2011The International Conference on Advanced Power System Automation and Protection

APAP2011 www.apap2011.org

*Corresponding author (email: song.gb@mail.xjtu.edu.cn)
Natural Frequency Based Protection and Fault Location for VSC-HVDC
Transmission Lines
SONG GuoBing*, Cai XinLei, Gao ShuPing, Suonan JiaLe, Li Guang
School of Electric Engineering, Xian Jiaotong University, Xian710049, China



AbstractWith excellent priorities, Voltage Source Converter based HVDC (VSC-HVDC) will be the promising offset of
HVDC transmission technology. This paper presents a protection and fault location method for VSC-HVDC transmission
lines using one terminal current data. The proposed method is based on the natural frequency from the reflection process of
traveling wave on a distributed parameters transmission line. As the presence of the large shunt capacitor on both terminals of
the VSC-HVDC lines, the high frequency traveling wave is close to total reflection on the terminals. Therefore, the value of
natural frequency of VSC-HVDC transmission lines is only related to fault distance and travelling wave speed, and the mag-
nitude of natural frequency signal is related to the fault resistance. According to these characteristic, a single-end protection
and fault location method is proposed. Compared with traveling wave method, the proposed natural frequency method is
more simple and reliable. It does not need to detect accurate wave-front arriving instant with high sampling frequency. The
proposed method is verified using the frequency-dependent line model in EMTDC. The simulations have shown that this me-
thod is valid and is capable of locating the faults occurring on VSC-HVDC transmission lines quickly and accurately.
KeywordsVSC-HVDC; HVDC transmission line; protection; fault location; spectrum analysis; natural frequency


1 Introduction
Since Voltage Source Converter based HVDC (VSC-HVDC) has
originally excellent priorities, VSC-HVDC will be the promising
offset of HVDC transmission technology, and it is important to
study on the protection and accurate fault-location method for
VSC-HVDC transmission lines to ensure the security of
VSC-HVDC system. [1-4].
Most HVDC lines are used for transmission power over long
distance, inevitably passing through complex terrain and operat-
ing under harsh weather conditions. Therefore, it is extremely
difficult to determine where a fault is occurring on the line. Be-
sides, HVDC lines are mostly used as an interconnection between
different power systems and carrying a large amount of power.
Incapable of quickly locating and removing faults on an HVDC
transmission line will destroy the stability of the power system
and lead to serious social and economic consequences. Therefore,
research on the accurate and fast fault-location techniques for
HVDC transmission line is of great significance and of practical
engineering value. However, it is extremely difficult to determine
where a fault is occurring on HVDC transmission lines as a result
of its long distance and frequency dependent parameter characte-
ristic.
At present, the currently used fault-location techniques for
HVDC transmission lines are mainly based on traveling wave
method [5-14]. These traveling-wave-based methods have fast
response and high accuracy. The results are not easily affected by
the factors, such as bus conguration, fault types, fault resistance,
and system parameters. However, they are also facing some in-
surmountable technical problems (e.g. the detection of the
wave-head is very difficult; it is depending on high sampling
frequency; it is vulnerable to interference signals etc.). The time
domain traveling wave method only use the initial transient signal
to locate fault. Besides, for the time domain signal, the accurate
estimation of the traveling wave speed is extremely difficult as
the wave speed is frequency dependent.
Some non-traveling-wave fault-location algorithms for AC
and DC lines are proposed in [15-16] based on distributed para-
meter line model and the calculation of voltage distribution along
the lines, which can yield the correct fault-location result from
any section of data. In [16], a fault of HVDC line can be located
using two terminal voltage and current data at a sampling rate of
100 kHz. The fault-location method is based on accurate calcula-
tion of voltage distribution. It cannot yield accurate results if the
frequency dependent parameters characteristic of the line is too
obvious.
The concept of natural frequency is proposed in [17] based on
distributed parameter model and it is used to locate fault for AC
line in [18-20], which is different from the traditional time do-
main traveling wave method. In [20], the relations of natural fre-
quency, line length, wave speed and boundary conditions are
derived in Laplace domain. The method can use any section of
the post fault data to exact natural frequency and locate faults. So
it is more reliable than the traditional time domain traveling wave
method. Although it is designed for ac transmission lines, they
can also be applied to locate faults on dc transmission lines be-
cause there is no essential difference between ac and dc transmis-
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978-1-4244-9621-1/11/$26.00 2011 IEEE

2011The International Conference on Advanced Power System Automation and Protection

sion lines except for the frequency at which electric energy is
transmitted. Besides, the voltage of DC line keeps constant for the
normal operation HVDC system. So the transient energy of DC
line is very rich whether the fault occurs at any time. The natural
frequency signal of VSC-HVDC DC lines is very obvious and
easy to exact.
Combining to the VSC-HVDC structure, a protection and
fault location method for VSC-HVDC transmission lines is pro-
posed in this paper based on natural frequency of current, which
is suitable for VSC-HVDC frequency-dependent parameters lines.
The method is performed in frequency domain. Through the
spectral analysis of current with Prony algorithm to obtain its
natural frequency, a short data window is sufficient for detecting
natural frequency to achieve satisfactory accuracy in practice. The
proposed method is simple and reliable than the time domain
traveling-wave fault-location.
2 VSC-HVDC System Structure
The schematic diagram of a bipolar VSC-HVDC system is
shown in Figure 1. In the system, there is a VSC based converter
station in each side, which consists of converter, transformer, AC
filter, DC side capacitors and DC transmission lines. The trans-
mission lines (positive and negative) are between Kside and M
side,
1 K
i and
2 K
i are the current (positive and negative) meas-
ured at K side.
2 K
i
1 K
i

Figure 1 VSC-HVDC transmission system

For AC lines, the transient energy is very small if voltage is
near zero when a fault occurs, thus, natural frequency signal is
very weak and hard to extract from the spectrum. Different from
AC lines, the voltage of DC line keeps constant for the normal
operation VSC-HVDC system. So transient energy of DC line is
very rich whether the fault occurs at any time. In addition, as
there are shunt capacitors on the terminals of DC lines, the high
frequency traveling wave is total reflection in the system side. So
the natural frequency signal is very obvious and easy to extract in
VSC-HVDC system. Therefore, as the current of current trans-
former(CT) is generally used in modern traveling wave devices
and the energy of current signal is very strong, the current of
VSC-HVDC transmission lines can be used for the spectrum
analysis and extraction of natural frequency.
3 VSC-HVDC Natural Frequency Analysis
In order to the analysis natural frequency of VSC-HVDC
transmission lines, the fault component net of distributed parame-
ter transmission line of VSC-HVDC is given in Fig.2. In Figure 2,
, , , R L G C are the resistance, inductance, conductance and capa-
citance per-kilometer; l is the fault distance; v is the traveling
wave speed;
S
Z ,
F
Z and
c
Z are system impedance, the impedance
of fault point and characteristic impedance of the DC transmission
line, respectively.
F
U is the additional DC voltage source at the
fault point.
1
I and
2
I are the reflection coefficient at the system
and fault point.
, , , ,
c
R L G C Z
F
Z
v
S
Z
1
I
2
I
F
U
l
Figure 2 The fault component net of distributed parameter HVDC transmission
line

When a fault occurs on the line, the wave of the fault point is
traveling from the fault point to the system and it will reflect be-
tween the system and the fault point. The frequency spectra of the
traveling waves propagating on transmission lines are of harmonic
type of a fundamental characteristic frequency, called natural fre-
quencies [18-20]. The characteristic equation of natural frequency in
frequency domain is [20]
2 /
1 2
1 e 0
s l v
I I = (1)
where s is the root of the characteristic equation; the real part
of s is related to attenuation coefficients of natural frequency
energy and the imaginary part of s corresponds to the value of
natural frequency.
1
I and
2
I are reflection coefficient, depending
on the impedance of system side and fault point.
1 S S
( ) / ( + )
C C
Z Z Z Z I = ,
2 F F
( ) / ( + )
C C
Z Z Z Z I = and ( (
C
Z R j L G j C e e = + + .If
1
1 1
e
ju
I = I ,
2
2 2
e
ju
I = I , it can be derived from (1) that:
1 2
2 /
1 2
e e e
j j sl v u u
I - I =
(2)
According to Euler formula, the characteristic equation has in-
finite roots, corresponding to infinite number of frequencies, thus:

{ }
{ }
1 2 1 2 1 2
1 2 1 2 1 2
ln ( 0
2
ln ( 2
2
v
j k
l
s
v
j k
l
u u t t u u t
u u t t u u t

I I + + < + <

I I + < + <

?
?
(3)
where k is an integer, as the imaginary part of s corresponds to
the value of natural frequency, natural frequency is
1 2 1 2
1 2 1 2
( ) 0
4
( ) 2
4
v
k
l
f
v
k
l
u u t t u u t
t
u u t t u u t
t

+ + < + <

+ < + <

?
?
(4)
The dominant frequency of natural frequency is frequency with
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2011The International Conference on Advanced Power System Automation and Protection

the lowest value and highest spectrum amplitude of all natural fre-
quencies. For the 100km line, the dominant frequency of natural
frequency is about 1500Hz, so the natural frequency is a high
frequency components, and the shorter the line length, the higher
the natural frequency.
Given the line parameters, using adequate frequency estimation
methods to obtain any component of traveling wave natural fre-
quencies (normally the dominant component), together with the
boundary conditions (power system equivalent reactance), the dis-
tance between two terminals which forms the natural frequencies
can be accurately calculated. For fault induced traveling wave fre-
quencies (local bus the one end, fault point the other), the length is
naturally the fault distance.
According to Figure 1, there are large shunt capacitors on both
terminals of the DC lines in VSC-HVDC. Therefore, in high fre-
quency domain the system impedance
S
Z can be approximated and
equivalent to
S
1 /
s
Z j C e = (5)
The
s
C is shunt capacitances of the positive and negative pole.
So system impedance is equivalent to the capacitor impedance for
natural frequency signal. Besides, in high frequency domain, the
characteristic impedance of DC line can be simplified as
/
c
Z L C = (6)
When the transition resistance of the fault point is
F
R , it can be
derived that the reflection coefficient of the system side and the
fault point are:
1
(1/ / )/(1/ + / )
s s
j C L C j C L C e e I =
(7)
2 F F
( / )/( / ) R L C R L C I = +
(8)
If the characteristic impedance of DC transmission lines
c
Z is
400 , the capacitor
s
C is 1000F and
F
R =100, at the fre-
quency of 1000Hz, combining (5)~(8), it can be concluded that:
1. The value of capacitor impedance is 0.129, which is a low
number compared to converter valve equivalent impedance. The
system impedance can be equivalent to the capacitor impedance
for natural frequency signal.
2. As characteristic impedance of the line is much larger than the
system impedance, so
1
I is about -1 and
1
u t = . It can be seen
that the traveling wave signal is total reflection at system side of
VSC-HVDC system.
3. According to (8), if
F
0 R = O, then
2
I -1 and
2
u t = , so when
metallic ground fault occurs, it is the total reflection at the fault
point. If
F
100 R = O , then
2
I =-0.6 and
2
u t = ,so when it is not
metallic ground fault, the fault point is not a total reflection, but
the transition resistance only affects the magnitude of the signal,
does not affect its phase (it is always t ). So the natural frequen-
cy keeps constant when the transition resistance increases. Mani-
fested in the frequency spectrum, when the transition resistance
increases, the natural frequency keep unchanged, but there will be
some attenuation of spectrum amplitude.
As the reflection of traveling wave signal between the system
side and fault point is the root causes of the natural frequency,
therefore, there will be a stronger natural frequency signal in
VSC-HVDC system. Combining to VSC-HVDC system struc-
ture and equation (5)~(8), (4) can be simplified, the natural fre-
quency of VSC-HVDC transmission line
k
f can be expressed
as:
( )
4 2
k k
k
kv kv
f
l l
t t
t
= + =
(9)
where k is an integer,
k
f is the k times for the natural fre-
quency,
k
v is the traveling wave speed. By (9), when there is
little changing of the traveling wave speed, the natural frequency
spectrum approximately equal spaced spectrum with the same
length, this feature can be used for selection of natural frequency.
4 Protection and fault location principle
The protection and fault location principle is based on the
spectrum analysis of current to exact natural frequency. Then
calculate the wave speed at the frequency, and obtain the fault
distance. According to (9), the fault distance is
2
k
k
kv
l
f
= (10)
where k is an integer,
k
f is the k times for the natural fre-
quency,
k
v is the traveling wave speed at the corresponding
frequency.
Theoretically, any natural frequency in the spectrum of the
current can be used to locate faults accurately. As the amplitude of
the first frequency (that is dominant frequency) is the maximum
of all, so it can be used to locate. Thus, fault location formula is
1
1
2
v
l
f
= (11)
It can be seen from (11) that accurate fault location depends on
the accurately extraction of natural frequency and calculation
traveling wave speed.
In order to accurately extract the natural frequency, the combi-
nation of FFT and Prony algorithm is used to make spectrum
estimation for short data window. The natural frequency main
lobe band is selected through FFT, firstly. Using narrow
band-pass filter, by a set of data within a small band after the filter,
the accurate frequency values can be extracted through Prony
algorithm.
When pole to pole fault or bipolar pole to ground fault occurs,
there is no modal mixing phenomenon ", the fault distance can be
calculated accurately using the wave speed and natural frequency
in mode domain. When single-phase to ground fault occurs over
the AC line, it has been pointed out in [20] that the average wave
speed of o mode and 0 mode can be chosen as the wave speed,
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2011The International Conference on Advanced Power System Automation and Protection

which can yield accurate fault location result. The average wave
speed of 0 mode and 1 mode signal wave speed can be used for
the fault location of VSC-HVDC transmission lines when single
pole to ground fault occurs.
In the high frequency domain, the wave speed changes a little,
and it can be considered as a constant number. Therefore, when
there is some error in the detection of natural frequency, it can be
derived from (11) that the fault location error is:

2
1
2
1 1 1
1 2
2
v dl l
df f v
= = (12)
It can be seen from (12) that when the fault distance increases,
the influence of the detecting error of natural frequency on fault
location error will increase. For the fault at the end of the 250km
line, the corresponding fault location error is about 5km if there is
10Hz frequency error. When fault occurs at 50km, 10Hz fre-
quency error is corresponding to only 0.2km of the distance
measurement error. For the natural frequency based fault loca-
tion method and a 250 km transmission line, in the range
of, 10kHz sampling rate is sufficient to realize accurate fault loca-
tion in the range(50 ~ 250 km); the current of the M side can be
used to locate fault in the range(0 ~ 50 km). Thus, the proposed
fault location principle can be implemented in recorder or protec-
tion devices without adding new equipment.
As long as the natural frequency is detected accurately, the ac-
curate fault location can be achieved. If the calculated fault dis-
tance is less than the whole length, the protection can operate.
5 Simulations
In this paper, VSC-HVDC system built in PSCAD is used for
the simulation and the direct current control strategy based on
cascade PI controller is adopted in the control system [21-22]. In
the system, the rated voltages are 60 kV and system capacity is
60MW. The frequency-dependent parameter transmission line
model is used to simulate, whose length is 250km and its struc-
ture can refer to [16]. The shunt capacitances (
s
C )of the positive
and negative pole are 1000F. The PSCAD is used for power
system fault simulation, and MATLAB is used for verifying al-
gorithm. The modes are extracted by using mode transformation
matrix [16]. The current of K side is used for the single-ended
fault location. When a fault occurs at the end of the 250km line,
the dominant natural frequency is about 600Hz, so the current is
filtered through the high-pass filter first (the cut-off frequency is
set to 400Hz) in this paper, then the spectrum analysis can be
implemented.
When a fault occurs at the point of 200km from K-side by
different transition resistance, the spectrum analysis results of
5ms data window with Prony algorithm by 1 mode current are
shown in Figure 3, in which the data is sampled at a frequency of
10kHz. .
0 1000 2000 3000 4000 5000
0
20
40
60
f/Hz

(a)
F
R =0
0 1000 2000 3000 4000 5000
0
20
40
f/Hz

(b)
F
R =50
Figure 3 Spectrum estimation of natural frequency at K-side based on Prony al-
gorithm when internal fault occurs

It can be seen from Figure 3 (a) that the natural frequency
spectrum VSC-HVDC DC transmission lines is approximately
spaced spectrum with the same length, in which the dominant
frequency of natural frequency is 739.69Hz. Therefore it can be
calculated that the fault distance is 200.76km from (11). So the
Prony algorithm is feasible for extracting natural frequency and
accurately fault location. Figure 3 (b) indicates that when the
transition resistance increases, the value of natural frequency
keeps unchanged, but there will be some attenuation of amplitude
in the spectrum.
The FFT analysis results of mode current and pole current are
given in Figure 4 when an internal positive pole to ground fault
occurs at 100km from K-side.
0 1000 2000 3000 4000 5000
0
2000
4000
f/Hz

(a) Spectrum of 1mode current
0 1000 2000 3000 4000 5000
0
2000
4000
f/Hz

(b) Spectrum of 0 mode current

0 1000 2000 3000 4000 5000
0
5000
10000
f/Hz
(c) Spectrum of positive pole current

0 1000 2000 3000 4000 5000
0
500
1000
f/Hz

(d) Spectrum of negative pole current
Figure 4 Spectrum estimation of natural frequency based on Prony algorithm
when fault occurs at positive pole and 100km from K-side
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2011The International Conference on Advanced Power System Automation and Protection

Due to the coupling between the lines, there will be "modal
mixing phenomenon" in the spectrum of mode current. The
spectrum of mode current is more complex than the spectrum of
fault pole current. So it is hard to exact the natural frequencies
from mode current spectrum, however the current spectrum is
relatively simple and easy to identify. Besides, as the decoupling
matrix is a linear transformation, the natural frequency exacted
from pole current is the same with the natural frequency exacted
from mode current. Therefore, through the spectrum estimation
of the current of fault pole, the corresponding main lobe of nat-
ural frequency can be selected. After being filtered by narrow
band pass filters (the narrow-band can be selected as
1300~1500Hz in Figure 4 (c)), the natural frequency can be
exacted with Prony algorithm (the analysis result is 1420Hz).
With the average speed 1 mode and 0 mode speed, it can be
calculated that the fault distance is 100.55km. So for the pole to
ground fault, as long as the natural frequency is extracted accu-
rately, accurate fault location can be achieved as well.
In order to verify the validity of the proposed method, the re-
sults of locating various-type faults occurring at different points
with different transition resistances are given in this paragraph.
Table I shows the fault location results from K side when pole to
pole fault occurs with different transition resistances; Table 2
shows the fault location results of single pole to ground fault by
100 transition resistances. The simulation result is achieved at
a sampling rate of 50 kHz. As the frequency dependent charac-
teristic of 0 mode parameters is more significant than that of 1
mode parameters, so the average wave speed in Table 2 changes
more obviously than the wave speed in Table 1.

Table 1 Results when fault occurs in bipolar pole
Fault
Distance
( km)
Transition
resistance
()
Dominant
natural
frequency
(Hz)
Traveling
Wave speed
(km)
Results
(km)
Error
(%)
25
0 5980
298 514
24.96
-0.20
50 5960
298 501
25.04 0.20
100 5976
298 510
24.97 -0.12
75
0 1987
297 915
74.97 -0.04
50 1980
297 904
75.23 0.31
100 1975 297899 75.42 0.56
125
0 1180
297337
125.99 0.79
50 1180
297337
125.99 0.79
100 1183
297341
125.67 0.54

175

0 853
297163
174.19 -0.46
50 850
297158
174.80 -0.11
100 853
297163
174.19 -0.46
225
0 660
296 860
224.89 -0.05
50 660
296 860
224.89 -0.05
100 655
296 851
226.60 0.71
Table 2 Results when fault occurs in positive pole
Fault
Distance
( km)
Dominant
Natural fre-
quency (Hz)
Average
wave speed
(km/s)
results (km) Error (%)
25 5810 290217 24.97 -0.12
75 1900 286754 74.46 -0.72
125 1130 283065 125.25 0.20
175 807 281276 174.27 -0.42
225 621 280114 225.53 -0.34
The results given in Tables 1 and Tables 2 have indicated that
the proposed method can accurately locate faults regardless of
where they are over the whole length of the line, with the largest
error being less than 1%. The result is not affected by transition
resistances and fault types. To achieve a more accurate fault
location results rely on a more accurate signal processing and
spectrum analysis tools.
6 Conclusion
In this paper, the natural frequency characteristic of
VSC-HVDC DC transmission line is analyzed, and two conclu-
sions are drown:
1.As the impact of the large shunt capacitor on both terminals
of the DC lines in VSC-HVDC, the high frequency traveling
wave is total reflection in the system side. Then it is found that
the natural frequency of VSC-HVDC transmission lines is only
associated to fault distance and the traveling-wave speed. The
formula of natural frequencies for AC lines can be simplified;
therefore, the natural frequency based fault location method in
VSC-HVDC is simple and reliable.
2. For the normal operation VSC-HVDC system, the voltage
of transmission lines keeps constant and will not be zero every
cycle as the AC line. So whether the fault occurs at any time, the
transient energy is very rich. Besides the natural frequency sig-
nal is total reflection at the shunt capacitor, the natural frequency
signals of DC lines is obvious and easy to exact by spectrum
analysis tools.
Accordingly, a protection and fault-location method for
VSC-HVDC transmission lines is presented. Different from the
time domain traveling-wave methods in which only the
wave-head is used, the proposed method can use any section of
post fault data to exact natural frequency and locate faults, Be-
sides, it is not affected by the fault position and transition resis-
tance, and has high reliability and high accuracy.
This work was supported by the Key Program of National Natural Science of China
(Grant No. 51037005) and National Natural Science Foundation of China un-
der(Grant No. 50877061).
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