The options represents functions of the
main program. The options are as follows:
1. Display settings and parameters
2. On-line analysis (new reading): This option
starts the harmonic measurement study. The
system displays analysis results immediately
after calculations. Harmonic values will be
listed in a table form as shown in Fig. 4.1
3. Plot of voltage and current: By choosing this
option, the program will display the voltage
and current waveforms ,as shown in Fig. 4.2.
5. Harmonics Measurement Using FNN
Harmonic measurements were conducted using the FNN.
The measurements were taken within the power
distribution system of an industrial facility. The
industrial plant includes potential harmonic sources and
harmonic sensitive equipment. The study is not intended as a
measure of the power quality within the facility. It will
provide real-time data for an assessment of the FNN
measuring system. Measurements were also conducted using
an industry-known harmonic meter.
I

The program has the features to display the 5.1 Description of Study Power System

voltage and current harmonic spectrum in a bar Fig. 5.1 shows the power distribution of the industrial
facility. The main feeder is 13.8 kV, 4 MVA. The voltage is
chart f o m stepped down to 460 V through four transformers. Each
transformer is 13.8kV/46OV IMVA delta/star connected.
Fig. 5.1 shows the points at which harmonic measurements
v") FliASEv46 Ut=) RUFE I% were conducted. The points were selected to be near non-
0 4.01 0 0 a74 0 a01
1 12511 0 101.7 555 -30.1 449
linear loads and to cover different voltage levels of the
2 0 . 2 -1403 ai 05 -77 OA industrial facility. The measurements were also compared
3 a7 -I103 as 24 -fB 2 with FLUKE 41 Power Harmonics Analyzer using FLUKE
4 OA -27.7 a4 1.4 -Bal 1.1
5 21 -PY 1.7 42 -.I 339 View 1.1. FLUKE 41 is an advanced hand held harmonic-
6 ai -25.2 ai 1 4.9 0.8 measuring device that is capable of sampling the waveforms
7 15 -1169 13 33.7 -2.7 273
R 0.7 -135.2 as I 3.8 0.8 of voltage and current instantaneously. The calculations of
Y a4 -1s 0.3 15 -1423 2 harmonic content associated with voltage and current are
10 03 -1333 0.2 I2 -165 I
11 13 -1u.4 1.1 Y6 41.1 7.8 done using the FlT method. The results of the two
12 02 43 0.2 as a 2 0.4 measuring systems will be shown only at points no.1 (AC
13 03 42.4 03 29 -41.4 U
14 a4 4.7 0.3 0.8 -1395 0.6
drive) and no.2 (DCdrives).
15 0.2 61.1 ai 12 68 0.Y
16 02 -1DL.I 0.2 0.4 -79.7 0.3
17 03 -77 03 84 .ay bR
I8 a1 -1m.7 ai 13 4.R 1.1
*Mm068 V~TtUkZS ioai w.=

Hit any key to return to main menu.: -

Fig. 4.1 Voltage and Current harmonic analysis results

1005
 Table 5.1 Voltage Harmonics at an AC drive

A W
I I I FLUKE41 I
HAR

- ORDfR

Dc
1
2
3
4
5
8
7
a
9
Fig. 5.1 Study System with Harmonic Measuring Points 10
I1
5.2 ACDrivs 12
AC drives are used to control the speed of ac 13
motors within the plant. AC drives are processor- 14
controlled inverters. The AC drives can supply 15
frequencies in range of 30- 80 Hz.The installed inverters 16
use Pulse Width Modulation (PWM). Figure 5.2 shows 17
the waveforms of the voltage and current supplied by the 18
I I I
drive to the motor. The harmonic contents of the current 7tw, 25% I 2!j% I
and voltage were measured using FNN and FLUKE 41.
The estimation results are shown in tables 5.1 and 5.2.
The current spectrum is shown in Fig. 5.3
Table 5.2 Estimation of Current Harmonics of an AC
drive
- -- FN ii-
(XIAIECC R1116I pH116I
Hlyl
?R38
Dc
- %
21
3Bjw
0
-
m
0
1 a7 -19.0 -1545
2 1.7 l
a0 1990
3 0.3 BA0 -1a7.0
4 15 1m imo
5 54.0 la0 1083
6 1.9 40 880
7 446 -190 -7.0
8 a5 -1aaO -1250
I 9 1.6 BnO mo
10 Q3 00 -120
Fig. 5.2 Waveform of Voltage and Current Supplying an 11 2% 8QO -755
12 0.1 -130 -21.O
AC drive 13 17.0 111.0 lDQ0
14 a5 -1880 la0
15 0.8 1n.o imo
16 02 0.0 -17.0
17 57 -120 a0
-1no
-
- --
‘M)
18 0.3

1012h
-161.0
-

1006
 7. Reference

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1985.

Arrillaga, J., D. A. Bradley, P. S. Bodger,

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Fig. 5.5 Reconstructed WaveForms Of Current
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Tsuzuki. ‘‘ An Artificial Neural-Net Based
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Harmonics,” IEEE Transacfions on Power
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”

results were compared with the data obtained using a Transactions On Industry Applications, Vol., 29,
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no.11, pp. 689-691.

1007

Fig. 5.3 FNN and Fluke 41 Harmonic Contents of
Voltage and Current
The comparison of the data in tables 5.1 and 5.2
indicate that the estimation results are almost equal for the
FNN and the FLUKE 41. Harmonic analysis of the
current shows more variations than the voltage. The
reason for this is that the current is badly distorted. It
might contain more noise or higher order harmonics that
are not calculated by either meter. The FLUKE 41
considers only up to 32 harmonics, while the FNN was
designed to go up to 64 harmonics. Phase angles have
some variations but they are close for the fundamental.
The variation for harmonics might be due to the triggering
difference. Triggering was done manually so that data
collection of both devices is synchronized. This might
have caused differences since harmonics are dynamic in
nature.
Fig. 5.4 Wave-Form Ofvoltage And Current Supplying
DC Drive
The harmonics content of the current and voltage were
measured using FNN and FLUKE 41. The voltage
estimation results are shown in Table 5.3. The estimates
showed similar values for the magnitudes. The phase
angles have some variations.
In general the developed FNN based harmonics
measuring system proved to be as reliable as industrial
€i" based devices such as FLUKE 41. Reconstructing
the two signals as shown in figure 5.5 did a comparison
between the estimated results. It can be seen that the
signals are close to each other.
Table 5.3 Estimation Results Of DC Drive Voltage

5 3 DC Drives
The variable speed DC drives are used to drive the critical
machines in the plant. A Reliance Electric DC Drive
(Model: Max Pak Plus D-C VS Drive) was used for the
harmonic measurements. The DC drive provides an
annatum voltage of 500 volts dc. The drive provides shunt
field excitation and adjustable voltage to drive a shunt
wound dc machine. The machine is intended for an
adjustable speed service. Voltage and current waveforms,
supplied to the motor, are shown in Fig. 5.4.

1008
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Equations- Part II: Minimal and Least Absolute
Value Problems,” IEEE Transactionson Circuits
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8. Acknowledgement
The authors would like the facilities and support of King
Fahd University of Petroleum and Minerals, Dhahran
Saudi Arabia.
9. Biographiea
Ibrahim El-- graduated with B.Sc. in electrical
engineering from University of Khartoum, Sudan, in
1971. He received his MSc. & Ph.D. from UMIST, UK
in 1975 & 1978 respectively. He is currently an Associate
Professor in KFLTPM, Dhahran, Saudi Arabia.
Dr. El-Amin’s research interests include power system,
HVDC transmission, Power quality and system Harmonics
and energy conservation.
Ihab Arafah received his B.Sc. & M.Sc. in electrical
engineering from KFUPM in 1990 & 1996 respectively.
He is currently with the Arabian Canning Co., Dhahran,
Saudi Arabia.