IRANIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING, VOL. 12, NOs.
1 & 2, 2013 33
An Analytic Method for Removal of Decaying
DC Component from Phasor Estimates
S. H. Ashrafi Niaki and H. Kazemi Karegar
Abstract—This paper presents an analytic method to
suppress the phasor-estimation error caused by the decaying
dc offset. The proposed technique is based on four sampled
data. They are the first two and the last two sampled data
within the sampling window. The method can be implemented
in full cycle and half cycle based on the type of harmonics
exists in fault signals. The half cycle method, which is faster
than full cycle method, can be used if only odd harmonics
exist in the signals. The performance of the proposed
algorithm is evaluated by using computer-simulated signals
and electromagnetic transients program-generated signals.
The obtained results show that the proposed method can
estimate the accurate phasor of the fundamental frequency
component regardless of not only the primary decaying dc
offset but also the secondary decaying dc offset. In addition,
the immunity of the proposed method is tested in existence of
noise and harmonics.
Index Terms—Analytic method, decaying dc removing,
Discrete Fourier Transform (DFT), digital relaying,
phasor estimation.
I. INTRODUCTION
M ODERN power systems present complicated and
interconnected grids, which are sensitive to
disturbances and easy to unstable rather than conventional
v e In [10], Benmouyal represented the digital mimic
power systems. Therefore, a fast protection is needed
to detect faults within an acceptable time. When a fault
h i
occurs in electrical power system, usually fault current will
include fundamental frequency component, harmonics and
c
an exponentially decaying dc component. Digital filters
r
discard noise and other components to reach signal
quantities of interest. In addition, digital protection systems
use the fundamental frequency component, thus the dc
A
offset must be rejected.
The digital protective relays usually use Discrete Fourier
Transform (DFT) to calculate the fundamental frequency
component. However, the dc offset is an obstacle in
extracting the fundamental component from the fault
signals. Frequency spectrum of the decaying dc component
contains all frequencies due to non-periodic feature of
this component.
Therefore, the dc offset adversely influences the
performance of DFT and causes undesirable oscillations in
the DFT outputs. Many researches have been done to
remove the decaying dc component from fault signals.
Most of these researches take one cycle of power system
fundamental frequency. On the other hand, some
techniques use only half cycle to compute the decaying dc
Manuscript received 13 November, 2012; revised June 25, 2013.
S. H. Ashrafi Niaki and H. Kazemi Karegar, are with the Faculty of
Electrical and Computer Engineering, Shahid Beheshti University, Tehran,
Iran, (e-mails: h.ashrafi@sbu.ac.ir, h_kazemi@sbu.ac.ir).
Publisher Item Identifier S 1682-0053(13)2048
1682-0053/13$20 © 2013 ACECR
components.
In [1], Kalman filtering technique was proposed to
measure current and voltage of fundamental frequency
component. This approach needs appropriate presumed
initial values to get fast and precise result. Least Squares
(LS)-based methods which are based on Taylor series
expansion are represented in [2] and [3]. The accuracy of
LS-based approaches depends on time constant value of the
decaying dc component. Smaller time constant leads to
greater error due to linearization by Taylor expansion.
D
In [4], a Partial Sum (PS)-based algorithm was offered to
I
suppress effect of the dc offset. Combination of PS-based
and Multistage Least Squares (MLS)-based method was
S
used to eliminate the decaying dc component in the
presence of CT saturation [5]. The performance of PS-
based methods will be endangered when two decaying dc
o f
components exist in fault signals.
A modified DFT-based technique is proposed in [6]. The
integrating signal over one cycle is another study presented
in [7]. Two Improved DFT-based methods were presented
in [8] and [9]. These approaches suffer from noise.
filtering to remove the dc offset and it was improved by
Chi-Shan as adaptive mimic filtering [11]. These studies
provide satisfactory results when the time constant of the
decaying dc component is equal to presumed time constant
of the filter. However, this does not usually happen in
power systems.
Tarlochan S. Sidhu et al. have used orthogonal filters
and half-cycle sampling data for determining fundamental
frequency component [12]. Combined Short Time Fourier
Transformation (STFT) and LS method was also proposed
to eliminate the decaying dc component [13]. In [14], an
adaptive dynamic phasor estimator was suggested for
PMU applications.
In recent years, real-time simulation approaches using
recursive wavelet transform and iterative methods have
been suggested in [15] and [16]. Most of recent mentioned
methods [12]-[16], require complicated process.
This paper presents a new and simple analytic method
to remove dc component. Its accuracy and required
calculation time make it suitable for applying in digital
practical relaying schemes.
The method uses four samples. The two first samples are
at the beginning of the sampling window and the two last
samples are at the end of sampling window. Sampling
window length is one cycle plus two samples to compute
and extinguish the dc offset. If the input signals do not
have any even harmonics, the proposed method only
requires half a cycle sampling window plus two samples to
accomplish the aim. An analytic method is used to remove
decaying dc component and the mathematical derivation of
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34 IRANIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING, VOL. 12, NOs. 1 & 2, 2013

problem and must be removed.

III. PROPOSED DC OFFSET ESTIMATION METHOD

Mathematical expression of fault current can be
represented by the following equation. It is assumed that
harmonics components with higher order than p are
eliminated by an analog filter
Fig. 1. Taken samples in full cycle proposed algorithm (number of
t p
samples per cycle N = 40 ). −
x(t ) = I 0 e τ
+ ∑ I k sin(k × ω1t + θ k ) (1)
k =1
the proposed method will be described. The dc-removed
signal is obtained by eliminating the dc component from where I 0 and τ are the magnitude and time constant of
the fault signal at each sampling instant. decaying dc component, ω1 is the fundamental angular
The evaluation of the proposed method is tested with frequency, I k and θ k are the magnitude and the phase
several fault signals including various decaying dc angle of k th harmonic.
component and noise. The test signals are generated by It is assumed that the sampling frequency is f s , whereas
EMPT software. The results show that the method is f1 and N are fundamental frequency and the number of
reliable and can be applied to digital protection relays. samples per cycle, respectively. Sampling interval is T ,
and n is the n th sample.

D
II. DIGITAL RELAYING SCHEME On this assumption, the discretized fault current is
expressed as

I
The main job of protective relays is to identify and
isolate the faults in power system networks and prevent the 1 n fs
fs = , t = nT = , N= (2)
damages. Nowadays, digital relays are extensively used in T fs f1
power system for protection of equipments. A digital relay
uses the fundamental components of input signals to
estimate the fault location, overcurrent protection, distance
protection and so on. Input signals are currents and
S
x ( n) = I 0 e

f n
−
n
τ × fs

p
k =1
p
+ ∑ I k sin(k × 2π f ×
n
fs
+ θk )
(3)

o
− n
voltages, which are sampled by the relay under fault = I0e τ × fs
+ ∑ I k sin(k × 2π f × + θ k )
conditions, but the input signals contain noise and DC k =1 N
component during fault, which must be rejected to obtain The purpose of this paper is to remove dc component
signal quantities of relevant interest.
In a practical digital relaying scheme, a fast calculation

v
and accurate algorithm is required, because all of the
e
and estimate the amplitude and the phase of the
fundamental frequency component by an analytic method.
The method is divided into two sections: full cycle

h i
calculations must be done in each sampling period. It
means that the digital relay uses the obtained results for
protection in each sample time under fault conditions.
Therefore, using filters are essential for decomposing the
estimation and half cycle estimation. Half cycle can be
used for signals containing only odd harmonics, otherwise
full cycle estimation is used.

c
A. Full-Cycle Estimation Technique
fundamental frequency component quickly and accurately
for protection scheme. The analytic method uses one cycle plus two samples as

r
Two types of filter are used in a practical digital relay,
which are analog and digital filter. The analog filter is an

A
anti-aliasing low pass filter, which almost completely
attenuate the characteristic frequency component and
suppress noise. However, the characteristic frequency
component is insufficiently attenuated by the low-pass
its data window shown in Fig. 1.
If DC component does not exist and the signal has a
sinusoidal shape, then the values of the first and the N + 1
sample are equal, because the N + 1 is the first sample in
next period. Otherwise, the different between two samples
is related to the existence of DC component. This fact is
filter and the dc-offset still exists, which has an adverse shown in (4) and (5), which drives from (3). Considering
influence on the measurement of the fundamental (3), the first and the ( N + 1) th samples yields
frequency component. −
1 p
1
In most digital relays, a digital filter extracts the x(1) = I 0 e τ × fs
+ ∑ I k sin(k × 2π f × + θk )
k =1 Ns
fundamental frequency component, which is done by (4)
1
Discrete Fourier Transform (DFT). DFT is immune from − p
2kπ
= I0e τ × fs
+ ∑ I k sin( + θk )
harmonic components, but suffers from dc component. The k =1 N
decaying dc component in the fault current can cause
N +1 p
undesirable oscillations in the DFT results. Since these − N +1
x( N + 1) = I 0 e τ × fs
+ ∑ I k sin(k × 2π × + θk )
undesirable oscillations can cause abnormal operation of k =1 Ns
the protection system, an additional technique to reduce the N +1
− p
2k π
dc component effects in the DFT results is necessary. = I0e τ × fs
+ ∑ I k sin( + 2kπ + θ k ) (5)
In this paper, as it is done in most of the published paper, k =1 N
N +1
we assume that the input signals are filter by an appropriate − p
2k π
== I 0 e τ × fs
+ ∑ I k sin( + θk )
analog filter, which attenuates noise, harmonics and inter- k =1 N
harmonics. However, the DC component is the major
subtracting (4) from (5) leads to
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ASHRAFI NIAKI AND KAZEMI KAREGAR: AN ANALYTIC METHOD FOR REMOVAL OF … 35

1 N +1
− −
τ × fs τ × fs
x(1) − x( N + 1) = I 0 e − I0e (6)
equation (6) shows that the main difference between the
samples arises from the DC component. The left hand side
of the (6) is known, because x(1) and x( N + 1) are
sampled, but the right hand side is not known. On the other
hand,
the right hand side of (6) is a nonlinear equation and Fig. 2. Taken samples in half cycle proposed algorithm (number of
samples per cycle N = 40 ).
their unknown parameters, I 0 and τ , cannot be directly
calculated by only (6). Therefore, at least another equation N
+1
is necessary. N −
1
− 2
τ × fs τ × fs
Doing the same procedure for the second and ( N + 2) th x(1) + x( + 1) = I 0 e + I0e (14)
2
samples results in
2 N +2 doing the same procedure for the second and ( N 2 + 2) th
− −
x(2) − x( N + 2) = I 0 e τ × fs
− I0e τ × fs
(7) samples results in
N
+2
dividing (6) by (7) leads to N − −
2 2

−
1
−
N +1 x(2) + x( + 2) = I 0 e τ × f s + I 0 e τ × f s (15)
x(1) − x( N + 1) I 0 e τ × f s − I 0 e τ × f s 2

D
= 2 N +2 dividing (14) by (15) results in
x(2) − x( N + 2) − −
I 0 e τ × fs − I 0 e τ × fs

I
N
(8) N 1
+1
− − 2
−
1
−
N
x(1) + x( + 1) τ × fs τ × fs 1
I0e τ × fs
[1 − e τ × fs
]
1
2 Ie + I0e τ × fs
= eτ × f s = 0 = e (16)

S
= 2 N N N
+2
−
τ × fs
−
τ × fs x(2) + x( + 2) −
2
−2
I0e [1 − e ] 2 I0e τ × fs
+ I0e τ × fs

finally, τ is obtained from (8) as follows

ln

τ=
x(1) − x( N + 1)
=
1
x(2) − x( N + 2) τ × f s
1
(9)

o ln
N
x (1) + x(
2
N
f
and finally, I 0 and τ are estimated by (16) as follows

+ 1)

x(2) + x( + 2)
=
τ
1
× fs
(17)

e
(10) 2
x(1) − x( N + 1)
f s ln
x(2) − x( N + 2)

v
1
τ= (18)
N

i
by knowing τ , I 0 can be calculated from (6) x(1) + x(
+ 1)
x(1) − x( N + 1) f s ln 2
I0 = (11) N

h
−
1
−
N +1 x(2) + x( + 2)
e τ × fs
−e τ × fs 2
As it can be seen, dc offset estimation is done in a very
simple way without any complicated calculation just using
four special samples.
B. Half-Cycle Estimation Technique
r c I0 =
x(1) + x(

e
−
1
τ × fs
+e
N
2
+ 1)
N
− 2
+1
τ × fs
(19)

Half cycle method can be used for fault signals contain

odd harmonics and the same procedure as stated in
Section A can be used. The data window is half cycle plus
two samples as shown in Fig. 2.
It is assumed that k is odd here. Considering the first
and ( N 2 + 1) th samples yields
A IV. PERFORMANCE EVALUATION
In order to evaluate the performance of the proposed
technique, two kind of digitized data are generated:
computer-simulated signals as static data and EMTP-
simulated signals as dynamic data.
1
− p
2k π The nominal and sampling frequency are taken as
x(1) = I 0 e τ × fs
+ ∑ I k sin( + θk ) (12) 2000 Hz and 50 Hz, respectively. Since the fundamental
k =1 Ns
frequency is 50 Hz, the number of samples per cycle is 40.
N
+1 N The simulation results are compared to conventional DFT
− 2 p +1
N and developed DFT-based on mimic phasor estimator
x( + 1) = I 0 e τ × fs
+ ∑ I k sin(k × 2π × 2 + θk )
2 k =1 Ns proposed in [16].
N
+1
It is worth to mention that the mimic phasor estimator is
− 2 p
2π × k set to work in the best possible condition by adjusting its
= I0e τ × fs
+ ∑ I k sin( + kπ + θ k ) (13)
k =1 Ns presumed time constant.
N
+1 A. Computer-Simulated Signals
− 2 p
2π × k
= I0e τ × fs
− ∑ I k sin( + θk ) The time constant and the magnitude of dc offset vary
k =1 Ns depending on fault instant, fault location and resistance.
adding (12) to (13) leads to For investigating the sensitivity of the method, three
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36 IRANIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING, VOL. 12, NOs. 1 & 2, 2013

(a) (a)

(b) (b)
Fig. 3. Magnitude response of case 1 for half-cycle technique, (a) time Fig. 5. Magnitude response of case 2 for half cycle technique, (a) time
constant of 10 ms and (b) time constant of 100 ms. constant of 10 ms and (b) time constant of 100 ms.

I D
f S
(a)

e o (a)

i v
(b)

c h
Fig. 4. Magnitude response of case 1 for full-cycle technique, (a) time
constant of 10 ms and (b) time constant of 100 ms.
(b)
Fig. 6. Magnitude response of case 2 for full cycle technique, (a) time
constant of 10 ms and (b) time constant of 100 ms.

r
simulation cases are done. In each case, two different time
constant, τ = 10 ms and 100 ms are tested. The magnitude

A
of dc offset is considered as its maximum value for all
cases.
Case 1. Test for Basic Signals
Case 2. Test for Multiple Harmonic Components
In this case, the focus is on the harmonic immunity of
the proposed method. Some harmonic components are
added in the test signal of case 2.
Signal x21[n] is applied to half cycle technique which
Under static conditions, the fundamental component of a consists of third and fifth order harmonic components.
fault current can be simply expressed as a cosine function. Signal x22 [n] contains second and third order harmonic
Signal considered for case 1 is as follow components and applied to test full cycle proposed method.
n The difference between these signals is that x22 [n] has
2π × n −
x1[n] = −10 cos + 10e τ × f s (20) odd and even harmonics, but x21[n] has only odd
N harmonics
the signal x1[n] is applied to both half and full 2π × n −
n

cycle method. x21[n] = −10 cos + 10e τ × f s

N (21)
Figs. 3 and 4 show the obtained results for half cycle and
6π × n 10π × n
full cycle algorithms, respectively. + 5sin + 4sin
From these figures, it is cleared that the conventional N N
n
FCDFT deviates from the desired output due to decaying 2π × n −

dc component. However, the mimic filter and the proposed x22 [n] = −10 cos + 10e τ × f s
N (22)
method exhibit no overshoots reveal good performances
4π × n 6π × n
immediately when the data window is filled with the post- + 5sin + 4sin
fault samples. N N

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ASHRAFI NIAKI AND KAZEMI KAREGAR: AN ANALYTIC METHOD FOR REMOVAL OF … 37

Fig. 9. Single-line diagram of the test system.

Fig. 7. Magnitude response of case 3 for half-cycle technique.

Fig. 10. Current signal of case 1.

TABLE I

D
Fig. 8. Magnitude response of case 3 for full-cycle technique.
PARAMETERS OF TRANSMISSION LINE

I
The obtained results of test case 2 are shown in Figs. 5 Value of positive & Value of zero
Parameter Unit
and 6. negative sequence sequence
As it can be seen, these figures show that the developed R 0.0375 0.2611 Ω/km
mimic filter method has an overshoot before reaching to
the final value, while the suggested method converges to
the desired output in a very smooth way.
Case 3. Test for Multiple dc Offsets
L
C

f S 0.9824
0.0177
2.775
0.0075
mH/km
µF/km

o
B. Tests of EMTP-Generated Signals
The fault currents are measured by current transformers
(CTs), therefore the output currents from CTs contain two Under dynamic conditions, the fundamental component
of a fault current cannot be simply expressed as a cosine

e
dc components. In this case, another exponentially
decaying dc offset, which can be generated by CTs is function. In order to examine the performance of suggested
method, phase to ground faults are performed on 100 km

v
added to the previous signal. Therefore, the test signals are
overhead transmission line in a 320 kV power system by

i
as follows
n
EMTP software. Table I gives the parameters of the
2π × n −
simulated network shown in Fig. 9.
x31[n] = −10 cos + 10e τ × f s

+ 5sin
6π × n
N
+ 4sin
N
10π × n −τ , × f s
N
+e
n

c h (23)
In order to examine the performance of the suggested
method, a-g faults are performed on 320 kV, 100 km
overhead transmission line on EMTP as shown in Fig. 10.
Table I contains the parameters of transmission line used

x32 [n] = −10 cos

+ 5sin
4π × n
N
2π × n
N

+ 4sin
N
−
+ 10e τ × f s

A
+e
n
n

6π × n −τ , × f s
r (24)
in simulations.
The time constant of the decaying dc component is
mainly depends on the fault location and the fault
resistance. For each case, the phase to ground faults are
considered at the distance of 25 km and 75 km from the
relaying point with different fault resistances ( R f = 0 Ω
where τ = 10 ms and τ ′ = 100 ms. Similar to case 2,
and 10 Ω). Maximum magnitude of dc component happens
signals of x31[n] and x32 [n] are applied to half and full-
when the fault inception angle is 0 and maximum noise
cycle algorithm, respectively.
occurs when the fault inception angle is 90.
A close look at the obtained results shows the ability of
The simulations of EMTP-generated signals consist of
the proposed method to remove multiple decaying dc
four cases as follow:
components. Fig. 7 reveals that full cycle developed mimic
- Case 1: fault inception angle of 0° with resistance of
filter has a weak performance due to existence of the
0 Ω.
second dc component. It is because the mimic filter adjusts
- Case 2: fault inception angle of 0° with resistance of
itself based on one presumed time constant. Therefore, its
10 Ω.
output fluctuations until one of the dc component decay.
- Case 3: fault inception angle of 90° with resistance of
However, the proposed algorithm shows its ability to
0 Ω.
remove multiple decaying dc components.
- Case 4: fault inception angle of 90° with resistance of
For full-cycle technique, response of the mimic filter
10 Ω.
will get better as shown in Fig. 8 but still has a
Fig. 10 to Fig. 13 exhibit current curves of case 1 to
primary overshoot.
case 4, respectively.

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38 IRANIAN JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING, VOL. 12, NOs. 1 & 2, 2013

Fig. 11. Current signal of case 2. (a)

(b)
Fig. 15. Results of full-cycle methods for case 1, (a) fault location of
Fig. 12. Current signal of case 3. 25 km and (b) fault location of 75 km.

I D
f S
o
(a)
Fig. 13. Current signal of case 4.

v e
h i (b)
Fig. 16. Results of half cycle methods for case 2, (a) fault location of

c
(a) 25 km and (b) fault location of 75 km.

A r
(b)
Fig. 14. Results of half-cycle methods for case 1, (a) fault location of (a)
25 km and (b) fault location of 75 km.

Figs. 13 and 14 show that noise is significant when fault

inception angle is 90 and fault location is at distance of
75 km from the relaying point. Although, a low pass filter
eliminates high frequency noise, let it put in current signals
in order to evaluate the immunity of the proposed
algorithm to noise.
(b)
The obtained results for half and full cycle are shown in
Fig. 17. Results of full cycle methods for case 2, (a) fault location of
Figs. 14 and 15. A close investigation reveals that the 25 km and (b) fault location of 75 km.
proposed method reaches to the desired output without any
overshoot and oscillations. Of course, in Fig. 15(b), the Results of case 2 are similar to case 1 as depicted in
proposed method shows little turbulences, but still has Figs. 16 and 17. The same procedure as case 1 and case 2 is
better performance rather than mimic filter and done for case 3 and case 4 and the obtained results are
conventional DFT. shown in Figs. 18-21.
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ASHRAFI NIAKI AND KAZEMI KAREGAR: AN ANALYTIC METHOD FOR REMOVAL OF …
(a)
(b)
Fig. 18. Results of half cycle methods for case 3, (a) fault location of
25 km and (b) fault location of 75 km.
(a)
i v
(b)
c h
Fig. 19. Results of full cycle methods for case 3, (a) fault location of
25 km and (b) fault location of 75 km.
A r
These figures show the immunity of the proposed
method to noise. As shown in Fig. 19, the performance of
the proposed method is similar with other two methods for
case 3 in full cycle.
The results of case 4 prove that the robustness of the
proposed algorithm. Figs. 19 and 21 display a fast and
stable response of the proposed method.
V. CONCLUSION
This paper suggested an analytical method for estimating
the fundamental frequency component of a fault current
signal distorted with the dc decaying component,
harmonics and noise. The dc magnitude and the time
constant calculation are estimated by four specific sampled
data. The phasors were computed within half-cycle or one-
cycle of the power system frequency. Half-cycle is used
when only odd harmonics exist in the fault signals. The
EMTP was used to generate fault current signals under
different fault locations and fault inception angles on a 320
kV, 100 km overhead transmission line. An extensive set of
39
(a)
(b)
Fig. 20. Results of half cycle methods for case 4, (a) fault location of
D
25 km and (b) fault location of 75 km.
I
f S
e o (a)
(b)
Fig. 21. Results of full cycle methods for case 4, (a) fault location of
25 km and (b) fault location of 75 km.
simulation results has shown that the proposed algorithm
has better performance than the mimic filter and the
conventional DFT.
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S. H. Ashrafi Niaki received the B.S. degree in electrical engineering
from Iran University of Science and Technology, Tehran, Iran, in 2010. He
is currently pursuing the M.S. degree in Shahid Beheshti University. His
research interests include wind generation interface with power system,
power system stability, and protection.
H. Kazemi Kargar was born in Tehran, Iran in 1969. He received the
B.Sc. and M.SC. degree in electrical engineering in 1993 and 1996,
respectively, from Sharif and IUST University in Iran. He received Ph.D.
degree in electrical engineering in 2002 from Amir Kabir University of
Technology in Iran. He is now as Professor Assistance of Faculty of
Electrical and Computer Engineering of Shahid Beheshti University
(SBU), Tehran, Iran. His research of interests is power system protection
and power quality.
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www.SID.ir