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ANALYSIS AND IDENTIFICATION OF HVDC SYSTEM FAULTS USING WAVELET MODULUS MAXIMA L. Shang, G. Herold; J. Jaeger, R. Krebs, A. Kumar Friedrich-Alexander University of ErlangenNuremberg; Siemens AG, Germany ABSTRACT In this paper, different HVDC system faults are analysed and the rationing criteria based on wavelet modulus maxima for the identification of the HVDC system faults are proposed. The simulation results are discussed. The results show that the application of wavelet technique leads to a proper and more reliable solution for fault identification. The results also provide a good basis for the new high-speed protection of HVDC lines. KEYWORD HVDC fault, HVDC line protection, Identification, wavelet, wavelet modulus maxima 1. INTRODUCTION time domain based methods. The pure frequency domain based methods are not suitable for the time-varying transients and the pure time domain based methods are very easily influenced by noise. The wavelet transform provides a new approach for analysing time-varying transients. It has the capability of analysing signals simultaneously in time and frequency domain. Moreover, it can adjust analysis windows automatically according to frequency, namely, shorter windows for higher frequency and vice visa. Hence it is suitable for characteristic identification and travelling wave protection [1-3]. However, wavelet based fast identification and protection in HVDC systems is a relatively new field. In this paper, the behaviour of different faults in HVDC power systems will be analysed through wavelet transform and the identification criteria based on wavelet techniques will be proposed. Based on the above investigations, the high-speed HVDC line protection will be developed. The simulations are carried out with MATLAB. The results show that the wavelet techniques lead to a new way for the fault identification and the protection in HVDC systems. 2. FAULTS IN HVDC SYSTEMS

The detection and fast clearance of faults in HVDC lines are important for a safe operation of power systems. The protection principle based on travelling wave theory provides the fastest protection. Long HVDC lines cannot be sufficiently modelled with concentrated parameters as assumed in traditional protection systems. Therefore, long HVDC lines have to be represented as distributed elements and a protection for long HVDC lines should be developed based on travelling wave theory. According to travelling wave theory, voltage and current travelling waves appear on the line when fault occurs. The fault generated travelling waves contain sufficient fault information that can be used for high-speed fault identification and line protection. In AC transmission lines, the amplitude of fault generated travelling waves changes with the voltage angles. There is a problem for the travelling wave protection when faults occur near voltage zerocrossing. However, there is no such problem for DC transmission lines so that travelling wave protection is ideally suited for HVDC lines. In HVDC systems, commutation failures in the converter station and single-phase short circuit faults at the AC side are similar to HVDC line faults. It is an important requirement of HVDC line protection that different fault types be identified and the correct decision be made as fast as possible. However, a fast and reliable fault identification is still a big challenge. It is not easy to identify HVDC faults by using pure frequency domain based methods or pure

For the analysis and the identification of HVDC system faults, different cases are studied. A standard model of 12-pulse HVDC system under the MATLAB environment is used for the simulation. Figure 1 shows the simulation model in which a 1000 MW (500 kV, 2kA) DC line is used to transmit power from a 500 kV, 5000 MVA, 60 Hz network to a 345 kV, 10 000 MVA, 50 Hz network. The DC line is 300 km long and the speed of the travelling wave is 296112 km/s. Figure 2 shows the voltages and currents of DC line at the rectifier terminal when (a) DC line short circuit, (b) commutation failure at the inverter station, (c) singlephase short circuit on the AC side of inverter station, and (d) normal operation condition as a reference case. From Figure 2, we can see that different types of faults lead to similar transient processes. It is not easy to identify the faults and to make correct protection decision fast within 3-5ms by using traditional methods. It is even more difficult if there is noise.

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(b) Network I M (a) N

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Figure 1. Simulation model

DC Current (kA)
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There are different algorithm structures for the wavelet transform. Considering a better time location and a better information keeping, we use the atrous structure but without down-sampling blocks following the highpass filters. Figure 3 shows our filter bank where H0 and H1 are low-pass filters and high-pass filters respectively. The outputs of high-pass filters are the wavelet transform of the original signal, called as wavelet coefficients.
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Figure 3. Wavelet filter bank The absolute local maximum values of wavelet coefficients are called wavelet modulus maxima. If the mother wavelet is the first derivative of a smooth function, the edge of a signal can be represented well by its wavelet modulus maxima. Under above condition, the wavelet modulus maxima occur at an edge point, the polarity of the maxima shows the change direction of the edge, and the amplitude represents the changing intensity of the edge. It is proved that the wavelet modulus maxima satisfy the following relation.

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time (s) Commutation failure at the inverter station

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AC single-phase short circuit at the inverter station

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W x (t ) As max

(1)

Where, Wmax x(t) is the wavelet modulus maxima of signal x(t), A is a constant, s is scale and is Lipschitz exponent.
time (s)

time (s) (d) Normal operation condition

Figure 2. Faults in HVDC systems 3. WAVELET TRANSFORM

The Wavelet transform transfers a time varying signal into a time-scale plane and thus can represent the original signal with time as well as frequency information. Each scale in wavelet transform corresponds to a certain frequency band and the time window widths are changed with scale or frequency automatically. Such multiresolution property is particularly suitable for analysing transient signals. Another important reason why wavelet transform is attractive for engineers is because there are fast calculation algorithms based on filter bank structure.

This relation means that the wavelet modulus maxima of an edge ( = 0 or > 0) remain unchanged or increase in value while the wavelet modulus maxima caused by white noise ( < 0) decrease in value when scale increases. Additionally, the number of wavelet modulus maxima caused by white noise decrease sharply when scale increase [4]. This makes a strong denoising function possible. The simulation results show that the wavelet modulus maxima represent the edges well even when signals are mixed with 15% noise [5].
3 WAVELET ANALYSIS OF HVDC SYSTEM FAULTS

The transients of the study cases above will be analysed through wavelet transform. Each case is sampled at 80 kHz and 512 samples are taken for wavelet transform in 4 scales. The Mallat wavelet is used as the mother wavelet. HVDC line currents, HVDC line voltages and corresponding reverse voltage travelling waves are used as the input signals of the wavelet filter bank. Reverse

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voltage travelling waves are calculated with Equation (2).

3.3

COMMUTATION FAILURES

u r = (u DC Z c iDC ) / 2

(2)

Where u r is reverse voltage travelling wave, u DC and iDC are the DC voltage and DC current respectively, and
Z c is the surge impedance of the HVDC line.

Figure 10 shows the wavelet modulus maxima of the reverse voltage travelling wave at the terminal M during a commutation failure at the inverter station. It can be seen that: All wavelet modulus maxima are less than 40. The polarities of the wavelet modulus maxima remain the same 3ms after the disturbance arrives at terminal M. During this time, the values of the wavelet modulus maxima are less than 15. The commutation failure can be identified clearly from the HVDC line fault and the normal operation with the setting (e.g. 100) value and the polarity change.
3.4 AC SINGLE-PHASE FAULTS

3.1

NORMAL OPERATIONS

The DC current and DC voltage are steady with small changes around the rated values during the normal operation conditions. Figure 4 shows the DC current at the terminal M and its wavelet modulus maxima in four scales. Figure 5 and Figure 6 display the DC voltage and the reverse voltage travelling wave at the terminal M and their wavelet modulus maxima in four scales. The wavelet modulus maxima occur regularly and with small values: less than 0.04 for DC current, less than 40 for DC voltage and less than 20 for reverse voltage travelling wave.
3.2 HVDC LINE FAULTS

Figure 11 shows the wavelet modulus maxima of the reverse voltage travelling wave at the terminal M during an AC single-phase fault at the inverter station. Similar to the commutation failure, all wavelet modulus maxima in AC single-phase fault are less than 40, the polarities of modulus maxima remain the same for 3ms. Therefore, the AC fault can also be identified surely from the HVDC line fault and the normal operation with the setting (e.g. 100) value and the polarity change. Unlike the commutation failure, the wavelet modulus maxima in AC single-phase fault occur with more density and relative larger value specially 3ms after the disturbance arrives at terminal M, and the polarities become positive and negative in turns after the unified polarity changes. Considering a fast identification in 3ms, the difference of the wavelet modulus maxima can be better used. Figure 12 shows the energy during 3ms on each scale. It can be seen that the difference between a commutation failure and an AC fault can be discriminated with the energy.
4 WAVELET IDENTIFICATION OF HVDC SYSTEM FAULTS

HVDC line faults at different locations with different fault resistances are simulated. One of the HVDC line faults occurs at 100 km from terminal M and with zero fault resistance. Figure 7 shows the DC current at the terminal M and its wavelet modulus maxima in four scales. Figure 8 and Figure 9 display the DC voltage and the reverse voltage travelling wave at the terminal M and their wavelet modulus maxima in four scales. It can be seen that: The wavelet modulus maxima occur at every arriving and reflection instant of the travelling waves. The polarities appear regularly: positive and negative in turns. The values of the wavelet modulus maxima are much larger than ones during the normal operation conditions. The negative wavelet modulus maxima of DC current are relative small. They are too small to measure the time delay for the fault location, although the positive ones are large enough for the fault detection. The wavelet modulus maxima of the DC voltage provide a secure fault detection and time location. The wavelet modulus maxima of the reverse voltage travelling wave provide a similar effect as the DC voltage. Notice that the reverse voltage travelling wave is nearly equal to zero during normal operation conditions, and it can be more easily processed than the DC voltage. The first four values of the wavelet modulus maxima of the reverse voltage travelling wave are about 1000. The fault can be securely detected if the pick-up value is set to 100.

With the help of the above analysis of HVDC faults through wavelet transform, the criteria for the identification can be obtained. For HVDC line fault identification, the amplitude of the first wavelet modulus maxima of reverse voltage travelling wave, denoted as | W max U r | , should be larger than the setting value K
setting

The setting can be taken as 100 for 500 kV HVDC lines.

| WmaxU r |> K setting

(3)

For identifying commutation failures and AC faults from the normal operation condition, the pattern of polarity change is used. During the normal operations, the polarities regularly change positive

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and negative in turns. It will be a commutation failure or an AC fault if the polarities remain the same for 3ms. For differentiation between a commutation failure and an AC fault, the energy of the wavelet modulus maxima on the scale 4 during 3ms are used. The energy, denoted as E (W max U r ) , should be larger than the setting value E setting . The setting can be taken as 40 for 500 kV HVDC lines.

phase faults. The application of wavelet techniques leads to a faster, easier and more reliable solution for the identification of HVDC system faults and the development of new high-speed protections of HVDC lines.
2.01 kA 2 1.99 HVDC line current

E (WmaxU r ) > E setting

(4)

1.98 0.5 scale 1 5 0 x 10 -3

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Based on the identification of HVDC faults, a new highspeed HVDC line protection can be developed. In this protection, the fault location can be also obtained at the same time as the fault identification. The fault location is calculated according to Equation 5. The key here is the measurement of the time delay t. Considering that the reflection from the fault location (reflection factor is negative) is different than the reflection from the line terminal (reflection factor is positive), we measure the time delay between the first two opposite polarity wavelet modulus maxima.. Namely, if the first is negative, the next one should be taken with positive polarity. v t L= (5) 2 Where L is fault distance in km from the measuring point, t is the time delay in s and v is travelling wave speed in km/s.

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Figure 4. DC current during normal operation

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For example, a DC line fault with 60 ohm fault resistance occurs at 200 km from terminal M. The first modulus maxima is 723, larger than the setting (100) so that the DC line fault is detected. In this case, the reflected travelling wave from the terminal N arrives at the terminal M earlier than the reflection from fault location. With the help of the polarity, it is easy to identify them. The time delay between the first two opposite polarity wavelet modulus maxima (here corresponding to the first and the third modulus maxima) is 0.0013 s, thus the fault is located 199.87 km away from terminal M, as shown in Figure 13. The fault is detected and located correctly.
5 CONCLUSION

520 kV 510 500 490 0.5 5 scale 1 0 -5 0.5 10 0 -10 0.5 50 0 -50 0.5 50 0 -50 0.5 0.501 0.502 0.501 0.502 0.501 0.502 0.501 0.502 0.501

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For high-speed HVDC line protection based on travelling waves, methods for transient signal analysis are necessary. Particularly, the identification with similar HVDC transients caused by faults is decisive. The wavelet transform provides a new possibility for this. In this paper, the different HVDC system faults are analysed and the criteria for the identification and the line protection are proposed. The simulation results show that the proposed approach based on the wavelet modulus maxima can make a definite identification of HVDC line faults, commutation failures and AC single-

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Figure 5. DC voltage during normal operation

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25 20 15 10 0.5 2 0 -2 0.5 5 0 -5 0.5 20 0 -20 0.5 20 0 -20 0.5 kV

HVDC line reverse voltage travelling wave

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Figure 6. Reverse voltage travelling wave during normal operation

Figure 8. DC voltage during HVDC line fault

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Figure 7. DC current during HVDC line fault

Figure 9. Reverse voltage traveling wave during HVDC line fault

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100 kV 0

HVDC line reverse voltage travelling wave

80 70

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60 50 40 30 Commutation failure AC fault

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Figure 12. Energy of the wavelet modulus maxima

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HVDC line reverse voltage travelling wave 500 kV 0 -500 0.5

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Figure 10. Reverse voltage travelling wave during commutation failure

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+591 LMF = 199.87km

t = 0.0013s

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Figure 13. A DC line fault: 200km from terminal M

REFERENCES

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[1] Magnago, F.H. and Abur, A., 1998, Fault location using wavelets, IEEE Trans. on Power Delivery, 13-4, 1475-1480. [2] Dong, X. Zh., Ge, Y. Zh. and Xu, B. y., 2000, Fault position relay based on current travelling waves and wavelets, IEEE PES 2000 Winter Meeting, 23-27. [3] Shang, L., Herold, G. and Jaeger, J., 2000, A new approach to high-speed protection for transmission line using wavelet technique, PSP 2000, 85-90. [4] Mallat, S. and Hwang, W. L., 1992, Singularity detection and processing, IEEE Trans. on Information Theory, 38-2, 617-643. [5] Shang, L., Herold, G. and Jaeger, J., 2001, Highspeed protection for transmission line based on transient signal analysis using wavelets, IEE DPSP 2001, 173-176.

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Figure 11. Reverse voltage travelling wave during AC single-phase fault