1418
3, JULY 2010
Fault-Location System for Multiterminal
Transmission Lines
Giovanni Manassero, Jr., Eduardo Cesar Senger, Renato Mikio Nakagomi, Eduardo Lorenzetti Pellini, and
Emlio Csar Neves Rodrigues
AbstractThis research presents the development and imple-
mentation in a computational routine of algorithms for fault loca-
tion in multiterminal transmission lines. These algorithms are part
of a fault-location system, which is capable of correctly identifying
the fault point based on voltage and current phasor quantities, cal-
culated by using measurements of voltage and current signals from
intelligent electronic devices, located on the transmission-line ter-
minals. The algorithms have access to the electrical parameters of
the transmission lines and to information about the transformers
loading and their connection type. This paper also presents the de-
velopment of phase component models for the power system ele-
ments used by the fault-location algorithms.
Index TermsFault location, power transmission lines, substa-
tions.
NOMENCLATURE
EMTP Electromagnetic Transients Program.
ATP Alternative Transients Program.
GPS Global positioning system.
IED Intelligent electronic device.
ACSR Aluminum cable steel reinforced.
I. INTRODUCTION
RANSMISSION lines, responsible for connecting gener-
T ation plants to consumers, are classified according to their
voltage level. Usually, high-voltage transmission lines have only
two terminals. However, subtransmission lines may have lateral
branches connected to tap points along their main branch, ter-
minating at distribution substations.
When a permanent fault occurs in these lines, maintenance
crews usually spend more time to locate the fault point, since
there is no indication of the line section where the fault occurred.
Therefore, maintenance costs may increase while the reliability
of the system diminishes.
The deregulation process contributed to increasing the com-
plexity of the problem. Normally, the substations connected to
the line branches do not belong to the company responsible
Manuscript received October 31, 2008; revised March 16, 2009. First
published June 10, 2010; current version published June 23, 2010. Paper no.
TPWRD-00825-2008.
The authors are with Universidade de So Paulo, So Paulo 5508-900,
Brazil (e-mail: giomanjr@pea.usp.br; senger@pea.usp.br; rmikio@pea.usp.br;
epellini@pea.usp.br; ecrodrigues@cteep.com.br).
Digital Object Identifier 10.1109/TPWRD.2010.2047412
0885-8977/$26.00 2010 IEEE
IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 25, NO.
Fig. 1. Multiterminal transmission network.
for operating the transmission line and, due to commercial rea-
sons, the information available at these substations (voltage and
current measurements), which might improve the fault-location
process, is not shared with the transmission company.
A. Transmission System
Multiterminal transmission networks may use single- or
double-circuit lines. As a result, the main branch may use a
single transmission line or a double-circuit line (both circuits at
the same towers, circuits at different towers and at the same cor-
ridor, or circuits at different towers and at different corridors).
Fig. 1 illustrates a typical multiterminal transmission network.
The main branch connects two terminals ( and ). Along
the main branch, there are tap points ( to ) where lateral
branches are connected. These lateral branches terminate at
distribution or industrial substations (terminals to ).
IEDs installed at and are responsible for recording
voltage and current signals. These records may or may not be
available at other terminals ( to ). Nonetheless, the pro-
posed system is capable of correctly identifying the fault point
based only on the signals recorded at and , with or without
time synchronization. In addition, if the records are available at
other terminals, the proposed system uses them in order to im-
prove the accuracy of the results.
Although voltage and current records may not be available
at one or more terminals ( to ), the proposed system is
capable of correctly estimating the load connected to them in
order to proceed with the fault location. In addition, it is impor-
tant to point out that the transformers connected to these termi-
nals may have a grounded-wye/delta/grounded-wye connection
type. As a result, a significant part of the fault current may flow
through the primary winding of these transformers, for faults
involving the ground. This scenario increases the complexity of
the problem and since voltage and current records may not be
available at these terminals, the mathematical model used to rep-
resent the transformers must implicitly consider the current flow
through the primary winding.
MANASSERO et al.: FAULT LOCATION SYSTEM FOR MULTI-TERMINAL TRANSMISSION LINES 1419

B. Fault-Location Methods

Several algorithms for fault location in three terminal trans-

mission lines have been proposed [1][6]. However, due to the
complexity of the problem, only a few algorithms for fault lo-
cation in multiterminal transmission lines have been proposed
[7][10]. In addition, these algorithms do not address all of the Fig. 2. Line sectionPi model.
requirements described in Section II.
References [7] and [8] present fault-location algorithms
for multiterminal single-circuit transmission lines. These And, according to [11]
algorithms are based on synchronized voltage and current mea-
surements at all terminals and on the short transmission-line
model. As a result, these algorithms may present accuracy
errors when handling medium and long multiterminal trans-
mission lines.
References [9] and [10] present fault-location algorithms for
multiterminal double-circuit transmission lines. These algo-
rithms are also based on voltage and current measurements at all
terminals and on the short transmission-line model; therefore, (3)
both algorithms may present accuracy errors when handling
medium and long multiterminal transmission lines. The first where
one presents two different approaches based on synchronized
voltage and current phasor quantities at all line terminals. eigenvectors of ;
The second one was developed according to certain unusual
assumptions, which are difficult to verify, and it is not clear if eigenvalues of ;
it depends on time synchronization. diagonal matrix notation.
Due to these reasons, the main goal of the fault-location
method proposed in this paper is to address all of the problems
It is possible to calculate the parameters described in (3) for
described before in order to present an accurate solution for
single- and double-circuit transmission lines. With regards to
fault location in multiterminal transmission lines.
double-circuit lines, the equations consider implicitly the elec-
tromagnetic coupling (matrices and are 6 6 in
size) and, with regards to transposed lines, different and
II. SYSTEM MODELING
matrices are used to represent each line section.
The fault-location method proposed in this paper is based on
voltage and current phase components. In order to improve the
B. Load and Three-Phase Transformer Combination
accuracy of the results, it was necessary to develop precise math-
ematical models for transmission lines, loads, and transformers. The load model, in phase components, considers that the load
The following sections describe these models. is balanced and can be represented by constant delta-connected
impedances. However, it is important to point out that the pro-
posed fault-location system may use any other type of load con-
A. Transmission Line
nection. In addition, there is no significant generating units in
Fig. 2 illustrates the three-phase pi-model of a single-circuit parallel to this load. In other words, the load does not contribute
transmission line, whose line length is . The transmission-line to the fault current.
series impedance and shunt admittance matrices, per unit length, The transformers models, in phase components, depend on
are and , respectively. Equation (1) describes the the windings connection schemes and may derive from their
mathematical relation of the voltage and current phasors at local zero-, positive-, and negative-sequence network diagrams [12].
and remote ends Therefore, it is possible to obtain the load and transformer com-
bination from both sequence admittance matrices.
As an example, consider the sequence network diagrams de-
picted in Fig. 3. These diagrams represent the load model de-
and scribed before, connected to a three-phase grounded-wye/delta/
grounded-wye transformer. Equation (4) presents the resulting
(1) admittance matrix of the respective combination
where

(4)
(2)
1420
Fig. 3. Load and transformer combinationsequence network diagrams. (a)
Zero sequence. (b) Positive sequence. (c) Negative sequence.
Fig. 4. Line sectionestimation of [Y ] .
Furthermore, it is possible to calculate the phase components
of the voltage and current phasors using (5) and (6), where
is the transformation matrix
(5)
(6)
As a result, (4) evolves to
(7)
C. Line Section, Load, and Transformer Combination
In addition to the admittance matrix that describes the load
and transformer combination, the proposed system uses an
equivalent matrix that represents the combination of the load,
transformer, and line section. This matrix is derived from the
mathematical relation between the current and voltage phasor
quantities at the tap points.
Fig. 4 depicts a line section delimited by two terminals (local
and remote). The line length is and the voltage and current
phasors at the remote terminal are derived from (1) as in
(8)
Rewriting (7)
(9)
IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 25, NO. 3, JULY 2010
Fig. 5. Double-line fault (BC).
Substituting (9) in the first equation of system (8)
(10)
Substituting (9) and (10) in the second equation of system
(8), results in (11). This equation describes the mathematical
relation between voltage and current phasor quantities at the
remote terminal
(11)
where
(12)
D. Fault Models
The fault models, in phase components, depend on the fault
type and on the phases involved. A mathematical relation be-
tween voltage and current phasor quantities at the fault point is
able to describe all fault types and phases involved, as in
(13)
where
fault admittance matrix;
voltage phasor quantities at the fault point;
fault current phasor quantities.
It is possible to obtain different fault admittance matrices that
represent voltage and current mathematical relations for all dif-
ferent fault types and phases involved. As an example, consider
the double-line fault depicted in Fig. 5. The respective fault ad-
mittance matrix is presented in
(14)
III. FAULT-LOCATION SYSTEM
The fault-location system proposed in this paper addresses
all requirements described in Section II. The identification of
the fault point is based on four stages, which are detailed in the
following sections.
To exemplify the proposed system, consider the network de-
picted in Fig. 6. This network is composed by single-circuit
transmission-line sections. Along the main branch, which con-
nects terminals and , there are three tap points where lat-
MANASSERO et al.: FAULT LOCATION SYSTEM FOR MULTI-TERMINAL TRANSMISSION LINES 1421

lating the active and reactive prefault injected power ( and

) using the voltage and current phasor quantities at termi-
nals , , and . The calculated injected power corresponds
to the sum of the line losses and the load power consumption at
terminals and .
2) Initial Estimative of the Load Impedances: After calcu-
lating the injected power, the algorithm estimates the initial
Fig. 6. Transmission network. value of the load impedances at terminals and by
assuming that the transformers connected to these terminals
operate proportionally to their nominal apparent power, as in

and

(15)

(16)

where

and ;
transformer nominal apparent power at terminal ;
active power at terminal ;
reactive power at terminal ;
initial estimative of the load impedance at terminal
Fig. 7. Prefault processing. ;
nominal phase voltage at terminal .
eral branches are connected. These lateral branches end at ter- 3) Estimation of the Line Losses and Loads Complex Power:
minals , , and . Unsynchronized voltage and current This stage is based on a prefault load flow that depends on the
measurements are available only at terminals , , and , current and voltage phasor quantities at terminals , , and
which means that the relative phases of these measurements are , and on the load impedances at terminals and .
unknown. From the voltage and current phasor quantities at the refer-
ence terminal , it is possible to calculate voltage and phasor
A. Digital Signal Processing
quantities at the tap point and the losses of the line section
This stage consists of filtering pre and postfault voltage and by using (1). In addition, from the voltage phasor quan-
current signals at terminals , , and in order to reduce tities at , it is possible to calculate the losses of the line section
the effect of the exponential components that take place during and the load complex power at by using (11). This
the fault [13]. After this step, pre and postfault voltage and cur- procedure enables the estimation of all line sections losses and
rent phasor quantities at the respective terminals are calculated all loads complex power ( and ).
by using the one cycle discrete Fourier transform method. 4) Phase-Shift Adjustment: The procedure described in the
previous section enables the calculation of the voltage and cur-
B. Prefault Data Processing rent phasor quantities at terminals and by using the
The prefault processing stage is a recursive algorithm that voltage and current phasor quantities at terminal and the esti-
consists of synchronizing voltage and current phasor quantities mated load impedances at terminals and . Therefore, it
at terminals , , and , and estimating the load imped- is possible to determine the phase shift of and with ref-
ances at the remaining terminals ( and ). erence to by comparing the measured and calculated voltage
This algorithm is depicted in Fig. 7 and is based on the five and current phasor quantities at these terminals as in [7] and
steps presented in Sections III-B1B5. [14].
1) Calculation of the Injected Power: The algorithm starts 5) Estimation of the Load Impedances: The initial estima-
by selecting the reference terminal ( , for instance) and calcu- tion of the load impedances may differ from the actual values.
1422 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 25, NO. 3, JULY 2010

Therefore, it is necessary to correct it in order to adapt the com-

plex power of the loads and the line losses to the total amount of
injected power. In each iteration, the load impedances are cor-
rected as in

(17)
Fig. 8. Line section b 0b .
where

load admittance at terminal ; respectively. Thus, it is possible to estimate the postfault voltage
and current phasor quantities at the fault point, according to
iteration number.

C. Postfault Processing (18)

The postfault processing stage consists of calculating two

(19)
sets of postfault voltage and current phasor quantities at all tap
points. One of them using postfault voltage and current phasor
quantities at terminals and the other using postfault voltage Therefore, in order to estimate the fault distance , it is nec-
and current phasor quantities at terminal . This stage is based essary to compare the postfault voltage phasor quantities at the
on (1) and (11). It depends on the load impedances at terminals fault point, calculated by using (18) for the same phasor quan-
and and on the postfault voltage and current phasor tities, which is calculated by using (19) as
quantities at terminal . It also considers that the system is
not faulted in order to perform the calculations.
Using this approach, it is possible to determine whether the
fault occurred at any lateral branch or at the main branch. In
other words: (20)
if the fault has occurred at a lateral branch, the postfault
voltage phasor quantities at the respective tap point, from The proposed algorithm uses the golden section search tech-
both sets, must be equal. In this case, the fault-location nique to solve (20), as in [16]. Since this algorithm is based only
system investigates only the respective lateral branch; on the difference of voltage phasor quantities at the fault point,
otherwise, the fault occurred at the main branch and all line the fault distance is independent of fault type, fault resistance(s),
sections belonging to it must be investigated. and source impedances.
Two algorithms were developed in order to estimate the fault
location. The first one is based on the postfault voltage and cur- E. Fault-Location AlgorithmVoltage and Current at One End
rent phasor quantities at both ends (Section III-D). Hence, it is
The algorithm proposed in this section is used to locate faults
used to locate faults at line sections from the main branch or
at line sections where voltage and current phasor quantities are
lateral branches where voltage and phasor quantities are avail-
available only at one end.
able at the respective substation terminals. The second one is
As an example, consider the line section depicted in Fig. 9,
based on the postfault voltage and current phasor quantities at
which is part of the system illustrated in Fig. 6. This line section
one end (Section III-E). Thus, it is used to locate faults at lateral
is delimited by tap point and terminal has a length of
branches where voltage and current phasor quantities are avail-
and the fault point is located at an unknown distance from .
able only at the tap point.
From (1) and (11), it is possible to calculate the postfault voltage
and current phasor quantities at by using the postfault voltage
D. Fault-Location AlgorithmVoltage and Current at Both and current phasor quantities at terminals and . Thus, it
Ends is possible to estimate the postfault voltage and current phasor
quantities at the fault point, as in
The algorithm proposed in this section is used to locate faults
at line sections where voltage and current phasor quantities are
available at both ends [15].
(21)
As an example, consider the line section depicted in Fig. 8,
which is part of the system illustrated in Fig. 6. This line section
is delimited by tap points and , has a length of , and (22)
the fault point is located at an unknown distance from .
From (1) and (11), it is possible to calculate the postfault voltage where
and current phasor quantities at and by using the postfault
voltage and current phasor quantities at terminals and , (23)
MANASSERO et al.: FAULT LOCATION SYSTEM FOR MULTI-TERMINAL TRANSMISSION LINES
Fig. 9. Line section b 0T . cursive procedure, where these values are corrected at each it-
Fig. 10. Simulation network.
Substituting (23) in (22)
(24)
In order to estimate the fault location, it is necessary to use
the voltage and current phasor quantities at tap point . There-
fore, substituting (21) in (24), it is possible to relate these phasor
quantities to the fault admittance matrix and to the equivalent
matrix , as in
(25)
where
(26)
Since the loads impedances were estimated at the prefault
data-processing stage, the equivalent impedance matrix is
only a function of the distance and the elements of the fault
admittance matrix, as in
(27)
Therefore, the fault-location algorithm consists of estimating
the distance and the elements of the equivalent impedance ma-
trix that solve (25). To accomplish this task, the fault-location
algorithm uses the NewtonRaphson method and since there are
different equivalent impedance matrices that represent all dif-
ferent fault types and phases involved, there are different solu-
tions for (25).
As an example, consider a line-to-ground fault involving
phase A. The equivalent impedance matrix is a function of the
1423
fault distance and the element of the fault admittance matrix
as in
(28)
In order to estimate and , the proposed algorithm starts
with an initial guess of both variables and proceeds with a re-
eration, as in
(29)
(30)
where is the iteration number and and can
be obtained by solving
(31)
Since the number of equations is larger than the number of
variables (three real equations plus three imaginary equations
and two variables), it is necessary to use a fitting data method to
solve the system. The algorithm proposed in this paper uses the
least-squares method, and it is detailed in [14].
F. Determination of the Faulted Line Section
The fault-location system proposed in this paper indicates two
possible fault points. One of them is at the investigated lateral
branch and the other is at a line section of the main branch, as
described in Section III-C.
It is important to point out that the investigation of the main
branch results in a fault distance and a value of the function
presented in (20), to each line section. If the fault has occurred
at the main branch, the value of this function at the faulted line
section must be zero. Thus, after investigating all sections, only
one is the possible candidate (the one that presents the lowest
value for the function).
IV. SIMULATION RESULTS
A. Subtransmission System
The fault-location system was simulated by using test data
produced by ATP. Several simulations were performed by using
a subtransmission network whose topology is depicted in Fig.
10. This network has a nominal voltage of 138 [kV] and is com-
posed of a double-circuit main branch that connects terminals
and . Along the main branch, there are five tap points where
double-circuit lateral branches are connected. These branches
end at distribution substations to .
The tower and conductors used in the simulation cases are
typical of the 138 [kV] voltage level and are depicted in Fig. 11.
The line sections were simulated by using the ATP line constants
supporting routine and these sections are composed of 266.8
1424
Fig. 11. Electric tower used in the simulations.
TABLE I
SIMULATION DATA
MCM ACSR phase conductors (with a midspan sag of 6.5 [m])
and a 1/2 HS ground wire (midspan sag of 6.0 [m]).
Table I presents the fault parameters used in the ATP simu-
lations. Four fault types, with fault resistances varying from 0
up to 100 , were simulated in 22 different fault points. The
loads were modeled as constant impedances, according to the
loads power depicted in Fig. 10. As a result, 440 simulation
cases were produced.
The system accuracy was checked against the simulation
cases described in Table I and the results are presented in
Sections IV-BD.
B. Voltage and Current Measurements at All Terminals
This section presents the results of the fault-location system,
considering that the voltage and current measurements are avail-
able at all line terminals.
Table II presents the fault distance location errors considering
line-to-ground faults (fault resistances from 0 to 50 ), double-
line, double-line-to-ground, and three-phase faults. As detailed,
the absolute errors are lower than 440 [m] for all fault types. The
mean errors are similar when considering double-line, double-
line-to-ground, and three-phase faults. However, line-to-ground
faults present a mean error that is slightly higher than the other
faults (111 [m]). However, these errors are considerably small
when compared to the line length.
C. Voltage and Current Measurements at Terminals and
This section presents the results of the fault-location system,
considering that the voltage and current measurements are avail-
able only at terminals and .
IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 25, NO. 3, JULY 2010
TABLE II
FAULT-LOCATION RESULTSMEASUREMENTS AT ALL LINE TERMINALS
TABLE III
FAULT-LOCATION RESULTSMEASUREMENTS AT TERMINALS T AND T
Table III presents the fault distance location errors consid-
ering line-to-ground faults (fault resistances from 0 up to 50
), double-line, double-line-to-ground, and three-phase faults.
As detailed, the algorithm described in Section III-D presented
errors lower than 600 [m] for line-to-ground faults, lower than
55 [m] for double-line and double-line-to-ground faults, and
lower than 135 [m] for three-phase faults. On the other hand,
the algorithm described in Section III-E presented errors lower
than 1710 [m] for line-to-ground faults, lower than 1050 [m]
for double-line and double-line-to-ground faults, and lower than
900 [m] for three-phase faults. It can be noticed that the response
of the first algorithm presents a higher level of accuracy. This is
due to the fact that the accuracy of the loads impedances estima-
tion may interfere with the accuracy of the second fault-location
algorithm. Nevertheless, the errors presented by both algorithms
are considerably small when compared to the line length.
D. Influence of the Fault Resistance
In order to analyze the influence of the fault resistance, sev-
eral line-to-ground faults were simulated, with fault resistances
varying from 0 to 100 . The fault distance location errors are
presented in Table IV.
As detailed in this table, the algorithm described in Sec-
tion III-D presented errors lower than 1000 [m], considering
all fault resistances. On the other hand, the algorithm described
in Section III-E presented errors lower than 1710 [m] for fault
resistances up to 50 and lower than 3070 [m] for fault
resistances of 100 . This is due to the fact that the loads
impedances may interfere significantly with the accuracy of the
fault-location algorithm for smaller fault currents.
The influence of the fault resistance in the performance of the
algorithm described in Section III-D is depicted in Fig. 12. This
figure illustrates the behavior of the function described by (20)
at the faulted line section for fault resistances from 0 to 100 .
Fig. 12(a) was produced by using the actual values of the
loads impedances employed in the simulations while Fig. 12(b)
MANASSERO et al.: FAULT LOCATION SYSTEM FOR MULTI-TERMINAL TRANSMISSION LINES
TABLE IV
INFLUENCE OF THE FAULT RESISTANCE
Fig. 12. Value of the function described by (20).
was produced by using the estimated loads impedances. In the
first case, the fault location is independent of the fault resistance;
in other words, the minimum of the function is the same for all
fault resistances. However, in the second case, the fault location
slides to the right. Comparing both figures, it is possible to affirm
that this effect is derived from the errors in the estimation of the
loads impedances, not from the fault-location algorithm.
V. CONCLUSION
This paper presented the development, implementation, and
test results of a fault-location system for multiterminal trans-
mission lines. It also presented, in detail, the algorithms that are
part of the proposed system.
The results indicate that the algorithms accuracy is adequate.
The maximum error of the algorithm described in Sections III-D
and E is less than 1000 m and 3100 m, respectively (0.4% and
1.2% of the total line length).
1425
As presented in Section IV, the accuracy of the proposed
system depends on the details of the models used by the al-
gorithms, and on the information available at all line terminals
(load impedances, voltage, and current signals). Consequently,
the results described in Section IV-B present a higher level of
accuracy than the results described in Section IV-C. This is due
to the fact that in Section IV-B, there are voltage and current sig-
nals available at all line terminals, while in Section IV-C, these
signals are available only at and .
In Section IV-D, it can be noticed that for fault resistances
larger than 50 , the estimation of the load impedances affects
the proposed fault-location system. However, the results are still
accurate.
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1426
Giovanni Manassero, Jr. was born in Brazil in 1974. He received the B.Sc.,
M.Sc., and Ph.D. degrees from Universidade de So Paulo, So Paulo, Brazil,
in 1999, 2001, and 2006, respectively.
He joined Universidade de So Paulo, Universidade Paulista, and Universi-
dade Cruzeiro do Sul in 2002, 2006, and 2009, respectively, where he is cur-
rently Assistant Professor. His research fields are power systems protection,
modeling, and simulation.
Eduardo Cesar Senger was born in Brazil in 1954. He received the B.Sc.,
M.Sc., and Ph.D. degrees from Universidade de So Paulo (USP), So Paulo,
Brazil, in 1977, 1983, and 1990, respectively.
He joined USP in 1978 where he is currently Assistant Professor. His research
fields are power systems protection and control.
Renato Mikio Nakagomi was born in Brazil in 1976. He received the B.Sc.
and M.Sc. degrees from Universidade de So Paulo (USP), So Paulo, Brazil,
in 2000 and 2006, respectively.
Currently, he is an Assistant Professor with the Universidade Cruzeiro do Sul,
where he has been since 2005. He has been a Researcher with USP since 2002.
His research fields are power systems protection, modeling, and simulation.
IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 25, NO. 3, JULY 2010
Eduardo Lorenzetti Pellini was born in Brazil in 1975. He received the B.Sc.
and M.Sc. degrees from Universidade de So Paulo (USP), So Paulo, Brazil,
in 2000 and 2005, respectively.
Since 2000, he has been a Researcher at USP and is responsible for devel-
oping hardware and software solutions for electrical automation, control, and
protection.
Emlio Csar Neves Rodrigues was born in Brazil in 1963. He received the
B.Sc. degree from Universidade Federal de Uberlndia in 1989 and the M.Sc.
degree from Universidade Federal do Rio de Janeiro, Rio de Janeiro, Brazil, in
2004.
From 1990 to 1994, he was Project Engineer with Figueiredo FerrazCon-
sultoria e Engenharia de Projetos. Since 1994, he has been an Analysis Engineer
with Companhia de Transmisso de Energia Eltrica Paulista.