Paper accepted for presentation at 2003 IEEE Bologna Power Tech Conference, June 23th-26th, Bologna, Italy

Fault Location for Teed Circuits with Mutually Coupled Lines and Series Capacitors
Cansin Y. Evrenosoglu and Ali Abur

Abstract This paper investigates the problem of fault location in teed circuits. Previous work presented in [9], has successfully extended the discrete wavelet transform (DWT) based fault location technique of [1] to the case of teed circuits. In this paper, additional challenges introduced in the presence of MOV protected series capacitors and/or mutually coupled line sections in teed circuits are addressed. DWT based fault location procedures are developed and tested for these special cases. Fault signals simulated by ATP are used to validate the new fault location procedure under various scenarios.

Index TermsFault Location, Travelling Waves, Modal Transformation,Electromagnetic Transients Simulations, Parallel Transmission Lines, Wavelet Transform, Series Compensation, Frequency Dependent Line Model I. I NTRODUCTION

AULT location in systems containing a three terminal transmission line with a T-node (Figure 1), presents new challenges. The reasons are essentially due to the existence of superimposed multiple reections of the fault signal from the T-node and the fault point. The use of travelling wave methods for fault location have become more viable with the availability of the advanced sensors, GPS measurements and more efcient digital signal processing methods in the past decade. Travelling wave based fault location concept is initially proposed in [10] and [2]. Other approaches that use pre-fault load ow for phase alignment [3], differential currents between parallel lines [4], post fault synchronized phasors [11] and negative sequence multi-ended measurements for unbalanced faults [12] are also proposed.
A LA T LB B

LC

Fig. 1.

Three Terminal Power Transmission System

Partial support provided by the NSF grant ESC-9821090 and the Electric Power and Power Electronics Institute of Texas A&M University are gratefully acknowledged.

Fault location problem is further complicated in the presence of series capacitors on the protected transmission lines. The series capacitor is widely used in long transmission lines to improve the power transfer capability and increase the transient stability margins. An important consideration in series capacitor installations is their protection against over-voltages. This is commonly accomplished by using a Metal Oxide Varistor (MOV) across the capacitor. Since the MOV has a nonlinear V-I characteristics, the fault location methods that use voltage and current signals, need to be adapted to the variations introduced by these devices. In [5], by using the distributed line model with lumped parameters, two subroutines and a selection algorithm are developed in order to estimate the fault location. Measurements from both ends are assumed to be available. In [13], rst an Articial Neural Network is used to process the local voltage and current measurements to estimate the series capacitor voltage. Then, an impedance based technique is used to locate the fault. In [6], a similar method to [5] is used, where the fault type is assumed to have already been determined by another program and a simplied lumped line model is used to locate the fault. Another difculty in fault location presents itself when there are parallel transmission lines with mutual coupling between some of their sections. Recently some methods have been developed for improving the performance of the fault location algorithms for parallel transmission lines. In [7] and [14] different algorithms are developed by rst using the loop equations, then obtaining the Z-transform and applying the Newton Raphson iterative scheme to the nonlinear equation for different types of faults. One ended data is used with the simplied line model by neglecting the shunt capacitance. In [8] synchronized measurements and distributed transmission line model are used to estimate the line parameters and fault location. Two different subroutines are proposed in [15] for determining the fault location in a system including partially parallel lines if the fault is either in or beyond the coupled zone. Pre-fault and post-fault one end data is needed and lumped line model is used. In [16] a complex and nonlinear equation is derived from the nodal equations and solved by Newton Raphson iterative scheme in order to obtain the fault location. The algorithm is valid for single phase to ground faults and a lumped line model is used. More recently, it is shown that the discrete wavelet transform (DWT) of the modal components of the fault initiated travelling waves can be used to estimate the location of the fault [1]. This approach is extended to the three terminal lines and a new procedure which allows fault location without synchronization of multi-terminal signals, is developed in [9].

0-7803-7967-5/03/$17.00 2003 IEEE

Voltage [kV]

In this paper, DWT based approach is used to develop fault location procedures for the case of teed circuits with series capacitors and mutually coupled line sections. The frequency dependent transmission line model is used throughout the simulations. II. FAULT L OCATION P ROCEDURE Fault location procedure in three terminal lines with series capacitor and mutually coupled line sections will be presented next by using the Wavelet Transform of the modal components of one end voltages. A. Metal Oxide Varistor Protected Series Capacitor The series capacitors are exposed to very high currents during the faults which cause high voltage drops across the series capacitors. It is uneconomical to design series capacitors so that they can withstand these high voltages, thus additional protective equipment is usually used to protect these devices. The widely used protection device since 1980s is Metal Oxide Varistor (MOV) which is installed at each phase and directly across to the series capacitor. MOVs nonlinear characteristic allows almost no current through it during the normal system conditions. The v-i characteristics of the MOV can be approximated by Equation (1), a plot of which is shown in Figure 2 using the parameters chosen for the simulations of this paper. Consider a MOV protected series capacitor installed at the sending end of the line section A-T as shown in Figure 3. i=I ( V q ) Vref (1)

SC Voltage at Faulted Phase w/o MOV

100

60

40

20

40

60

80

100 0

10

20

30

time [ms]

40

50

60

70

80

Fig. 4.

Series capacitor voltage during the fault without MOV

voltage at that level. The voltage across the series capacitor during a phase to ground fault for the given system, with and without the MOV protection is shown in Figures 4 and 5 respectively. Note the limiting effect on the voltage when MOV is present.
SC Voltage at Faulted Phase with MOV
20

15

10

Voltage [kV]

10

15

20

10

20

30

40

50

60

70

80

time [ms]

Fig. 5.

Series capacitor voltage during the fault with MOV

VI Characteristic of MOV
15

10

Voltage [kV]

It is assumed that the voltage transients are recorded at the sending end of the branches A-T, B-T and C-T in Figure 3 and these signals are not synchronized. The voltage signals for the faulted phase are simulated using the ATP and given in Figures 6 and 7 for the cases without and with MOV protection respectively.
Faulted Phase Voltage at Bus A w/o MOV
400

300

200

10

20

Current [A]

30

40

50

60

Voltage [kV]

100

Fig. 2.

V-I characteristic of the Metal Oxide Varistor

100

200

300

400

10

20

30

190 miles A SC

time [ms]

40

50

60

70

80

Fig. 6.

Faulted phase voltage, without MOV

Faulted Phase Voltage at Bus A with MOV

400

300

MOV

T
Voltage [kV]

200

B 250 miles 210 miles

100

100

200

Fig. 3.

Three Terminal Transmission Line with Series Capacitor

300

400 0

10

20

30

In case of a fault, the MOV will start to conduct when the capacitor voltage reaches the protection threshold, clipping the

time [ms]

40

50

60

70

80

Fig. 7.

Faulted phase voltage, with MOV

The simulated signals are subsequently transformed into the modal domain. Discrete wavelet transform coefcients (WTC) of different scales for the aerial and ground mode signals are then calculated using the wavelet transform. The squared coefcients W T C 2 s of the aerial mode voltages for both cases with and without the MOV are given in Figures 8 and 9. It is observed that both the shape and the peak arrival instants of the wavelet transform coefcients of the aerial mode voltages for each case, are identical during a certain period after the fault. This period extends well beyond the needed duration for the successful application of the fault location procedure given in [9]. If a grounded fault occurs at the rst half of the line segment A-T, the distance to the fault location can be calculated as follows [1]: x= v t , t = t2 t1 2 (2)

wave that has already travelled back and forth between the fault point and bus A once and now returning to bus A again. The faulted half of the branch is determined by using the arrival time difference between the initial peaks of the aerial and ground mode W T C 2 s in scale-1. However for the ungrounded faults there is no signicant remote end reections and Equation (2) can be directly used for the fault location independent of where the fault occurs. B. Mutually Coupled Line Section A partially coupled transmission network is studied as shown in Figure 10. A lattice diagram [17] for this case can be constructed as given in Figure 10. Note that the end point of the coupled line section (M) behaves like a discontinuity where multiple reections occur following a fault. Hence, the following possible situations must be investigated depending on where the fault occurs: Fault occurs within the mutually coupled line section (A M ) between bus A and the mid-point of AM . between the mid-point of AM and point M . Fault occurs outside the mutually coupled line section (M T ) between point M and the mid-point of M T . between the mid-point of M T and bus T .
A 100 miles M F 150 miles T 100 miles C

where v is the aerial mode propagation velocity in scale-1 and t1 and t2 are the arrival times of the initial fault wave and the reected wave from the T point recorded at bus A respectively.
WTC
12

of Aerial Mode Voltage at Bus A w/o MOV

10

WTC2*108

0 18.5

19

19.5

20

time [ms]

20.5

21

21.5

22

Fig. 8.

W T C 2 of the aerial mode voltage, without MOV

t1
WTC
12

100 miles

120 miles

of Aerial Mode Voltage at Bus A with MOV

10

t4 t5

WTC *10

8 2

Fig. 10. Three terminal transmission line with mutually coupled line section and lattice diagram for a fault outside the coupled section

0 18.5

19

19.5

20

time [ms]

20.5

21

21.5

22

Fig. 9.

W T C 2 of the aerial mode voltage, with MOV

On the other hand, for faults occurring at the second half of the transmission line A-T, the following expression will have to be used [9]: x= v t , t = t3 t1 2 (3)

where t1 is the arrival time of the rst peak of the aerial mode W T C 2 at bus A which is due to the the backward travelling wave and t3 is the arrival time of the third peak of the aerial mode W T C 2 at bus A which is due to the backward travelling

The differences between the arrival peak instants of the W T C 2 s of the aerial mode and the ground mode are used in order to specify the section (coupled/uncoupled) where the fault occurs. In a case where a grounded fault occurs at the coupled region the fault location algorithm described in [9] is valid. The calculations are carried out by using Equation 2 and Equation 3 according to the information about which half of the coupled region the fault occurs. The faulted half is determined by using the same approach described in the previous section. Assume that the fault occurs at the rst half of the uncoupled section M-T as shown in Figure 10 and the recorded voltage transients at each bus are not synchronized. The fault location is determined by using the recorded transients at bus A. The

rst peak of the aerial mode W T C 2 which is due to the backward travelling wave, arrives at bus A at time t1 and the fourth peak which is due to the backward travelling wave that is rst reected from bus A, then travels towards the fault point and is subsequently reected from the fault point arriving at bus A at time t4 . The fault location can be calculated by the following equation: x= v t , t = t4 t1 2 (4)
Fig. 12.

WTC2 of Aerial Mode Voltage at Bus A

3.5

2.5

WTC2*106

1.5

0.5

21

21.5

22

time [ms]

22.5

23

W T C 2 of the aerial mode voltage at bus A, XF = 200 mi

WTC2 of Aerial Mode Voltage at Bus A

The fault location procedure becomes more involved when the fault occurs at the second half of the uncoupled section M-T as shown in Figure 11. As the fault location moves closer from the point M towards the T connection, there will be a signicant delay on the arrival time of the peak of the aerial mode W T C 2 . This is fourth peak in the previous case and it is the backward travelling wave reected from the fault point.
A F M T C

3.5

2.5

WTC2*106

1.5

0.5

21.5

22

22.5

23

time [ms]

Fig. 13.

W T C 2 of the aerial mode voltage at bus A, XF = 205 mi

WTC
2

of Aerial Mode Voltage at Bus A

1.8

1.6

1.4

WTC2*106
t1 t2

1.2

0.8

0.6

0.4

0.2

21.5

22

22.5

23

23.5

time [ms]

Fig. 14.
tj

W T C 2 of the aerial mode voltage at bus A, XF = 225 mi

follows [1]:
Fig. 11. section Lattice diagram for a fault at the second half of the uncoupled

x t t

= = =

It is observed that when the fault is at the second half of the uncoupled section, the W T C 2 peak which has the largest magnitude after the rst two W T C 2 peaks is due to the backward travelling wave which is reected from the fault point. As can be seen from the Figures 12 to 14, the arrival time of the W T C 2 peak due to the reected backward travelling wave varies from the sixth to the ninth as the fault location approaches the T node. Based on this observation, fault location for a fault in the second half of the uncoupled section is given as follows: x= v t , t = tj t1 2 (5)

t v 2 2L t v t2 t1

(6)

where L is the total line length. As a result, either one of the equations (5) or (6) can be used in order to locate the fault. Alternatively, their average value can be used to minimize any estimation errors. C. Synchronized Data At Three Terminals The most desirable situation is when fully synchronized voltage transients are recorded at the sending end of the branches of the tee circuit shown in Figure 1. In this case the fault location procedure is the same for each of the cases including mutually coupled or MOV protected series compensation. The faulted branch is determined by using the same approach described in the previous sections. The double ended fault location algorithm proposed in [1] is applied to the aerial mode W T C 2 s in scale-1 for the recorded voltage transients at the sending terminals of the faulted branch and either one of the non faulted branches. Assume that the fault

where tj is the arrival time of the peak of aerial mode W T C 2 which is due to the backward travelling wave reected from the fault point and also the largest peak after the rst two peaks. Provided that the fault location is not too close to the Tnode, an alternative and simpler procedure can be used as

occurs in branch A and tA , tB , tC are the initial peaks of the aerial mode W T C 2 s of the recorded voltages at the terminal buses A,B and C respectively. Then, the fault location with respect to the sending end of the faulted branch is given as follows [1]: LT v t (7) x = 2 t = tj tA LT = LA + Lj
Fig. 15.

WTC2 of Aerial Mode Voltage at Bus A

2

1.8

1.6

1.4

WTC2*107

1.2

0.8

0.6

0.4

0.2

0 20.4

20.5

20.6

20.7

20.8

time [ms]

20.9

21

21.1

21.2

21.3

21.4

W T C 2 of the aerial mode voltage at bus A, XF = 80 mi

where v is the aerial mode wave propagation velocity in scale1 and index j refers to either one of the non faulted branchs sending end bus. III. S IMULATION R ESULTS All simulations are carried out by using ATP/EMTP program and MATLAB with a sampling time interval of 3 s. The fault occurrence time is chosen as 0.02 s. The tower conguration of 220 kV transmission line is given in Appendix. As described in [1], Clarkes transformation [18] is used for modal transformation and Daubechies-4 [19] mother wavelet is chosen for wavelet analysis. The aerial mode propagation velocity is calculated as 1.85737 105 mi/s in scale 1 corresponding to the frequency interval of 75 kHz - 150 kHz. The studied system is simulated under various types of faults along different branches. Simulation results for one phase to ground fault in branch A-T with a very small fault resistance (1 m) are presented. A. MOV Protected Series Capacitor The conguration shown in Figure 3 is studied. A series compensation rate of % 40 is used for the line. The MOV parameters, given in Equation (1); I, q and Vref are chosen as 60 A, 23 and 15 kV respectively. The faulted branch is identied by comparing the aerial mode W T C 2 s recorded at each bus. The faulted section of the branch for a phase to ground fault located at 50 miles away from bus A is estimated by calculating the difference between the arrival times of the peaks for the aerial and ground mode W T C 2 s (0.098 ms) at bus A which is less than the one obtained off-line for a fault at the middle of the line. The arrival times of the rst two aerial mode W T C 2 peaks at bus A are t1 = 20.30 ms and t2 = 20.85 ms yielding a time difference of t = 0.55 ms. The fault location can thus be determined by using Equation (2) as follows: 1.85737 105 0.55 103 x= = 51.07 mi 2 B. Mutual Coupled Line Section In this case, it is assumed that the fault occurs within the coupled section A-T, 80 miles away from bus A in the studied system shown in Figure 10. The fault is declared to be in the region close to the end point (M) of the coupled section by using the arrival time differences between the initial peaks of aerial and the ground mode W T C 2 s. The rst peak arrives at bus A at time t1 = 20.48 ms and the third peak arrives at bus A at time t3 = 21.36 ms as shown in the Figure 15.

The fault location is determined by using Equation (3): 1.85737 105 0.88 103 = 81.72 mi 2 Next, the fault is assumed to be within the second half of the uncoupled section, 205 miles away from bus A as shown in Figure 11. The rst peak of the aerial mode W T C 2 s arrives at bus A at t1 = 21.17 ms while the second one arrives at t2 = 21.65 ms. The aerial mode W T C 2 peak which has the largest magnitude after the rst two peaks arrive at bus A at t8 = 23.39 ms as shown in Figure 13. The fault location is determined by using Equation (5): x= 1.85737 105 2.22 103 = 206.16 mi 2 Alternatively, one could use Equation (6), which yields: 2 250 0.48 103 1.85737 105 = 205.42 mi 2 The differences between the two results are attributed to the sampling errors and are not considered signicant. C. Synchronized Data At Three Terminals The same examples in the previous sections are worked out in order to be able to illustrate the benets of having a fully synchronized measurement system. Assume that the fault occurs 50 miles away from bus A in the system shown in Figure 3. The arrival times of the initial peaks of the aerial mode W T C 2 s at bus A,B and C are tA = 20.30 ms, tB = 22.23 ms and tC = 22.13 ms respectively. The fault location is simply determined by Equation (7): x = x = (250 + 190) 1.85737 105 1.83 103 2 50.05 mi

where the recorded transients at the sending terminals of the faulted branch, namely bus A and bus C are used for the calculations. Next, the fault is assumed to occur within the coupled section 80 miles away from bus A as shown in Figure 10. The arrival times of the initial peaks of the aerial mode W T C 2 s at bus A,B and C are tA = 20.47 ms, tB = 21.59 ms and tC = 21.49 ms respectively. The fault location is then determined by Equation (7):

x = x =

(250 + 120) 1.85737 10 1.12 10 2 80.98 mi

where the recorded transients at the sending terminals of the faulted branch, i.e. bus A and bus B are used for the calculations. IV. C ONCLUSIONS This paper presents a fault location procedure for teed circuits with series compensation and coupled line sections. The procedure is based on processing of travelling waves by wavelet transform in order to extract the arrival times of fault initiated waves reected from the discontinuities. The fault location algorithm is shown to be independent of series compensation rate as well as its location, fault resistance, fault type and any existing mutual coupling between the lines. Simulation results show good correlation between the actual and estimated fault location for the studied transmission system. R EFERENCES
[1] F.H. Magnago and A. Abur, Fault Location Using Wavelets, IEEE Transactions on Power Delivery, Vol. 13, No. 4, Oct. 1998, pp. 14751480. [2] S. Rajendra and P.G. McLaren, Traveling Wave Tecniques Applied to the Protection of Teed Circuits : -Multi-Phase/Multi-Circuit System, IEEE Transactions on Power Apparatus and Systems, Vol. PAS-104, No. 12, Dec. 1985, pp.3351-3557. [3] A.A. Girgis, D.G. Hart and W.L. Peterson, A New Fault Location Tecnique For Two and Three Terminal Lines, IEEE Transactions on Power Delivery, Vol. 7, No. 1, Jan. 1992, pp.98-107. [4] T. Nagasawa, M. Abe, N. Otsuzuki, T. Emura, Y. Jikihira and M. Takeuchi, Development of a New Fault Location Algorithm For MultiTerminal Two Parallel Transmission Lines, IEEE Transactions on Power Delivery, Vol. 7, No. 3, July 1992, pp.1516-1532. [5] J. Sadeh, N. Hadjsaid, A.M. Ranjbar and R. Feuillet, Accurate Fault Location Algorithm for Series Compensated Transmission Lines, IEEE Transactions on Power Delivery, Vol. 15, No. 3, July 2000, pp.1027-1033. [6] M.M. Saha, J. Izykowski, E. Rosolowski and B. Kasztenny, A New Accurate Fault Locationg Algorithm for Series Compensated Lines, IEEE Transactions on Power Delivery, Vol. 14, No. 3, July 1999, pp.789-797. [7] Z. Qingchao, Z. Yao, S. Wennan, Y. Yixin and W. Zhigang, Fault Location of Two-Parallel Transmission Line for Non-Earth Fault Using One-Terminal Data, IEEE Transactions on Power Delivery, Vol. 14, No. 3, July 1999, pp.863-867. [8] C. Chen, C. Liu and J. Jiang, A new Adaptive PMU Based Protection Scheme for Transposed/Untransposed Parallel Transmission Lines, IEEE Transactions on Power Delivery, Vol. 17, No. 2, April 2002, pp. 395-404. [9] C.Y. Evrenosoglu and A. Abur, Fault Location for Three Terminal Lines Using Traveling Waves, North American Power Symposium, Oct. 2002. [10] H.W. Dommel and J.M. Michels, High Speed Relaying Using Traveling Wave Transient Analysis, IEEE PES Winter Meeting, NY, 1978. [11] Q. Gong, Y. Chen, C. Zhang and Z. Wang, A Study of the Accurate Fault Location System for Transmission Line Using Multi-Terminal Signals, IEEE PES Winter Meeting, Vol. 4, 2000, pp.2533-2538. [12] D.A. Tziouvaras, J.B. Roberts and G. Benmouyal, New Multi-Ended Fault Location Design For Two or Three Terminal Lines, IEE Developments in Power System Protection, No. 479, 2001, pp.395-398. [13] B. Bachmann, D. Novosel, D. Hart, Y. Hu and M.M. Saha, Application of Articial Neural Networks for Series Compensated Line Protection, Intelligent Systems Applications to Power Systems, 1996, pp. 68-73. [14] Z. Qingchao and D.W.P. Thomas, Accurate Fault Location Algortihms for Two-Parallel Transmission Line Using One-End Data, Transmission and Distribution Conference and Exposition IEEE/PES, Vol. 1, 2001, pp. 527-530.

[15] J. Izykowski and R. Kawecki, Location of Faults in Partially Parallel Transmission Networks, Power Tech Conference, Sep. 2001, Vol. 3, pp. 6. [16] S. Kang, S. Lee, Y. Kwon, Y. Kang, A fault Location Algorithm for Parallel Transmission Line with a Teed Circuit, IEEE PES Summer Meeting, Vol. 2, 2001, pp. 921-926. [17] L.V. Bewley, Travelling Waves on Transmission Systems, John Wiley & Sons, NY, 1951 [18] E. Clarke, Circuit Analysis of AC Power Systems, Symmetrical and Related Components,John Wiley & Sons, NY, 1943 [19] I. Daubechies, Ten Lectures on Wavelets, SIAM, Pennsylvania, 1992

A PPENDIX ATP C ONDUCTOR AND T OWER C ONFIGURATION DATA FOR A 220 K V T RANSMISSION L INE
Ph. 0 0 1 2 3 Skin 0.5 0.5 0.5 0.5 0.5 R [/mi] 6.74 6.74 0.0984 0.0984 0.0984 IX 4 4 4 4 4 X 0 0 0 0 0 D [in] 0.36 0.36 1.196 1.196 1.196 Hor. [ft] 45 75 60 45 75 Vtower [ft] 114 114 101 80 80

Ph. 0 0 1 2 3

Vmid [ft] 114 114 101 80 80

Separ. [in] 0 0 18 18 18

[deg] 0 0 0 0 0

NB 0 0 2 2 2

Cansin Y. Evrenosoglu (S00) received his B.S. and M.S. degrees from U, Turkey in 1998 and 2001 respectively. He is currently a IT Ph.D. student at the Department of Electrical Engineering at Texas A&M University, College Station, Texas. yaman@ee.tamu.edu Ali Abur (F03) received his B.S. degree from METU, Turkey in 1979, M.S. and Ph.D. degrees from The Ohio State University, Columbus, Ohio, in 1981 and 1985 respectively. He is currently a Professor at the Department of Electrical Engineering at Texas A&M University, College Station, Texas. abur@ee.tamu.edu