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Modern Numerical Relay Design
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Design of Modern NumericalProtective Relay Equipment
- - 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
- - P 3
What is a protection relay ?
A big expensive reusable fuse !
- - P 4
Protective RelaysWhy bother ?
- - P 5
Source Load
V
I
Protective RelayPrinciples of Operation
- - P 6
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)
- - P 7
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)
- - P 8
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)
- - P 9
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)
- - P 10
Protective Relay TechnologiesExamples
- - P 11
Protective RelayPrincipal Input/Output Interfaces
- - P 12
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
Protective Relay DesignKey Elements - implementation
- - P 13
Protective Relay Design- Analogue Inputs
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
- - P 14
V
I
10110111...
Analogue Inputs – Traditional ApproachSequential Sampling
- - P 15
Sequential Sampling Advantages / Disadvantages
• Advantages− Low cost solution
• Disadvantages− Single data stream, sampling frequency− Relatively slow− Signal Skew
- - P 16
V
I
10110111...
Analogue Inputs – New TechnologiesSimultaneous Sampling
Buffering Re-sampling
Re-sampling
Dat
a Tr
ansm
issi
on
Buffering Re-sampling
Re-sampling
- - P 17
Simultaneous SamplingAdvantages / Disadvantages
• Advantages− Multiple sampling rates− Higher sampling frequencies− Signal Pre-conditioning
• Disadvantages− Higher hardware costs
- - P 18
Analogue Inputs – Digital SubstationIEC61850 – 9.2LE Process Bus
Merging Unit Merging Unit
Switch
Merging Unit
Ethernet CommunicationsIEC61850-9.2LE
Conventional or NCIT Inputs
CT / VT module replaced by Ethernet Communication card
Time Synchronisation
- - P 19
IEC61850 – 9.2LE Process BusAdvantages / Disadvantages
• Advantages− Lower installation cost (less wiring)− Adoption of new technology transducers (better performance, size)− Data sharing− Supervision
• Disadvantages− Higher complexity system− Networks, network performance
- - P 20
Actual signal
Apparent signal
Sample points
Sampling element
Analogue Sampling Basics- Aliasing effects
- - P 21
10110111...
Dynamic Range, Quantisation Effects
Analogue Sampling Basics - 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
- - P 22
Analogue todigital
conversion
n samplesper cycle
I
V
Antialiasing
Digital filter
Antialiasing
I1 Mag, ØI2 Mag, Ø
Ix Mag, Ø
V1 Mag, Ø
Vy Mag, Ø
Processed Data
Signal filtering
- - P 23
Gain
1
0f0 2f0 3f0 4f0 5f0 6f0 7f0 8f0 9f0
Frequency
Alias of FundamentalH/W Low Pass Filter
Fourier Filter
Frequency Response of 1 Cycle Fourier Filter (8 Sample/Cycle)
- - P 24
Protective Relay DesignBinary Inputs
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
- - P 25
• Wetting currents
• Burden
• Isolation
• How many ?
• How fast ?
• Thermal dissipation
• Safety
Binary InputsConsiderations
- - P 26
− Multiple variants− Single voltage I/P− Simple / low cost− OK for Trip circuit
supervision applications
Binary 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 Processing Voltage
MeasurementorStatus + Settings
AUXPSU
PWM Measurement
Circuit
Active Measurement Binary Input Circuit
Constant Current Binary Input Circuit
Passive Binary Input Circuit
- - P 27
Protective Relay DesignBinary Outputs
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
- - P 28
• Contact rating
• Isolation
• How many ?
• How fast ?
• Thermal dissipation
• Safety
Binary OutputsConsiderations
- - P 29
− Op time ~10ms
Binary 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
- - P 30
Protective Relay DesignAdditional I/O
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
- - P 31
• Current Loop I/O
• Temperature Measurement (RTDs)
• Time Synchronization (IRIG-B)
• Protection Communications− Current Differential− Inter-tripping
Additional I/O
- - P 32
Protective Relay DesignUser Interface
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
- - P 33
User Interface
- - P 34
Protective Relay Design- Computing Unit
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
- - P 35
Computing Unit - Hardware
• Microprocessor(s)
• Memory− (Flash) EPROM− RAM−NV RAM
• Time synchronization
• Communications drivers
• Battery back-up
- - P 36
Protective Relay Design- Computing Unit
Analogue Inputs
Analogue to
Digital Conversion
Power Supply
BinaryOutputs
(Relays)
BinaryInputs
(Optos)
Signal Processing CommunicationsUser Interface
(HMI)Additional I/O
Interconnection Bus
- - P 37
• Control of analogue acquisition
• Process raw data in magnitude & phase
• Sample of plant binary 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
- - P 38
CommunicationsOperatingPlatform
ApplicationSoftware
B I O S
Hardware
Protective Relay Software Design
- - P 39
• 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
- - P 40
Computing UnitPerformance
2005
2000
1995
1990
1980MCGG
0.1 1 10 100
L Series
Px40
Px40+
Px20
K SeriesYea
r
Millions of Instructions per second (MIPS)
- - P 41
Computing UnitExample
• Microprocessor : 32 bit floating point75 MIPS
• Memory− (Flash) EPROM : 4 M bytes− RAM : 2 M bytes− NV RAM : 4 M bytes
• Software : >700 000 lines code
- - P 42
• Performance requirements− International IEC 60255, ANSI− National BS, DIN etc
• Mandatory requirements− CE marking (Europe)
• LVD
• EMC− UL (US, Canada)
Protective Relaying EquipmentProduct Certification
- - P 43
Numerical RelaysPhysical Structure
- - P 44
Additional Additional FeaturesFeatures
Numerical Relays
- - P 45
• Additional features found in numerical relays− Multiple functions in same relay− Fault location− Self diagnostics & commissioning tools− Programmable scheme logic / customization− Intelligent Communications− Fault recording− Re-configurable inputs and outputs− Monitoring and control of circuit breakers− Instrumentation
• Reliability, repeatability, ….
Numerical Relays - what are the benefits ?
- - P 46
FaultFaultLocationLocation
Numerical Relays
- - P 47
16% 3.8Ω16km10miles
Fault location
- - P 48
Self Diagnostics &Self Diagnostics &Commissioning ToolsCommissioning Tools
Numerical Relays
- - P 49
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
- - P 50
Programmability Programmability & Customisation& Customisation
Numerical Relays
- - P 51
User programmable scheme logic
Timers
Binary O/Ps
LEDs
Protectionelements
Fixed scheme
logic
Binary I/Ps
Control
&
&1
Gate Logic
Customisation :Programmable Scheme Logic
- - P 52
Trip
Trip
Binary I/P
Tripcoil
52a
52b
Circuit breaker
Trip Circuit Monitoring
Binary I/P
- - P 53
Trip Circuit Fail mapped to
Contact, LED and Alarm Indication
Trip Circuit Monitoring Using Programmable Scheme Logic
- - P 54
OffOff--line Analysisline Analysis
Numerical Relays
- - P 55
Prefault Postfault
Disturbance Records
•8 Analogue channels
•32 Binary I/O 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
- - P 56
A-GND Fault,Fault Inception
Trip Command
Disturbance analysis software
- - P 57
CommunicationsCommunications
Numerical Relays
- - P 58
Digital Control Systems
CourierModbusDNP3.0IEC60870-5-103. . .
Remote CommunicationsTraditional Solutions
- - P 59
Remote CommunicationsOverall substation Communications
Switch
Switch LAN or WAN
LAN or WAN
• Ethernet Communications− IEC61850− Tunnelling of traditional
communications (DNP3…)
- - P 60
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)
- - P 61
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)
- - P 62
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
- - P 63
Protection & Control EquipmentLooking Forward
• Requirements− Protection enhancements− Greater Integration (Protection, Control & Monitoring)− Digital Substation solutions− Programmability and customization− Off-line analysis− Communications− Security− Expert systems / Smart Grids
• Implementation− More processing power− Higher sampling / multiple sampling− More I/O− Increased communications capabilities
- - P 64
Self Diagnostics& Commissioning
Tools
Instrumentation
Communications
Bay Monitoring& Control
ComprehensiveProtection
FaultAnalysis Tools
Programmability& Customization
Modern Numeric ProtectionBenefits Summary
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