3558

IEEE Transactions on Power Apparatus and Systems, Vol. PAS-104, No. 12, December 1985

A Dynamic State Space Model of

Z. Peng Student Member

MHO Distance RelaV

T. S. Ning Member Southern California Edison Company Rosemead, California

M. S. Li

C. Y. Wu

Member Department of Electrical Engineering UniversitV of Southern California Los Angeles, California

T. C. Cheng Senior Member

Abstract
Traditional relay analysis is based on steady-state concepts, while the performance of a relay depends greatly on system transient. To deal with the relay transient characteristics, a relay modeling technique is developed and presented in this paper. As an example, a ninth-order mathematical model of the electromechanical Mho distance relay has been constructed using state space approach and validated by digital simulation. A key point of the model, derivation of the no 'linear electromagnetic torque, is described in detail. Since the model is capable of accepting inputs with arbitrary waveforms from PT and CT in computing its transient
response, a set of truly dynamic characteristics of the relay was obtained. Combining the relay model with well-developed

be accurate enough. For these reasons, a more precise method to analyze the transient behavior of relays has become a necessity.
It is understandable that the precise transient analysis of relay was neither necessary nor possible during the early years since the relay speed was rather low and a high-order differential equation could not be easily solved. With a more sophisticated computer, however, it is possible to manipulate a high-order and even nonlinear system very fast, thus making the transient analysis of relays possible
TRIP
CONTACT
TR

PT and CT mathematical models, the transient behavior of relays during a system contingency can be precisely predicted.

RTR
ING

CYLINDER

POlAi

ZING

<COIL

Roc

Introduction
To predict and evaluate the performance of protection relays in electric power systems, two traditional methods have been adopted. One is the theoretical analVsis based on phase diagrams. The other is physical experiment carried out on system analogue models. For general analysis, both of these methods are successful in practical applications.

t o 0 -4-m AutOTRANSPORMER
PT
"

Figure 1: Schematic Connections of Relay

Typical Mho Distance

power

However, due to a rapid development of modern electric systems, the sVstem responses to various fault conditions become increasingly complicated. The operations of the existing relays have to be re-evaluated with the
consideration on the dynamic characteristics of

,additional

these relays to ensure reliable protection. The two methods mentioned above are insufficient for this purpose. In the theoretical analysis, some "dynamic characteristics" [11, [21 dealing with transient behavior of relays are used. But these characteristics are derived from the phasor concept, which, is valid only during steady state, and therefore, they are not generally applicable to transient analysis. On the other hand, the experimental method also has some limitations. For example, a long time constant cannot be easily duplicated in ordinary laboratory conditions and the results obtained will not
A paper recommended and approved 85 WM 129-4 by the IEEE Power System Relaying Committee of the IEEE Power Engineering Society for presentation at the IEEE/PES 1985 Winter Meeting, New York, New York, February 3 - 8, 1985. Manuscript submitted February 2, 1984; made available for printing November 19, 1984.

A mathematical model of an electromechanical Mho distance relay is presented in this paper since there has been very limited work done on its modeling. A schematic diagram of a typical Mho distance relay [3] is shown in Fig. 1. The relay has two coils: a polarizing coil and an operating coil (Some types of Mho relays have three coils.) The polarizing coil is connected to a potential transformer through a memory circuit consisting of a variable inductor Lp1 and a capacitor C p. The operating coil is connected to a current transformer through a transactor TR (a special transformer for impedance setting). There is also an autotransformer, from which comes a restraint, component exerted on the operating coil. The electromagnetic torque is developed by the interaction of currents through the two coils. If the torque is of the correct direction, magnitude and duration, the relay will trip.
ix

z
se

/R
Figure 2: Steady-State Characteristic of the Relay

0018-9510/85/1200-3558$01.00(1985 IEE'

3559

The steady state impedance characteristic of the relay is shown in Fig. 2. The magnitude of the impedance setting, Zset can be adjusted by a potentiometer RTR or the taps of transactor TR and autotransformer AT. The first two are used during tests for coarse and fine adjustments, respectively, and the last one is used during normal operation. The angle of maximum torque, a, can be adjusted by the varipble inductor

i. M H,

8trip

% tI s _ _ t 8 _ _I S 1 _ f ttfisplacement uu
0 \ ; I

ia

,~~ -a

~~~~~~~~Torque I,~
i#Fault

Relay Modeling
Traditionally, transfer functions have been widely adopted in mathematical modeling. However, they cannot handle nonzero initial conditions. Therefore, this relay modeling is based on a state space approach, which can easily handle non-zero initial conditions and give a more detailed representation of the system.
A block diagram of the model is shown in Fig. 3. The relay has two inputs form PT and CT and only one logical output, trip or non-trip. To eliminate the dead zone during a close-in fault, a memory circuit is inserted into the polarizing circuit. The impedance setting is made in the operating circuit. Electromagnetic torque is then developed and tends to rotate the cylinder. Once the angular displacement of cylinder reaches a preset level, the contacts will close and give a trip signal.
PT

~~
I

VPT- 50/60'v.

I,
. .

Current

ICT- 20/
20

a. without transient

t(ma)
60
80

4L0

100

Figure 4: Instantaneous Electromagnetic Torque and Angular Displacement of Cylinder, Produced by the Relay Model (Without dc offset in the fault current input)
normal condition. Furthermore, the torque cannot change instantaneously because the currents in the polarizing coil and operating coil cannot change instantly. The figure also shows that the angular displacement of the cylinder remains equal to zero until the torque becomes positive. Once the angular displacement reaches its limit eT, the relay trips.
i, M. 8
.

trip
MEMOP.Y
CIRCU IT TORQUE 20 A

.. .. trip .p.L.V

. ..

..

&.IS .8 Dsplacemnent Allsular ~~~~~~~A

_CYLINDER

LEVEL
DETECTOR

_llI TRI P
', 'i,'

~DEVELO0PMENiT
SETTINlG
CT

DYNAMICS

,S

S, Fault
a. with maxilmum transient

0.002 N*M
. ~

PT

"20L9 ~~~~~ ~ICT

40

CIRCU/IT
0

(mg)
100

20

60

80

Figure 3: Block Diagram of the Mho Distance Relay By means of the graph theory (4], the derivation of the state space model (5] of the relay is straightforward, with the exception of the torque development, which is rather involved due to its nonlinear nature. (See Appendix 1.)

Figure 5: Instantaneous Electromagnetic Torque and Angular Displacement of Cylinder, Produced by the Relay Model (With Maximum dc offset in the fault current input)
The fault current shown in Fig. 4 is sinusoidal. This is true only if the phase angle of fault current is equal to zero. In general, fault current contains a damping dc component. An -extreme case with maximum transient current is shown in Fig. 5. The fault current is nonsinusoidal, even nonperiodical. Under such transient conditions, the response time of the relay is shorter.

[9l3 [g 1 L (9x3X1 (3X J

M

The ninth order state space model of the Mho distance relay has been constructed as shown below.

Y=

1 (Trip)

>x Xg

et

0 (Non-trip)

otherwise

Model Validation
A state space model of the relay was constructed in the previous section. However, it must be verified that the performance of the model agrees with that of the relay.

The entries of each matrix are given in Appendix 2.

With the model, a digital simulation can be easily performed. Initially, the prefault voltage, current, and the corresponding phase angles, as well as the data taken from the fault voltage and the fault current waveforms, are fed into the system. The program calculates the initial condition for each state variable according to the prefault information given. Then the 6th Runge-Kutta method with error detection is used to solve the matrix differential equations. A typical response to a 3-phase to ground fault is given in Fig. 4. The initial torque is negative, which is always the case since the relay should not trip during

Using typical parameter values measured on some commercially available electromagnetic Mho distance relays (see Appendix 2), the verification procedure can be divided into four steps. At first, the model must be valid during steady state operations. Secondly, the model must respond properly to various fault conditions. Based on these basic operations, ;the dynamic characteristics of the relay should be obtained. Finally, the adjustment of the relay characteristics should also

3560

be accomplished by changing the corresponding parameters of the relay model.

M, 8

Prefault Steady State Condition

jox
0

AngularDisplacement
Torque

Following the convention used in relay anaIysis, the prefault current is set to zero. There is only a restraint current from the PT going through the operating coil and the torque is a negative constant as implied by expression (A1.1) in Appendix
1.
.i, M, 8~
3

0.001 N*M
VPT
0.002 N*M

50/

v.

ICT

- 20 A62a. with transient

t (Ms)

-- '

s Current %
I

Polarizing
0 20

I%
0 AtngnlAr Disnlarement. ,

40

60

80

100

Figure 8: Relay Model Response to a Critical Fault

V ' 120 M9v.

0.1 A

"

CT '-Os.Torque
t (ms)

0.002 N*M

characteristics. The simulation results shown in Fig. 9 present well-known relay characteristics indicating that for identical input from PT, the operating time of a relay decreases when fault current increases. A family of such curves is reproduced for various fault impedances.
t

(ms)

10

15

20

25

l',
;
VPT ' IVI /MYv.
.C *

Figure 6: Steady State Responses of the Relay Model

60

Figure 6 shows the results obtained by both steady state analysis using a phasor diagram anal transient analysis using the state space model. The results are identical.

l /).a. with transient

40

-851
f
set

Various Fault Conditions

The response of a relay to a fault depends on the fault impedance seen by the relay. For three typical fault locations at the maximum torque angle (Fig. 2), the digital simulation vielded three distinct responses. During a forward fault within the tripping circle (Point F, Fig. 2), the relay developed a positive torque with enough magnitude to cause the relay to trip (Fig. 5). During a reverse fault outside the tripping circle (Point R, Fig. 2), the torque produced remained negative as shown in Fig. 7, and tripping did not occur. In a critical case, if the fault impedance was close to the relay setting (Point C, Fig. 2), even though a positive torque was developed and some angular displacement was made with the cylinder, the relay did not trip owing to insufficient magnitude or duration of the torque (Fig. 8).
3.~~~~~~~~~~~~~~~..

20 0 0 20

lZ

zf/ -e'502
e
60

_j~~~~~0
40

80

(A)

Figure 9: Operating Time Curves of the Relay Model

In relation to the operating time curves, the dynamic reach curve is shown in Fig. 10. This is accomplished by keeping the input from CT constant and varying the fault impedance. The

simulation result shows that the dynamic characteristic of the relay can eliminate the dead-zone during close-in fault conditions.

Angular
0.001 N*M
/

Displacement
Torque

0.002 V*M

YPT~~~ vPT - 50/3v. ICT - wlth 209Qsa. maxisum transient

0-(v

(ms)
100

20

40

60

80

Figure 10: Dynamic Reach Curve of the Relay Model

Figure 7: Relay Model Response to a Reverse Fault

Dynamic Characteristics
In addition to the relay responses to specific fault conditions, the model can also yield general relay performance

Z,0, beyond which the relay will

Figure 10 also reveals that there is a critical fault impedance not trip. By connecting all the ZO's of different phase angles, a dynamic tripping characteristic as shown in Fig. 11 can be obtained. The characteristic deviates from the steady state tripping circle. mainly in a region near the origin.

3561
(b) Fine tuning of the impedance setting can be made by adjusting the potentiometer RTR. The results are shown in Fig. 14, where one can see that the maximum torque angle also has changed slightly. (All the other plots in this paper are obtained with t 0.5).
=

-10 a.

Figure 11: Dynamic Tripping Characteristics of the Relay Model

Impedance Setting Impedance setting of a relay is the art of adjusting the and direction of the tripping circle. This can be done with With the relay model, all of adjustable devices. adjustments can be correctly performed by changing corresponding parameters.
size four the the

Figure 14: Fine Tuning of the Impedance Setting

The maximum torque angle can be changed by adjusting as shown in Fig. 12.

Lpl

jx

(c) Resetting of the impedance setting in operation can be done by changing the tap of the autotransformer. For this purpose, the autotransformer should also be included in the model, which would make the model's order higher. One of the goals of mathematical modeling, however, is to describe the dynamic behavior of a system with high accuracy and low order. Therefore, by reducing its order, a model should be simplified without significant loss of accuracy. According to the simulation result shown in Fig. 15, the simplification considering the autotransformer as an ideal voltage divider is In fact, the autotransformer possesses large acceptable. Although its current cannot change inductance. instantaneously during a transient, the voltage across the autotransformer can. Therefore, this simplification is justified both theoretically and experimentally.

jix

Figure 12: Adjustment of the Maximum Torque Angle As for the magnitude of the impedance setting, it can be changed by one of three methods described below.

(a) Coarse setting is done by choosing the correct tap for the transactor. The result is shown in Fig. 13. (All the other plots in this paper are obtained using the 3.0Q tap.)

jX 8
TAP=3. 0

\ IC

10 a.

Conclusions
1. A mathematical model of the Mho distance relay has been Since the model can accept arbitrary inputs from PT and CT, it may be combined

basically constructed and validated.

Figure 13: Coarse Setting of the Relay Model

with the mathematical models of PT and CT, which are well ,developed [61, [7], [81, [91, to give the transient response to inputs from a primary system. In turn, the effect of relay characteristics on the primary system can be evaluated. This will eliminate the error caused by using the steady state concept to deal with a transient process.

3562
2. Traditional 'dynamic characteristic" of the relay is based on a phasor diagram. It is supposed to be valid for t = 0 although there is no real relaV that can operate instantaneously. A true dynamic characteristic of the relay can now be obtained with the model presented here. Therefore, the relay analysis is based entirely on the instantaneous values of the variables involved, thus becoming a general transient analysis method.
3. The relay model and its digital simulation may be able to replace most of the relay experiments with rapidity, correctness, and convenience. The relay model presented in this papers Is only an example of the relay modeling technique.

Further work will deal with some other types of relays, both electromechanical and static. The modeling technique may be conibined with computer aided design technique (CAD) to optimize static relay design and improve relay performance.

Acknowledgement
The authors wish to express their thanks to the Southern California Edison Company for their support of this project.
Figure A1.1: Torque development of the relay.

surface such that

Appendix 1: Derivation of the Torque Development

In the steady state, the output torque of relay is [101
M = KlIl2sin(

B(O,t)
or

B(t) cos 8 (from the viewpoint of the cylinder coils)

(A1.4)
(A 1.5)

(Al.1)

B(O,t) = B(t)fcos 01 (from the viewpoint of the external field)

where K is a constant for a given relay and depends on the geometrical dimensions of the relay.
4 is the phase angle difference between i1= 211sinwt, the current through the polarizing coil and i2= 212sin(wt - ), the current through the operating coil.,

Let J, be the induction current density on the cylinder surface which is perpendicular to the paper. Since J1(00,t) = 0 < and J1(900,t) = Jlm(t), its maximum; in addition, J1(00< c 1800, t) is always in the opposite direction to J1(1800 < S < 3600,t), it can be also assumed that

Since i1 and 12 generally are not sinusoidal during the transient, formula (All) is -not valid and a formula for calculating the instantaneous torque of the relay is needed.
The electromagnetic torque is developed by the interaction between the magnetic flux density B at the air gaps and the induction current ir in the cylinder wall of the relay. It can be found by integration of [111
M
=

Jl(O,t) = Jim(t)sinG
Jim(t) can
2h

(At.6)

be found by solving the followNing equation.

02

dJ1

dt

+ 2p

(Q+2r) J1

Im

oh1 Oi1
dt

(A 1. 7)

JirdSxB

(A1.2)

Moreover, B and ir can be decomposed into B1, B2, and induced by i1 and i2, respectively. Therefore,
m
=
=

ir',

ir2'

The meaning of each parameter is listed in Appendix 2. This is a first-order differential equation with respect to JIM Once i, is given, Jlm can generally be found by numerical methods, then irl can be determined. In order to computer M11, it is also necessary to find B1
B1 =

(i+Ir2)dS
+

(B+

82)

i1dSxB1
+

jidS
M21

x B2 +

ji,2ds

x 81 +

jir2dgxB2
(A1.3)

Blex - Br1

(A1.8)
it is

=M11

M12

M22

where Brl is the induction flux density produced by itl. always in the opposite direction to Blex (see Fig. A1.2).

The torque consider M1l the magnetic the induction shown in the

is decomposed into four components. First, Referring to Fig. A1.1, when i, is increasing, Biex' flux density produced by i1 is also increasing and currents in the cylinder wall are in the directions figure.

It can be shown that B

=

B11cosOI
Biexm
-

(A1.9)

where B1 =

Trp 0rT Jrt0 m

2h

(Al.10)

To find these induction currents, assume that the magnetic flux density has a sinusoidal distribution along the cylinder

Having found both

irl

and B, M11 can be obtained by

3563
B2ex
t3

M12
=

f(2ri)B2 sin2G(JimTRsinEdO) f
Tr2iJImB22
(A1.17)

8/3

lex

This result can be visualized with the aid of Fig. A1.2, where torques M'2 and M'3, produced by coils 22' and 33' respectively, are in the same direction.

Similarly,

M21
Induction currents are in the directions when B
is increasing.

- -8/3 Tr22m1B

(A 1.18)

The minus sign above can be deduced by comparing M12 and M21 as shown in Fig. A1.2.
All the four components of torque have now been found. Summing them up, a formula for calculating the instantaneous torque of the relay can be obtained as below.
M =

81ar2T

Blex

i)

21 '2

B lex

3h -(ilmN2i2

J2mN1i )

(A1 .19)

where Jkm(k 1,2) are determined by solving the following differential equations,
ir ITr29, 0 dJ

Induction

currents are in the directions when

B2ea is increasing.

Figure A1.2: Torque Components M12 and M21

2h

dt

- +

2p(Q9+2r)jk

2r9.p 0
h

Nk

di k dt

(k = 1,2)

(Al .20)

M11 =

J'irdS x B1

(Al.Il)
Appendix 2: Relay Model
In order to construct a state space model of the relay, a detailed configuration as shown in Fig. A2.1 was used. The transactor is represented by a typical transformer equivalent circuit. The potentiometer RTR is split into two parts with their sum equal to RTR. The tap of the transactor can be changed by assigning different values to the parameters with the equivalent circuit of the transactor. The tap of the automtransformer is temporarily fixed at 100% for simplicity. A discussion about using another tap setting can be found in section "Impedance Setting' of this paper.

where dS is in the normal direction of the area formed by the fictitious coil as shown in Fig. Al.l. Since

i= JTrdO - J mTrsinOd9,
substitute (A1.12) and (A1.9) into (Al.11),
M

(A1.12)
0

fJ(2r2,)(B11Jcos OI)sin(0+900)(JimTrsin8d6)

(A1 .13)

This result is just as expected. In fact, referring to Fig. Al.2 by the right hand rule, the torques M2 and M3 produced by the two symmetrical coil 22' and 33' cancel each other. As a rule, only one source can never develop torque.

Similarly,

M,22

(Al1.14)
Figure A2.1. Detailed Diagram of the Relay

As for M12, according to (A1.9), the magnetic flux density by the operating coil is
B2
=

B22sinO

(A 1. 15)

Based on the figure, a ninth order state space model has been constructed as shown below.

where
B22
-

B2exm

(rTrpo/2h)J2m

(A1.16)

k9xi)]

[(9x9)]
1 (Trip)

[(9x1)]
x8

[(9x3)]

[(3x1)

Therefore,

y=

0 (Non-trip)

otherwise

3564
where the column vectors are
x

xl current through the secondary of the transactor current through the operating coil x3 voltage across the operating coil x4 voltage across the capacitor in the memory circuit X current through the pofarizing coil x maximum density of induced current by the polarizing coil x7 maximum density of induced current by the operating coil x8 angular displacement of the cylinder (X8>0) x9 angular velocity of the cylinder u1 input voltage from PT u2 di/dt, where i is the input current from CT
. usu3 81i r

L R C0 Roc

Px tap

RTR
t

RR2 LrR2 LTR Ks J p

of the autotransformer inductance of the operating coil, 2.5h resistance of the operating coil, 214.1Q capacitor in the operating circuit, 2iif restraint resistor, 700Q potentiometer, 7500 ratio of the potentiometer secondary resistance of the transactor, 82.80 secondary leakage inductance of the transactor, 1.5h excitation inductance of the transactor, 1.5h elastic coefficient of the spring, 2.829x10k5gm moment of inertia of the cylinder, 4.226x106kgm2 resistivity of the cylinder material, 107Qm

the electromagnetic torque (see derivation in Appendix 1).

T9(N

x x -N x x7)3

References
1. S. B. Wilkinson and C. A. Mathews, "Dynamic characteristics of Mho distance relays', Western. Protective Relay Conference, Oct. 16-18, 1978.

where

Np

i'o permeability of air, 4rxlO-7h/m number of turns of the polarizing coil, 9000 N number of turns of the operating coil, 4000 h total length of the air gaps, 2mm (See Fig. A1l1 in the Appeiidix 1) 9, length of the cylinder, 35mm r radius of the cylinder, 14mm T thickness of the cylinder wall, Imm

2. P. S. Hong, "Transient characteristics of Mho relay and suggestions for construction of polarizing circuit", Proceeding of 1979 Conference on Relays and Protection Systems, Chinese Institute of Electrical Engineering,
China.

itself, i.e., its geometrical, electrical, and mechanical parameters. Therefore, the model is a stationary system. The non-zero entries of the matrices are listed as follows.
11

[A] and [B]

are constant matrices and

depend

on the

relay

3. General Electric Instruction Bulletin (GEK-1275F), 'Mho distance relay, Type CEY51A".
4. R. W. Newcomb, Network Analysis and Synthesis, :Prentice-Hall, 1973.

a22

a31
a

=RO/L0 a23= 1lL0

k /C

a13

k2[1

k2=

t)RTR+K IROCRTR] 2kzRTR2+( = ;Roc+(1t)RTRE

[LTR+LTR2]1
oc

.5. W. L. Brogan, Modern Publishers, Inc., 1974.

Control

Theory,

Quantum

a32

_ktRTR/CO =1/C0
l/
p

6. A. Sweetana, "Transient response characteristics of capacitiv-e potential devices", T-PAS Vol. 90, pp. 1988-2001, 1971.
7. G. A. Gertsch, "Capacitive voltage transformers and their operation in conjunction with system protection relays", CIGRE 1960 paper No. 318.

a54 -

845

865 = 64 a66 = -4ph(+2r)/pO4k r2TR, a72 = -4N Rh/TrTL0 = 66 a a77 -a

a5= (Rp+R 1)a54 a64 = i4N rT(L +Lp1)

8. G. C. Kothari, et al., "Digital transient analysis of power systems and transclucers for relay analysis", C73 349-8, IEEE PES Summer Meeting, 1973. 9. F. Rowbottom, et al., OA digital model of a current transformer-distance relay combination", The Institution of Engineers, Australia, Vol. EE-12, No. 1, 1976.

a73 =-72
1
a 98

0O

a89

KS /i

B11
B B

B31

.12

K2LTR KiPx/Co =-a -1 /J4-

Pxa 3

Systems, China 1980.

10. Tientsin University, Protection Relaying of Power Electromagnetics,

11. W. H. HIayt, Jr., Engineerinq McGraw-Hill Book Company, 1974.

The meaning and value of each parameter are given below.

L R C L R

inductance of the polarizing coil, 6h resistance of the polarizing coil, 665.4Q capacitor in the polarizing circuit, 0.75uif variable inductor in the polarizing circuit, 4h of the variable induCtor, 269.7SI resistance pl~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~