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Knowledge about designing of modern numerical relay equipments.
Citation preview
Richard Price
Hardware Design Team Leader
Design of Modern Numerical Protective Relay Equipment
Presentation title - 01/01/2010 - P 2
Lecture Outline
• What are protective relays and why do we need them?
• What technologies have been employed
• What are the additional benefits of modern protective relays
• What might the future hold
• Discussions
Design of Modern Protective Relaying Equipment
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What is a protection relay ?
A big expensive reusable fuse !
- - P 4
Protective Relays Why bother ?
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Source Load
V
I
Protective RelayPrinciples of Operation
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ELECTROMECHANICAL (1950)
• Attracted armature or induction disc type elements to implement the protection functions.
• An electromagnetic force causes the mechanical operation of the relay.
Protective RelaysTechnologies Employed (1)
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STATIC (1970)
• Maturing of transistor technology
• Static implies that the relay does not have moving parts
• Discrete electronic components (generally analogue devices) used for creation of the operating characteristics.
• Trip output contacts would generally be of attracted armature type.
Protective RelaysTechnologies Employed (2)
Presentation title - 01/01/2010 - P 196
DIGITAL (1980)
• Used the then new microprocessor technologies
• Generally an analogue front end
• Protection function logic is implemented in the microprocessor.
• The only numerical states within the relay are high/low logic (logic one or zero) rather than mathematical algorithms
Protective RelaysTechnologies Employed (3)
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NUMERICAL (Today)
• Used exclusively in today’s protection relays
• Inputs sampled and converted into digital numerical data
• Complex mathematical algorithms generate the relay operating characteristics.
• The distinction from digital relays is that numerical relays use digital signal processing (DSP).
• Also characterised by the sophisticated communications facilities they offer.
Protective RelaysTechnologies Employed (4)
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Protective Relay TechnologiesExamples
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Protective RelayPrincipal Input/Output Interfaces
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Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
Protective Relay DesignKey Elements - implementation
Presentation title - 01/01/2010 - P 201
Protective Relay Design- Analogue Inputs
Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
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V
I
10110111...
Analogue Inputs – Traditional ApproachSequential Sampling
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Sequential Sampling Advantages / Disadvantages
• Advantages− Low cost solution
• Disadvantages− Single data stream, sampling frequency− Relatively slow− Signal Skew
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V
I
10110111...
Analogue Inputs – New TechnologiesSimultaneous Sampling
Buffering
Re-sampling
Re-sampling
Data
Tra
nsm
issio
n
Buffering
Re-sampling
Re-sampling
Presentation title - 01/01/2010 - P 205
Simultaneous Sampling Advantages / Disadvantages
• Advantages− Multiple sampling rates− Higher sampling frequencies− Signal Pre-conditioning
• Disadvantages− Higher hardware costs
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Actual signal
Apparent signal
Sample points
Sampling element
Sampling Issues problems - Aliasing effects
Presentation title - 01/01/2010 - P 207
10110111...
Dynamic Range, Quantisation Effects
Input signal distortion problems - Conversion errors
12 bit ADC equivalent to 4096 numbers
• For dynamic range of 64 In
• In = count 32
• Resolution - 30mA (In = 1A)
For 16 bit, resolution - 2mA
Presentation title - 01/01/2010 - P 208
Analogue todigital
conversion
n samplesper cycle
I
V
Antialiasing
Digital filter
Antialiasing
I1 Mag, Ø
I2 Mag, Ø
Ix Mag, Ø
V1 Mag, Ø
Vy Mag, Ø
Processed Data
Signal filtering
Presentation title - 01/01/2010 - P 209
Gain
1
0f0 2f0 3f0 4f0 5f0 6f0 7f0 8f0 9f0
Frequency
Alias of Fundamental
H/W Low Pass Filter
Fourier Filter
Frequency Response of 1 Cycle Fourier Filter (8 Sample/Cycle)
Presentation title - 01/01/2010 - P 210
Protective Relay DesignDigital Inputs
Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
Presentation title - 01/01/2010 - P 211
• Wetting currents
• Burden
• Isolation
• How many ?
• How fast ?
• Thermal dissipation
• Safety
Digital InputsConsiderations
Presentation title - 01/01/2010 - P 212
− Multiple variants− Single voltage I/P− Simple / low cost− OK for Trip circuit
supervision applications
Digital InputsCircuit Designs
− Single variant− Wide Range I/P− Single threshold − Power ∝ Voltage
− Single variant− Wide Range I/P− Low Power− Multiple
thresholds− Measurements− Settable− Complex / higher
cost
LPF0,1
LPF0,1
Signal ProcessingVoltage
MeasurementOrStatus + Settings
AUXPSU
PWM Measurement
Circuit
Active Measurement Opto Circuit
Constant Current Opto Circuit
Passive Opto Circuit
Presentation title - 01/01/2010 - P 213
Protective Relay DesignDigital Outputs
Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
Presentation title - 01/01/2010 - P 214
• Contact rating
• Isolation
• How many ?
• How fast ?
• Thermal dissipation
• Safety
Digital OutputsConsiderations
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− Op time ~10ms
Digital OutputsCircuit Designs
− Op time ~4ms
− Op time <0.5ms− High break
capability
Static Assisted Output Circuit
Accelerated Relay Circuit
Standard Relay Circuit
Data
Data
20V8V
12V
Data
20V 8V
12V
Presentation title - 01/01/2010 - P 216
Protective Relay DesignAdditional I/O
Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
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• Current Loop I/O
• Temperature Measurement (RTDs)
• Time Synchronisation (IRIG-B)
• Protection Communications− Current Differential− Inter-tripping
Additional I/O
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Protective Relay DesignUser Interface
Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
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User Interface
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Protective Relay Design - Computing Unit
Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
Presentation title - 01/01/2010 - P 221
Computing Unit - Hardware
• Microprocessor(s)
• Memory−(Flash) EPROM−RAM−NV RAM
• Time synchronisation
• Communications drivers
• Battery back-up
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Protective Relay Design - Computing Unit
Analogue Inputs
Analogue to
Digital Conversio
n
Power Supply
DigitalOutputs
(Relays)
DigitalInputs
(Optos)
Signal Processing CommunicationsUser
Interface (HMI)
Additional I/O
Interconnection Bus
Presentation title - 01/01/2010 - P 223
• Control of analogue acquisition
• Process raw data in magnitude & phase
• Sample of plant status I/Ps
• Execute protection algorithms
• Combine protection outputs and plant status to control outputs (scheme logic)
• Control user interface
• Implement remote communications protocols
• Log events and disturbances
Computing Unit - S/W Processes
Presentation title - 01/01/2010 - P 224
CommunicationsOperatingPlatform
ApplicationSoftware
B I O S
Hardware
Protective Relay Software Design
Presentation title - 01/01/2010 - P 225
• Microprocessor requires sufficient power to− Process samples in real time before next sample
is taken− Run the protection algorithms often enough to
meet the requirements for speed of operation− Service communications tasks− Ensure background tasks have sufficient priority
(ie user interface)
• Typical maximum processor loading <70% quiescent, <90% during faults
Computing Unit - Requirements
Presentation title - 01/01/2010 - P 226
Computing Unit Performance
200
520
00
199
5
199
0
198
0
MCGG
0.1
1 10 100
L Series
Px40
Px40+
Px20
K Series
Yea
r
Millions of Instructions per second (MIPS)
Presentation title - 01/01/2010 - P 227
Computing UnitExample
• Microprocessor : 32 bit floating point
75 MIPS
• Memory− (Flash) EPROM : 4 M bytes− RAM : 2 M bytes− NV RAM : 4 M bytes
• Software : >700 000 lines code
Presentation title - 01/01/2010 - P 228
• Performance requirements− International IEC 60255, ANSI− National BS, DIN etc
• Mandatory requirements− CE marking (Europe)
• LVD
• EMC− UL (US, Canada)
Protective Relaying EquipmentProduct Certification
Presentation title - 01/01/2010 - P 229
Numerical RelaysPhysical Structure
Presentation title - 01/01/2010 - P 230
Additional Additional FeaturesFeatures
Numerical Relays
Presentation title - 01/01/2010 - P 231
• Additional features found in numerical relays− Multiple functions in same relay− Fault location− Self diagnostics & commissioning tools− Programmable scheme logic / customisation− Intelligent Communications− Fault recording− Re-configurable inputs and outputs− Monitoring and control of circuit breakers− Instrumentation
• Reliability, repeatability, ….
Numerical Relays - what are the benefits ?
Presentation title - 01/01/2010 - P 232
FaultFault LocationLocation
Numerical Relays
Presentation title - 01/01/2010 - P 233
16% 3.8 16km10miles
Fault location
Presentation title - 01/01/2010 - P 234
Self Diagnostics &Self Diagnostics &Commissioning ToolsCommissioning Tools
Numerical Relays
Presentation title - 01/01/2010 - P 235
Self Diagnostics & Commissioning
•Self diagnostics−Power-on
diagnostics−Continuous self-
monitoring−Condition based
maintenance
•Commissioning features available to user
−Input states−Output states−Internal logic status−Measurements
Presentation title - 01/01/2010 - P 236
Programmability Programmability & Customisation& Customisation
Numerical Relays
Presentation title - 01/01/2010 - P 237
User programmable scheme logic
Timers
Relay contacts
LEDs
Protectionelements
Fixed schem
elogic
Optos
Control
&
&1
Gate Logic
Customisation :Programmable Scheme Logic
Presentation title - 01/01/2010 - P 238
Trip
Trip
Opto
Tripcoil
52a
52b
Circuit breaker
Opto
Trip Circuit Monitoring
Presentation title - 01/01/2010 - P 239
Trip Circuit Fail mapped to
Contact, LED and Alarm Indication
Trip Circuit Monitoring Using Programmable Scheme Logic
Presentation title - 01/01/2010 - P 240
Off-line AnalysisOff-line Analysis
Numerical Relays
Presentation title - 01/01/2010 - P 241
Prefault Postfault
Disturbance Records
•8 Analogue channels
•32 Digital channels
•Sample 12 times per cycle
•Configurable trigger source
•Variable trigger point
•Up to 20 Records can be stored
•The duration of each record can be up to 10.5s
•Battery backed memory
•Extended recording time
•MiCOM S1 saves file in the COMTRADE format
Presentation title - 01/01/2010 - P 242
A-GND Fault,Fault Inception
Trip Command
Disturbance analysis software
Presentation title - 01/01/2010 - P 243
CommunicationsCommunications
Numerical Relays
Presentation title - 01/01/2010 - P 244
Digital Control Systems
Courier Modbus DNP3.0 IEC60870-5-103. . .
Remote CommunicationsTraditional Solutions
Presentation title - 01/01/2010 - P 245
Remote CommunicationsOverall substation Communications
Switch
Switch LAN or WAN
LAN or WAN
• Ethernet Communications− IEC61850− Tunnelling of
traditional communications (DNP3…)
Presentation title - 01/01/2010 - P 246
Overall Substation CommunicationsIEC61850
• Peer to Peer Fast I/O Communications− GOOSE (Generic Object Orientated Substation
Events)
• Sampled Analogue Values− IEC61850-9-2
• IEC61850 Data Model− Status Monitoring− Event Reporting (Un-buffered / Buffered)− Control Services (CB Tripping/Closing)
• Time Synchronisation− SNTP (Simple network Time Protocol)− IEEE1588 (Precision Time Protocol)
Presentation title - 01/01/2010 - P 247
Overall Substation CommunicationsRedundancy
• Ring Topology− Current - Areva Self
Healing Protocol− New - HSR (High
availability seamless ring)
Relay
Relay
Relay
Switch
PCRelay
Relay Relay
Switch Switch
PC
• Star Topology− Current - RSTP− New - PRP (Parallel
Redundancy Protocol)
Presentation title - 01/01/2010 - P 248
Overall Substation CommunicationsCyber Security
• Standards− NERC (North American Electric Reliability
Corporation)− IEEE1686 – Security of relays and substations− IEC62351 – Security of communications
• Security− Defined password schemes− Password blocking− Password encryption− Unused port disabling
Presentation title - 01/01/2010 - P 249
Protection & Control EquipmentLooking Forward
• Requirements− Protection enhancements− Greater Integration (Protection, Control &
Monitoring)− Programmability and customisation− Off-line analysis− Communications− Security− Expert systems / Smart Grids
• Implementation− More processing power− Higher sampling / multiple sampling− More I/O− Increased communications capabilities
Presentation title - 01/01/2010 - P 250
Self Diagnostics& Commissioning
Tools
Instrumentation
Communications
Bay Monitoring& Control
ComprehensiveProtection
FaultAnalysis Tools
Programmability& Customisation
Modern Numeric ProtectionBenefits Summary
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