Electric Power Systems Research 62 (2002) 21 /28 www.elsevier.

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Wavelet-based ground fault protection scheme for generator stator winding

Tai Nengling a,*, Hou Zhijian a, Yin Xianggen b, Li Xiaohua b, Chen Deshu b
a

Power System and Automation Discipline, School of Electric Power Engineering, Shanghai Jiao Tong University, Huashan Road 1954, Shanghai 200030, Peoples Republic of China b Huazhong University of Science and Technology, Wuhan, Peoples Republic of China Received 11 December 2000; received in revised form 9 November 2001; accepted 7 January 2002

Abstract A new stator ground fault protection scheme is introduced in this paper. It is based on wavelet transform, particularly the multiresolution analysis (MRA) technique. The effectiveness of the proposed scheme was verified both in the experiment and in the field. Investigation results show that the scheme can detect the ground fault with high sensitivity and selectivity during all operating conditions. # 2002 Elsevier Science B.V. All rights reserved.
Keywords: Stator ground fault protection; Multiresolution analysis; Modulus maximum; Third-harmonic voltage

1. Introduction The stator ground fault is the most common fault to which a generator is subjected. Different methods have been used to detect it in practice. The common simple method of them is based on measuring the zero sequence fundamental voltage component to ground, and it can securely protect 90 /95% of the generator stator winding. Due to the possibility of a relatively inexpensive solution, the remaining part near the neutral is usually protected by a third-harmonic voltage scheme. As the magnitude of the third harmonic voltage varies within wide limits with the change of the operating condition, it is not acceptable to use only either of the voltages at neutral (/u 3n ) and terminals (/u 3s ) for protection. Therefore, the studies of the third harmonic voltage protection concentrate on the utilization of the relative change of the third harmonic voltages between the generator neutral and terminals. Several schemes based on the third harmonic voltage comparison between the neutral and the terminals have been suggested and used successfully in practice. For

* Corresponding author. Tel.: /86-21-629-32301. E-mail addresses: lifeiseasy@163.net (T. bblovetnl@263.net (T. Nengling).

Nengling),

example, the comparison of the phase angles and magnitudes of u 3n and u 3s or only the magnitudes of them are proposed in references [1 /4]. Those schemes are strongly related with generator operating situations, so they suffer the disadvantage of low sensitivities. Reference [5] introduced two adaptive schemes based on digital techniques to overcome this disadvantage. However, field experience and simulation results have shown that, for a huge hydro-generator, they still present low sensitivities because the capacitance of the stator winding is large. Developed schemes with higher sensitivity, which use the ratio of the fault component of 3s ; are described in reference [6]. Yet they Du 3n/and Du need to be tested and tried out in experiment for improvement of their performance before used in practice. Wavelet theory provides a new tool for signal processing. In contrast to the traditional Fourier analysis that averages frequency features both in time and frequency, wavelets allow the decomposition of a signal into different levels of resolution (frequency octaves). By this way, a much better signal characterization and a more reliable discrimination can be obtained [7,8]. So it is ideal technique for studying transient signals. In this paper wavelet analysis was proposed as a new approach to detect the stator ground fault in the generator. Using the properties of the multiresolution

0378-7796/02/$ - see front matter # 2002 Elsevier Science B.V. All rights reserved. PII: S 0 3 7 8 - 7 7 9 6 ( 0 2 ) 0 0 0 2 5 - 1

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analysis (MRA) and the features in the decomposed waveform, one will have the ability to extract important information from the distorted third harmonic voltages. Wavelet-based ground fault protection schemes that with high sensitivity are then derived. Equivalent circuits for the third harmonic voltages of a generator described in [6] are used to study the characteristics of the scheme. The paper is organized as follows. Section 2 presents a general introduction of wavelet transform and the proposed third-harmonic voltages scheme based on wavelet, Section 3 demonstrates and discusses the experimental and field test results, finally the conclusions is given in Section 4.

version of wavelet transform signals at each resolution level. There are two criteria for the selection of the mother wavelet in generator protection. At first, the shape and the mathematical expression of the wavelet must be set such that the physical interpretation of wavelet coefficients is easy. Secondly, the chosen wavelet must allow a fast computation of wavelet coefficients. Actually, different wavelet basis functions have been proposed and selected in reference [8]. Each has its feasibility depending on the application requirement. Investigated in the laboratory with a long time, the Daubechies wavelets have been proven to be very efficient in signal analysis. And in the proposed scheme, the Daubechies 5order orthogonal wavelet was used after comparing. 2.2. Ground fault detection The application of a ground fault protection scheme, specially a 100% coverage scheme, is dependent on the way the generator neutral is grounded and its terminal connections [5]. In this paper, only large hydro-generator directly connected to step-up transformer and grounded through a distribution transformer with a resistance loaded secondary are discussed. The generator has 40 poles, five branches per phase and 36 slots a branch. The winding capacitance to ground per phase CG /1.81 uf, the inductance of a turn L /0.64 /104 H and its corresponding resistance r /2.13 /104 V, the grounding impedance of the generator (including the grounding transformer) referred to the generator side Z /601.5/j 30 V. In the proposed method, ground fault detection is performed in the wavelet domain. Any changes in the smoothness of the signal can then be diagnosed at the finer resolution levels. Furthermore, the standard deviation curves at different resolution levels are used. Suppose a is the ratio between the number of turns from the neutral to the fault point and the total number of turns in series for one phase. Figs. 1 /3 are computer simulation results of different operation conditions. Equivalent circuits for the third-harmonic voltages of a generator are based on reference [6]. According to the reference, the fault third-harmonic voltages are acquired considering no noise or disturbance for simplification. Fig. 1 shows the detection of third-harmonic voltage singularity at the different level with a 100 V resistance grounded at a /25%, and the sampling rate is 12 000 Hz. There are 240 sample points in one fundamental cycle, which ensures the correct calculation of the thirdharmonic voltages. In Fig. 1, a1 and a2 refer to the fault third-harmonic voltage waveforms at generator terminals and neutral, respectively. Their corresponding results of WT at resolution levels 1, 2 and 3 are shown as in Fig. 1b1, b2, c1, c2 and d1, d2. It can be seen from the figures that the maximum values of WT for the fault

2. Wavelet applications in generator stator ground protection To analysis digital signals, wavelet transform can be seen as a recently well-developed mathematical tool [9]. Based on a family of basis functions, wavelets can be formulated to describe signals in a localized time and frequency format. Therefore, it is suitable for analyzing a signal which time-frequency resolution is needed such as fault transient events in generator protection. The third-harmonic voltages at generator neutral and terminals will vary simultaneously when a ground fault occurring in the generator stator, even if it is grounded with a high resistance. Therefore, the signals which be measured by the protective device contain significant transient components. They have much more fault information than the steady component. As wavelets are well suited to the analysis of the non-stationary signals, one will have the ability to extract important information from the distorted signals. This information can be used to detect the ground fault. 2.1. Wavelet analysis In wavelet transform, a given signal can be decomposed into its detailed and smoothed versions with MRA. They have two important properties: one is the localization property in time; another is the partitioning of the signal energy at different frequency bands. As the fault information is often carried by the positions and values of the wavelet transform modulus maxima [7]. The singularities of a signal can then be detected from the wavelet transform modulus maxima, which are often contained in detailed signals. Therefore, one can obtain the fault information by analyzing the detailed version of fault signals with MRA technique. That is, it can discriminate faults from the original signal by detected and localized at the detailed level. In this paper, modulus maxima are detected only along the detailed

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Fig. 1. The ground fault at a /25% with 100 V resistance. (a1) Waveforms of the fault u 3s : (b1), (c1) and (d1) The WT results at resolution levels 1, 2 and 3, respectively. (a2) Waveforms of the fault u 3n : (b2), (c2) and (d2). The WT results at resolution levels 1, 2 and 3, respectively.

voltages are corresponding to the local modulus maxima. Therefore, the dots 1, 2, 3, 4 and 5 in figures b1 and b2 indicate the positions and the values of the modulus maxima in the first scale-space. It is important to recognize that the polarity, location and the number of the modulus maximum are same between the WT results of the third-harmonic voltages at the terminals and neutral. This phenomenon happens both in the scales 1 and 2. But in scale 3, only the location and the number of the modulus maximum are same, the polarities at some points are inverse (such as D1 and D2). The reason

is that the signal be partitioned at different frequency bands by MRA. In scale 3, most of the 150 Hz frequency bands are included, which will influence the analysis results greatly. This means that the finer levels are used to distinguish the ground fault are the first or second decomposition level, because they contain the higher frequency bands which are suitable for the singularity detection. In summarizing the analysis results obtained above, it is found that applying the local maxima properties gained from the finer resolution levels of the WT, can

Fig. 2. Sudden change of the eld excitation current on normal condition. (a1) Waveforms of the distorted u 3s : (b1) and (c1) The WT results at resolution levels 1 and 2, respectively. (a2) Waveforms of the distorted u 3n : (b2) and (c2) The WT results at resolution levels 1 and 2, respectively.

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Fig. 3. The ground fault at neutral with 10 kO resistance. (a1) Waveforms of the fault u 3s : (b1) and (c1) The WT results at resolution levels 1 and 2, respectively. (a2) Waveforms of the fault u 3n : (b2) and (c2) The WT results at resolution levels 1 and 2, respectively.

provide sufficient evidence to detect stator ground fault. That is, the polarities at the same locations in the WT waveforms of u 3n and u 3s can be used as a criterion. 2.3. Discrimination of transient distortion without ground fault The third-harmonic voltages at the terminals and the neutral of a generator change with field excitation current and the output power. This commonly happens during normal operation or during power swings. It is also the main reason for limited sensitivities of conventional protection schemes [5]. Different from the ground fault, the rate of change of the third-harmonic voltage during normal or a power swing will be much slower for the following reasons: The maximum rate of a generator output power change is mainly determined by its mechanical inertia. So the u 3n and u 3s change comparatively slowly. II) /u 3n and u 3s is affected by uneven changes of temperature or saturation at different locations in the generator. They also change very slowly. Based on the above, the waveforms of u 3n and u 3s under normal or power swings will present continuous. Therefore, there is no localization property or singularity can be detected by MRA. So the transient distortion of the third-harmonic voltage waveforms during normal operation or power swings would not affect the correct discrimination of the stator ground fault on these conditions. On the other hand, the waveforms of u 3n and u 3s are possible to present irregularities when a big enough sudden change happens for the field excitation current or the power system. At this time, the WT results have a I)

definite number of modulus maxima as shown in Fig. 2. It can be seen from the figures that the location and the number of the modulus maximum are still same between the WT results of the third-harmonic voltages at the terminals and neutral. However, the polarity of the modulus maximum at the same location is considered as inverse. Using this information, the transient distortion without ground fault can be distinguished. The main reason for the different characteristic of the local modulus maximum with or without stator ground fault can be explained from the reference [6]. With the ground fault, the phasor quantity increments of the third-harmonic voltages at the terminals (/Du 3s ) and the neutral (/Du 3n ) of a generator are almost equivalent [6]. However, the change caused by field excitation, the output power and other reasons will be greatly different: The ratio of Du 3s///Du 3n keeps approximately to u 3s///u 3n under normal conditions. II) The phases of Du 3s and Du 3n are inverse, i.e. the phase angle between them is near 1808. I) So the WT results of the u 3n and u 3s under normal conditions and the single-phase to ground fault would present different characteristic. As a result, the field excitation current and power swing will not cause any problem for the correct ground fault identification.

2.4. Wavelet-based third-harmonic voltage protection scheme Investigation on the WT results of the third-harmonic voltages at the generator terminals and the neutral in various conditions indicates that the corresponding polarities of their modulus maxima at finer resolution levels can be used as a criterion:

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I)

Since both of the first and the second resolution levels can detect the singularities reliably. The second resolution level will be better for ground fault identification. As the MRA partition a signal into different frequency bands, the second resolution level will give an idea of the frequency content of the distorted signal for the noise content with higher frequency bands has be filtered out. II) Let MaxWTn ,k ,u 3s and MaxWTn ,k ,u 3n be the modulus maximum of the WT waveform of thirdharmonic voltage at the generator terminals and neutral, respectively. Where n is n th resolution level, k is the k th of the modulus maximum. Take Fig. 2b1 as example, MaxWT1,1,u 3s /MaxWT1,5,u 3s represent the dots 1 /5 at the first resolution level. In the same way, MaxWT1,1,u 3n /MaxWT1,5,u 3n represent the dots 1 /5 in Fig. 2b2. Based the above, the criterion is given as the follows:

order orthonormal wavelet is used in the scheme, it is easy to be realized in the real-time application. To illustrate the efficiency of the new protection principle, it has been tested both in the experiment and in the field situations. The protection relay was coupled to a commercial sequential-events recorder and installed on a generator model at Gehey Hydropower Station. The generator has the follow characteristics: . . . . rated power: 125 MW with a power factor of 0.875; rated output voltage: 13.8 kV; rated speed: 96 rpm at 50 Hz; winding capacitance to ground per phase: 1.398 uf;

3.1. Relay hardware The relay hardware, described in [10], is a multiprocessor system comprising a master controller and one or more microprocessors (TMS320F206). One of typical relay hardware is as shown in Fig. 6. The DSP card has been designed according to the low-cost principle but provides sufficient computing ability. And a watchdog has been fitted to the master microprocessor to check its operation. The prototype contains: . digital signal processor TMS320F206, 1 M bits of RAM, a 1 M bits of FLASH RAM for fault recording, and 16 K bytes of EEPROM for storing set values; . voltage or current measuring circuits depending on the field requirements; . input/output circuitry comprising displays, relay output signals, etc. . . . a dual-port static SRAM (CY7C136) for port-to-port communications between DSP and MP80C51. Two ports are provided to permit independent access to any location in memory. It is the solution to applications requiring shared or buffered data in multiprocessor design; . a microprocessor 80C51 (MP80C51) for local user interface, communications and so on. The operation and performance of the proposed scheme are determined by both hardware and software programs. According to the above hardware design, digital signal processing algorithms are used to filter the third-harmonic voltage and estimated the parameters required for the relay. Since the new scheme is based on the polarity identification and variables are very rare, the setting operation has been made as simple as possible. An experimental prototype has been installed and tested, coupled with the traditional protection scheme. Connection of the protection device is shown in Fig. 7. Where G is the generator, T is main transformer, S is a

If MaxWTn ,k1 B/MaxWTn ,k S /MaxWTn ,k 1 B/ MaxWTn ,k S /MaxWTn ,k /0. Then MaxWTn,k is positive maximum value. If MaxWTn ,k1 /MaxWTn ,k S /MaxWTn ,k 1 / MaxWTn ,k S /MaxWTn ,k B/0. Then Max WTn ,k is negative maximum value. Consider the polarity is same if MaxWTn ,k satisfies: Max WTn;k;u3s  0 S Max WTn;k;u3n  0 Or Max WTn;k:u3s B 0 S Max WTn;k;u3n B 0 In this case, a stator ground fault is detected and an alarm or trip signal will be sent out. In addition, the scheme can be used independently to protect 100% stator winding without the ground protection based on zero sequence voltages. Unlike the traditional schemes, such wavelet-based schemes do not need to increase threshold to avoid maloperation. At the same time, they ensure higher sensitivities during different operating conditions, which the traditional schemes can not match [6]. The detection of third-harmonic voltage singularity at the different levels with a 10 kV resistance grounded at neutral are shown as curves in Fig. 3. From the Fig. 3a1 and a2, almost no change can be found. In this situation, the conventional scheme can not protect. Fig. 3b1, b2 and c1, c2 present the singularity detection by MRA. The results show that the proposed method can obtain the high sensitivity the generator (especially the huge hydrogenerator) required.

3. Experimental and eld test results According to the above, the new protection relay with the proposed scheme was developed. As Daubechies 5-

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terminal point and N is neutral point. At the secondary terminals of voltage transformer T1, the third-harmonic voltage U3n is proportional to UNE. While at the open delta terminals of the voltage transformer T2, a secondary third-harmonic voltage U3s proportional to USE will be present. It should be indicated that, the subharmonic injection scheme was not verified on the generator because of its higher cost compared with the zero sequence voltage schemes. 3.2. Experimental results Thorough laboratory tests were conducted prior to installation of the prototype to validate the new scheme. The third-harmonic voltage on the generator terminals and neutral at low load (50% rated power) were recorded as shown in Fig. 4a1 and a2, in which the fault point is located at a /18% with a grounding resistance of 100 V, and the fault data has been filtered before analysis. The corresponding WT results are shown in Fig. 4b1, b2, c1 and c2. One of the full load test results is shown in Fig. 5. In this case, ground fault happens at 86% of the stator winding with a fault resistance of 55 kO, and the conventional protection schemes can not find it out. The recording results indicated that the new scheme operated correctly. Graphic computation of the polarities of the thirdharmonic voltages is illustrated in Figs. 4 and 5. It can be seen that in Fig. 5c1 and c2 there are a significant third-harmonic components while these components in Fig. 4c1 and c2 are so small that it almost cant be recognized. This is reasonable because when the generator grounded with a 55 kV fault resistance, the fault component of the third-harmonic voltages at the terminals and the neutral are smaller than it is grounded with a 100 V resistance. So compared with the normal third-harmonic voltages, the corresponding singularities

appear not so much distinguished in Fig. 5c1 and c2 than in Fig. 4c1 and c2. However, due to their periodical features, those third-harmonic voltage components can be removed by software program easily, so they can not affect the reliability of the new scheme. Experimental results under various situations show that the proposed method can keep high sensitivity without maloperation during all operating conditions. 3.3. Field results On 16 October 1999, the protection relay was evaluated according to the simulated field condition. Since that time, the relay has operated flawlessly on various field conditions. Here, various field conditions include not only different ground faults but also normal operations including field regulator malfunction, power swings, and so on. During that time, six single-phase-toground faults were found successfully. It is important to point out that one of the fault was grounded with a 21.6 kV resistance, and the recorder did not show the conventional protection schemes had caught it. This situation was anticipated and it indicated that the new scheme had high sensitivity and reliability.

4. Conclusion The paper introduces the use of the wavelet transform as a powerful tool for digital signals analysis. It is found that the WT results of the third-harmonic voltages at the generator terminals and neutral, especially the modulus maxima at finer resolution levels, contain important fault information. This feature shows the ability of the WT to discriminate the generator stator ground fault from the distorted signals.

Fig. 4. The ground fault at a /18% with 100 V resistance under low load. (a1) Waveforms of the fault u 3s : (b1) and (c1) The WT results at resolution levels 1 and 2, respectively. (a2) Waveforms of the fault u 3n : (b2) and (c2) The WT results at resolution levels 1 and 2, respectively.

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Fig. 5. The ground fault at a /86% with 55 kV resistance under full load. (a1) Waveforms of the fault u 3s : (b1) and (c1) The WT results at resolution levels 1 and 2, respectively. (a2) Waveforms of the fault u 3n : (b2) and (c2) The WT results at resolution levels 1 and 2, respectively.

Fig. 6. Block diagram of one of typical relay hardware.

According to that, new stator ground fault protection scheme is developed and the practical implementation of the protection equipment is also demonstrated. From the test results, the paper has showed the proposed approach was successful in detecting the stator ground fault, and could keep high sensitivity and selectivity during all operation conditions. This reveals the feasibility of the scheme as a potential alternative in generator stator ground protection application.

Acknowledgements The authors would like to express their thanks to the nancial support given by the National Natural Science Foundation of China under contract number 50107007.

Fig. 7. Protection circuit of the third-harmonic voltage protection schemes.

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Experimental and eld test were conducted by Protection Relay Research Group, Huazhong University of Science and Technology, Wuhan, as part of a research project on National Key Scientic and Technical Project of the Ninth Five-Year Plan.

Biographies Tai Nengling received the Bachelor, Master and Ph.D. in Engineering from Huazhong University of Science and Technology (HUST), in 1994, 1997 and 2000, respectively. Now, he is a post doctor of Shanghai Jiao Tong University. Hou Zhijian, was born in 1942, he is a professor and doctoral tutor, he graduated from Shanghai Jiao Tong University. He is, at present, dean of Electric Power Engineering School of SJTU. Yin Xianggen graduated from the Department of Electrical Engineering of HUST, received the Bachelor, Master and PHD degree in 1982, 1984 and 1989, respectively. Now he is a processor and the head of the Department of Electrical Engineering and a member of the CSEE. Li Xiaohua received the Bachelor, Master degree in Engineering from Huazhong University of Science and Technology (HUST) respectively. Now, she is a doctoral candidate of HUST. D.S. Chen graduated from the department of Electrical Engineering of the Zhongshan University in 1952, and from the Department of Electrical of Harbeen University in protective relaying as a graduate student in 1955. Chen joined the Huanan Institute and HUST in 1952 and present. Professor Chen is vice president of Society of Electrical Engineering of Hubei Province of China, and vice chairman of the Protective Relaying subcommittee of CSEE.

References
[1] J.W. Pope, A Comparison of 100% stator ground fault protection schemes for generator stator windings, IEEE Trans. PAS 3 (4) (1984) 832 /840. [2] R.J. Marttila, Design principles of a new generator stator ground relay for 100% coverage of the stator winding, IEEE Trans. PWRD 1 (4) (1986) 41 /49. [3] L. Pazmandi, Stator earth-leakage protection for large generator, IEEE Trans. PAS PAS-100 (7) (1981) 3195 /3202. [4] R.L. Schlake, G.W. Buckley, G. McPherson, Performance of third harmonic ground fault protection schemes for generator stator windings, IEEE Trans. PAS 100 (7) (1981) 3195 /3199. [5] X.G. Yin, O.P. Malik, G.S. Hope, D.S. Chen, Adaptive ground fault protection schemes for turbo-generator based on third harmonic voltages, IEEE Trans. PWRD 5 (2) (1990) 595 /601. [6] T. Nengling, X.G. Yin, D.S. Chen, Analysis of stator ground protection schemes for hydro-generator of Three-Gorges Power Station based on zero sequence voltages, IEEE PES Winter Meeting 2000, Singapore, 11_02_07.pdf. [7] S. Mallat, Singularity detection and processing with wavelet, IEEE Trans. IT 38 (2) (1992) 617 /643. [8] K.C. Chui, Introduction to Wavelet. Academic Press, 1992. [9] C. Oinis, M. Michel, Wavelets: a new tool for the resonant grounded power distribution systems relaying, IEEE Trans. PWRD 11 (1996) 3. [10] T. Nengling, X.G. Yin, et al., Numerical protection system design for large hydraulic-generator in Three Gorges Hydropower Station, Electricity 11 (2) (2000) 42 /46.