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A DC Fault Protection Scheme for MMC-HVDC
Grids Using New Directional Criterion
Xiuyong Yu, Liye Xiao
Abstract—To meet the ultra-fast, selective, and reliable
requirements of the DC fault protection, a protection scheme for
modular multilevel converter based HVDC grids is proposed in this
paper. The protection scheme is consisted of main protection,
directional pilot protection, and faulty pole identification. The new
fault directional criterion is achieved by employing the surge
arriving time difference of line-mode backward traveling wave and
line-mode forward traveling wave. This criterion is valid even when
the fault current limiting reactors(FCLRs) are installed at the
converter side of DC bus. The main protection without
communication and complex computation relies on co-operation of
the derivative of line-mode forward traveling wave and the
directional criterion. The directional pilot protection by comparing
the double end directional criteria can be used as a backup
protection. The accumulation of zero-mode component is adopted
to discriminate the faulty pole. Simulations have demonstrated that
the proposed scheme is capable of identifying various types of faults
with different fault resistances at different positions. The
robustness analysis shows that the protection scheme presented is
not sensitive to the FCLR size, noise environment, sampling
frequency, and the operation of hybrid DC circuit breakers.
Index Terms—DC fault protection scheme, fault analysis, fault
directional criterion, modular multilevel converter base HVDC
(MMC-HVDC), faulty pole identification
I. INTRODUCTION
B enefiting from the development of power semiconductor
devices, the modular multilevel converter based high
voltage direct current transmission(MMC-HVDC) has been a
competitive candidate to large-scale integrate fluctuating
renewable energy sources, but it still faces great challenges
regard to maintaining non-blocking operation under DC fault
conditions[1-2]. Due to the rapid rise of DC fault current and
weaker overcurrent ability of converters, it is desirable to use
high-power DC circuit breakers(DCCB) to isolate the fault
lines within a few milliseconds[3]. According to [4, 5], the
four-terminal Zhangbei ±500kV MMC-HVDC project under
development in China is required to detect DC faults within
3ms. Hence it is crucial to have an ultra-fast, selective, and
reliable DC fault protection scheme, so that there is time to
open the DCCB before its capacity is breached.
This work was supported by Key Program of the Chinese Academy of
Sciences (QYZDJ-SSW-JSC025) and in part by the National Natural Science
Foundation of China (51721005).
X. Yu and L. Xiao are with the Key Laboratory of Applied
Superconductivity, Institute of Electrical Engineering, Chinese Academy of
Sciences, Beijing, 100190, China, and also with the University of Chinese
Academy of Sciences (UCAS), Beijing, 100049, China (e-mail:
yuxiuyong15@mail.iee.ac.cn, xiao@mail.iee.ac.cn).
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1
Traditional methods, such as over-current protection,
distance protection, and current differential protection, are
difficult to meet the special requirements of MMC-HVDC for
protection selectivity and operation speed[6]. As a result, it is
urgent to explore new fast fault identification methods. At
present, the fault protection technology of two-terminal line
commutated converter based high voltage direct current
transmission(LCC-HVDC) is more mature[7-9]. The line
protection boundary composed of DC filter and flat-wave
reactor has the performance of attenuating specific harmonic
and high-frequency transient components, which is utilized in
the design of protection scheme[7]. In addition, it has a high
reference value for the design of fast fault identification scheme
for MMC-HVDC.
Thanks to the fault current limiting reactors(FCLRs) that can
be installed at the ends of each line, the discriminations
between the faulty line and the sound lines are more obvious.
Therefore, extensive researches on non-communication base
protection scheme have carried out in MMC-HVDC. Owing to
the smoothness characteristic of FCLR, reference [10] and [11]
adopt the rate of change of voltage(ROCOV) to design the fast
DC fault protection scheme. The value of ROCOV in line side
of the faulty line is larger than the sound lines. In order to
improve the ability of fault discrimination, reference [12] and
[13] measure the ROCOV through the FCLR and use its
polarity to locate the faulty line. The polarity of the faulty line
is contrary to the sound lines at the same DC bus. However, the
polarity may be affected by the subsequent refraction and
reflection of traveling waves. Reference [14] proposes a way to
determine the direction of a fault by comparing the ROCOV
values at either side of the FCLR while it needs intra-station
communication. Due to the attenuation characteristics of
high-frequency transient components, references [4, 15, 16]
propose a fault identification method based on the difference of
square of transient voltages to identify the faulty line and
extract the high-frequency transient components by wavelet
transform. Reference[17] proposes a protection scheme by
calculating the ratio of the transient voltages(ROTV) at both
sides of the FCLR. Those methods are effective, but it may not
detect high resistance faults, as the high-frequency components
decay very fast for large fault resistances.
From the above literatures review, it can be found that almost
all fault protection schemes are based on the characteristics of
FCLR. However, if the FCLR is shared by multiple adjacent
transmission lines in the same DC bus, there will be no
protection boundary to divide the faulty line and the sound lines.
Reference [18] proposes a scheme by co-operation of the
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Bus3 Bus4
M M Isolation Fast-mechanical
R34 Line34 R43
M M switch disconnector Auxiliary DC breaker
205.1km
C R32 R41 C
Kangbo Fenning
Hybird DCCB
Line23 Line14 Arrester 1 Arrester 2
FCLR 49.3km Main DC breaker 1 Main DC breaker 2
186.7km
F2
Measuring point
Fig. 2. Structure of the hybrid DCCB.
Bus2 Bus1
M R23 R14 M Table 1 Main parameters of the stations in Zhangbei test system
Line12 Stations
M R21 206.6km R12
M Parameters
Beijing Zhangbei Kangbo Fenning
C C F4 SM capacitance (mF) 10 10 15 15
Zhangbei F1 Beijing Number of SM 228 228 312 312
F3 F5
Arm reactor (mH) 150 150 100 100
Fig. 1. Configuration of Zhangbei MMC-HVDC. Leakage reactance (%) 15 15 15 15
Transformer ratio (kV/kV) 525/260 230/260 230/260 525/260
single-end directional start-up criterion and the surge arriving AC short circuit level (kA) 16.2 18.1 18.6 23.9
Capacity (MW) 3 000 3 000 1 500 1 500
time difference(SATD) between the zero-mode and line-mode
traveling wave, but it can only identify pole to ground faults.
This paper proposes a DC fault protection scheme consisted is shown in Fig. 2[3]. During normal operation, the current will
of main protection, directional pilot protection and faulty pole only flow through the bypass which is formed by an auxiliary
identification. The remainder of the paper is organized as DC breaker in series with a fast-mechanical disconnector.
follows. Section II depicts the topology and parameters of the When a DC line fault has been identified, the auxiliary DC
simulation system. Section III analyzes the propagation breaker immediately commutates the current to the main DC
property of the transient traveling waves at inductive terminal. breaker and the fast-mechanical disconnector opens[3]. After
Section IV proposes the protection scheme and discusses the 3ms delay, the main DC breakers are turned off. The rated
protection setting for the case study. Section V validates the voltage of arresters 1 and arrester 2 are 220kV and 200kV
proposed protection scheme for multiple scenarios by respectively in the simulation model.
simulations. Section VI analyzes the robustness of the proposed
protection scheme and Section VII gives the concluding III. TRANSIENT TRAVELING WAVES ANALYSIS
remarks. A. Initial Voltages at Fault Point
To design the fast dc-line protection scheme, it is requisite to
II. SIMULATION SYSTEM
analyze the MMC-HVDC system operating under fault
A four-terminal overhead line ±500kV MMC-HVDC grid conditions. In bipolar system, both of the voltages of the faulty
for renewable energy sources integration and transmission will and healthy pole suffer from large fluctuation during pole to
be constructed around 2019 in China[5]. The technical route of ground (PTG) faults. To decouple the electrical quantities of
"half bridge sub-module MMC plus large capacity hybrid DC the poles, the method of phase-modal transformation provides
circuit breaker" is adopted in this demonstration project. such a function. Therefore, the pole voltages can be resolved
Zhangbei MMC-HVDC grid is a bipolar and ring-connection into zero-mode component and line-mode component. The
configuration. Overhead transmission line is chosen for the decoupling matrix Q is[9]:
relative low cost and the high technology matureness, and it 1 1 1 
adopts the metallic return scheme[19]. Q=   (1)
Fig. 1 gives a schematic diagram of the monopole structure 2 1 −1
of Zhangbei MMC-HVDC grid. The four stations are Beijing, In bipolar MMC-HVDC system, the initial values of the
Zhangbei, Kangbo and Fenning respectively. The fixed DC traveling wave at the fault point are not exceptional with the
voltage control is adopted at the Beijing station which is the traditional LCC-HVDC system. In addition, it has been
relaxed node of the whole DC grid, and the other stations are thoroughly analyzed based on the superposition principle[9].
fixed active power control. In order to suppress the rapidly rise 1) PTG faults: using positive pole to ground (P-PTG) fault as
of DC fault current, it is necessary to install FCLRs on both an example, the change of zero-mode component and
sides of the lines. In Fig. 1, the FCLR in line23 is 300mH and line-mode component at the fault point can be expressed as:
the other lines are 200mH, F1-5 indicate faults occurring in  − 2U N  Z c 0
different areas and R(1-4)(1-4) are the signal measuring points in  u f 0 =
 Z c 0 + Z c1 + 2 Rg
different protection areas respectively.
 (2)
The main parameters of each converter station are shown in  − 2U N  Z c1
Table 1[19]. In this paper, a simulation model based on u fP1 = Z + Z + 2 R
Zhangbei MMC-HVDC grid is built in PSCAD/EMTDC. The  c0 c1 g

hybrid DCCBs proposed by ABB are installed at the ends of Where UN is the rated voltage of the MMC-HVDC system,
each line as shown in Fig. 1. The structure of the hybrid DCCB Zc1 and Zc0 is the line-mode and zero-mode surge impedance of

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the transmission lines respectively. Zc1=Zs-Zm and Zc0=Zs+Zm,

where Zs and Zm are the self-impedance and mutual impedance bus1
Beijing u f ,1 Ldc
of the transmission lines[9], Rg is the fault resistance. It Z c1
indicates from (2) that the initial value of zero-mode Ldc R14
Leq DCCB ub ,1
component is negative after P-PTG faults, while it is positive ubus ,1
after negative pole to ground (N-PTG) faults. ub1 u fP1
Req
2) Pole to pole (PTP) faults: Similar to the analysis of PTG Z c1 Z c1
DCCB Ldc R12
faults, the change of initial voltages at fault point after PTP Ceq
uf1
fault are given as follows:
Z con1
 u f 0 = 0

 2 2U N  Z c1 (3) Fig. 3. The fault net of line-mode component
u fP1 = − R + 2Z
 g c1
2u fP1  Z con1 −
t -1

It can be concluded from (3) that the change of zero-mode ubus ,1 (t ) = (1 − e T1

) (7)
Z c1 + Z con1
component is approximate zero after PTP faults.
Furthermore, part of the traveling wave propagates into the
B. Transient Traveling waves at Inductive Termination sound line that is connected to the same DC bus, where the
The initial zero and line-mode component superimposed on line-mode voltage measured by R14 can be expressed as:
the modal transmission lines at the fault point move away from Z c1
that point in both directions[9]. The wave impedance is u f ,1 =  ubus ,1 (8)
Z c1 + sLdc
discontinuity for the FCLR at the faulty line termination where
traveling wave is partly reflected back to the fault point and It is obvious from (8) that it only contains the forward
partly transmitted to the rest of the grid. Taking the line-mode traveling (uf,1) after the initial traveling wave arriving at R14.
component traveling wave as an example, and it can be The backward traveling (ub,1) can be measured with fixed time
depicted in Fig. 3. In Fig. 3, the Leq, Req, and Ceq are the delay (td) after reflecting by another line terminal reactor, and
equivalent impedance of the MMC[20], Zcon1 is the equivalent the delay time can be written as:
line-mode impedance of the system seen at bus side of FCLR. 2l
td = (9)
According to the Peterson rule[5], the voltage source is two v1
times of the transmitted voltage waves from fault point in Where l is the line length of the sound line, and v1 is the
Peterson equivalent circuit. Then, ignoring the attenuation of propagation velocity of line-mode component.
the traveling wave, it can be solved that the initial line-mode Using similar approaches, the zero-mode backward traveling
voltage at R12 is (in Laplace domain): wave (ub0) and zero-mode forward traveling wave (uf0) at R12
Z con1 + sLdc -Z c1 can be expressed as:
uline,1 = H  u fP1 (1 + )
Z c1 + Z con1 + sLdc (4) ub0 (t ) = u f 0   (t −  0 ) (10)
=H  u fP1 (1 + 1 ) and
t - 0
Where △ufP1 is the line-mode component as shown in (2)-(3); Z − Zc0 2Z c 0 −

Г1 is the reflection coefficient; H represents the time delay of u f 0 (t ) = u f 0 ( con 0 + e T0 ) (t −  0 ) (11)

wave propagation from fault point, determined by line
parameters and line length. uline,1 contains two parts, and it is the
sum of line-mode backward traveling wave (ub1) and forward
traveling wave (uf1). uf1 is the reflected part by the FCLR.
According to (4) and transferring it to time domain, ub1 and uf1
can be expressed as follows:
ub1 (t ) = u fP1   (t − 1 ) (5)
and
t -1
Z − Z c1 2Z c1 − traveling wave is detected with a fixed time delay after the
u f 1 (t ) = u fP1  ( con1 + e T1 )   (t − 1 ) (6)
Z con1 + Z c1 Z con1 + Z c1
Where ε(t) is a step input, τ1 is the time of line-mode
component traveling from the fault point to the line terminal,
T1=Ldc/(ZC1+Zcon1) is the damping time constants of the
line-mode forward traveling wave. According to Fig. 3, the
refraction part propagates into the DC bus, and thus causes the
discharge of sub-module capacitors (Ceq). The change of
line-mode voltage at DC bus is as in (7)(in time domain)
Z con 0 + Z c 0 Z con 0 + Z c 0
where Zcon0 is the equivalent zero-mode impedance of the
system seen at bus side of FCLR. τ0 is the time of zero-mode
component traveling from the fault point to the line terminal,
and T0=Ldc/(ZC0+Zcon0) is the damping time constants of the
zero-mode forward traveling wave.
According to (5)-(6) and (10)-(11), it is not hard to find that
the backward traveling wave and the forward traveling wave
are detected at the same time at R12. However, the backward
forward traveling arriving at R14.
In order to validate the above deduction, a fault(F1) in Fig. 1
system is simulated. The zero-mode component and line-mode
component are obtained in R12. It shows that the surge arriving
times of the backward and forward traveling wave are almost
the same. Moreover, the amplitudes of mutation are pretty close.
The difference between the forward and backward traveling
wave is the change rule by which the forward traveling wave is
attenuated in the minus exponential rule. The simulation and

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Fig. 4. Comparison of simulation and calculation
calculation values are compared in Fig. 4, and it shows that the
calculation is close to the simulation values. Meanwhile, it
confirms that the attenuation of zero-mode component is more
obvious than line-mode component.
IV. DESIGN OF DC FAULT PROTECTION SCHEME
A. SATD Determination Method
As discussed in Section III, the surge arriving time difference
(SATD) between the backward traveling wave and the forward
traveling wave can be employed to distinguish the directional
of dc-line fault. In addition, the line-mode component is
selected to detect the SATD because of the weaker attenuation
as shown in Fig. 4. The line-mode backward and forward
traveling waves observed by the protection at the measuring
points are calculated as follows[14, 15]:
u1 (t ) − Z c1  i1 (t )
ub1 (t )=
2
and
u1 (t ) + Z c1  i1 (t )
u f 1 (t )=
2 u (k ) =
Where Δu1(t) and Δi1(t) are superimposed quantities of
line-mode voltage and line-mode current calculation at the
signal measuring points respectively.
The signal processing methods, such as wavelet-based
methods, empirical mode decomposition(EMD), and
mathematical morphology(MM)[21-22] are commonly used
for detecting the singular point of the measured signal. The
method for detection the surge arriving time of fault traveling
wave should be simple, ability to deal with various kinds of
possible disturbances such as noises[18]. Moreover, it should
be easily adopted to reduce the requirements for data length and
computation burden. Comparing with time-frequency domain
signal processing methods like wavelet-base methods and
EMD, the MM method can be directly applied in time domain.
Therefore, the MM method is adopted to detect the surge
arriving time.
The MM is a proved method that had been discussed in detail
in massive literatures[21-22]. The MM has two basic erosion
and dilation operators, based on which other hybrid operators
like opening and closing are defined. According to reference
[21-22], the dilation and erosion of signal f(t) by structuring
elements (SE) g(n) are defined:
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4
f dil (t ) = ( f  g )(t ) = max  f (t + n) + g (n) (14)
n
and
f ero (t ) = ( f g )(t ) = min  f (t + n) − g (n) (15)
n
Where the definition domains of f and g must be satisfied. By
combining the above-mentioned operators, different MM filter
(MMF) can be defined. In this paper, the MMF to detect the
surge arriving time is defined as follow:
(f g )(t ) + ( f  g )(t )
MMF ( t ) = (16)
2
After using MMF to (12)-(13), the first modulus maxima is
the surge arriving time of traveling wave. Where the function f
should be replaced by uf1(t) or ub1(t), and the detail pseudocode
can be obtained from literature[21]. The SATD is defined as:
SATD = t f 1 − tb1 (17)
Where the corresponding surge arriving times tf1 and tb1 are
the first points with maximal modulus of line-mode forward
traveling wave and backward traveling wave after using MMF
respectively.
B. DC Line Fault Protection scheme
1) Protection Star-up
The same with most DC fault protection scheme[8, 11], a
start-up unit is designed to trigger the protection scheme, and it
can be used to discriminate between faults and normal
operation. Because the voltage wave is largely reflected by the
FCLR, an under-voltage criterion can be employed to detect
faults, but it may cause a few unnecessary mal-starting under
some extreme conditions. The voltage gradient method makes
(12) full use of the high-speed sampling data so as to effectively
improve the sensitivity of fault detection. The voltage gradient
as in (18) is used to detect the abnormality[23].
(13) 1 2 1 5

3 i =0
u (k − i ) −  u (k − i )
3 i =3
(18)
Where u(k-i) is the pole voltage at ith sampling prior to the
present moment, and the start criterion is defined as:
uP (k )   || uN (k )   (19)
Where uP(k) and uN(k) are the calculated voltage gradient at
positive pole and negative pole respectively,  is the threshold
value. The smoothing module is employed in (18) to avoid
unnecessary mal-starting.
2) The Ultra-high-speed Protection Scheme
As discussed above, the values of SATD can be employed to
identify the fault direction. Therefore, the directional criterion
can be expressed as follows:
SATD  k1  td (20)
Where td as shown in (9), k1 is coefficient for determining the
threshold value of directional criterion. Using (20) can identify
the fault direction. However, the remote-end protection of the
sound lines may also have “yes” output even though the
magnitude is small. Therefore, the protection scheme still need
criterion to accomplish the local measurement based
ultra-high-speed main protection. Since the FCLR can smooth
transient travelling wave and the voltage wave is largely
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reflected at inductive termination, the derivative of line-mode Normal state

Main protection
forward traveling wave as in (21) is adopted to detect DC faults. N
uP (k )   || u N (k )  
du f 1 ?
 kset (21) Y
Using (12)-(13) to obtain ub1 (t ), u f 1 (t )
dt
Where the kset is the threshold value of derivative criterion. Flag1=0 Flag2=0

Once the derivative of uf1 is larger than kset, the derivative Using(16) to detection the first
surge time tb1、tf1
criterion will have “yes” output. The proposed main protection Pilot protection N du f 1
 k set
Send Flag3=1 dt
is achieved by co-operation of the criterion (20) and (21). Delay SATD  k1 * td N
Y ?
3) Directional Pilot Protection ? Y
Receive Flag3' Y
A directional pilot protection(DPP) scheme is achieved by Flag1=1
Flag2=1

combining the double end directional criteria (20). Once a N

positive directional fault is detected at the local-end protection, Flag3'*Flag1=1 Flag2*Flag1=1 N
? ?
the local-end protection will send a tripping signal (Flag3) to Y Y

the remote-end. And the local-end protection will wait for Fault area is identified

Flag3′ which is sent by remote-end protection. The Flag3 is Using(23) to obtain ub 0 (t ) Pole identification

defined as:
S  -S set S  S set − S set  S  S set
 1, SATD  k1 * td ? ? ?
Flag3=  (22) P-PTG
Y
N-PTG
Y
PTP
Y

 0, otherwise
There will be a delay from detecting a positive directional
fault to receiving the Flag3′ at the local-end protection. The
delay is a variable which is determined by the length of the
transmission line and the position of the fault. The delay and the
time sequence of the DPP scheme will be analyzed in Section
V-A. The local-end pilot protection will identify the fault area if
the double end directional criteria are all positive.
4) Faulty Pole Identification
As deduction in (2)-(3), the accumulation of zero-mode
component can be used for the faulty pole identification, and it
can be given as follows:
u0 (t ) − Z c 0  i0 (t )
ub 0 (t )=
2 In case study, all the setting parameters are set based on
and
N kset are depend on dc network characteristics, the setup method
S =  ub 0 (k + i )
i =1
 S  S set , N-PTG

 S  − Sset , P-PTG
 S  S , PTP
 set
Where S is the accumulation of zero-mode component, k is
the sampling point when it is satisfied the start-up element, N is
the length for accumulation which is adopted N=6 in this paper,
Sset is the threshold value to discriminate the faulty pole.
5) Overall Protection Scheme
Based on the aforementioned analysis, the overall protection
scheme is depicted in Fig. 5. Once any pole satisfies the start
criterion, the subsequent protection will be triggered. In Fig. 5,
we use Flag1 and Flag2 to indicate whether the directional
criterion and derivative criterion have “yes” outputs or not
respectively. When both criteria are satisfied, the fault area is
identified by the local measurement based main protection. The
DPP scheme works like as a backup protection. the Flag3′ is the
tripping signal from the remote-end. The local-end DPP
scheme will locate the fault area if the double-end directional
criteria are all positive. After the fault area is identified, the
Action signal to DCCB
Fig. 5. Flowchart of the overall protection scheme
Table 2 Protection settings at different measuring points
Measuring points td(ms) kset(kV/ms) Sset(kV)
R12, R21 1.38 2000 500
R14, R41 1.25 2000 500
R23, R32 0.33 2200 600
R34, R43 1.37 2000 500
faulty pole identification scheme will identify the faulty pole.
Finally, the action instructions will be issued to DCCBs.
C. Protection Setting for the Case Study
(23)
simulation results under limiting conditions. Although td and
(24) can be used in other dc networks. As the start-up unit, it is
necessary to check all possible line faults, especially with high
fault resistance. Therefore, the threshold value of  is set at
(25) 30kV which is able to detect remote-end PTP fault with over
800ohm fault resistance. The directional criterion of SATD is
almost close to zero in faulty line, while it is td as in (9) in sound
line at the same dc bus. Therefore, the threshold coefficient k1 is
set to 0.5 for best discrimination. At different measuring points,
the values of td are given in Table 2, and they are determined by
the length of lines. The threshold value of kset should be smaller
than the measured value after high impedance PTG fault at the
end of transmission line and larger than the measured value
after PTP bus fault at the remote-end. It is noteworthy that kset is
mainly effected by the size of FCLR. The threshold value of Sset
is set to greater than a fixed value because the accumulation of
zero-mode component is close to zero after PTP faults. And it
should be smaller than the measured value after the high
impedance PTG fault at the end of line. The above protection
boundaries are obvious. According to the dc network in Fig. 1,
the threshold values of kset and Sset at different measuring points
are given in Table 2. Finally, the SE used for MMF is flat in the
case study, and it is set as g={0 0 0}.

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Fig. 6. Protection results of the directional criterion

V. VALIDATIONS AND CASE STUDY

A four-terminal ±500kV MMV-HVDC test grid based on the
parameters of Zhangbei grid built in PACAD/EMTED is
utilized in this study, and it was introduced in section II. The
faults of F1-5 as shown in Fig. 1 are simulated to verify the
proposed protection scheme. The frequency dependent phase
domain model available in PSCAD is used to simulate the
transmission lines. The converters modeled by the detailed
equivalent model with blocked operation capability are
half-bridge sub-module MMC. Fig. 7. Protection results with 800ohm fault resistance
A. Directional Pilot Protection
1
Flag3 at R12 Flag3 at R21
Since the directional criterion as in (20) is the core of the
whole proposed scheme, we tested many examples to verify the 0
Fault occurs
reliability of it. Here we give a case, and a P-PTG fault at 1 Fixed action Communication delay(td/2) Confirmed signal at R21
middle of line12(F1) is applied at 0s with 0ohm fault resistance. time

The line-mode forward traveling waves and backward traveling 0

waves are measured at different measuring points(R(1-4)(1-4)) as
shown in Fig. 6. Measuring points of R12 and R21 at faulty
region could detect the line-mode forward traveling wave and
backward traveling wave almost at the same time. After using
MMF as in (16), the values of SATD are close to zero as shown
in Fig. 6(e) and Fig. 6(m). However, as shown in Fig. 6(g) and
Fig. 6(n), the values of SATD are obvious at R14 and R23
which are at the same DC bus with R12 and R21 respectively. It
can be found that the value of SATD at R14 is larger than that at
R23, which coincides with the protection settings in Table 2.
Due to the attenuation of traveling waves for multi-FCLR, the
amplitude of line-mode forward traveling waves and backward
traveling waves at R34 and R43 are too low to detect, and they
do not cause the interference. Therefore, using the proposed
directional criterion could judge the directional of a fault.
In order to research the sensitivity to fault resistance of the
directional criterion, a P-PTG fault at 1/8 of line12 is applied at
0s, and the fault resistance is 800Ω. The protection results of
line12 are shown in Fig. 7 and Fig. 8. The values of SATD
calculated at R12 and R21 are almost zero as shown in Fig. 7.
1 Wave traveling delay
Fixed action Communication delay(td/2) Confirmed signal
time
at R12
0
0 0.5 1.0 1.5 2.0
Time(ms)
Fig. 8. Time sequence of the protection with 800ohm fault resistance.
The directional criterion can discriminate the faulty region
clearly by SATD although the amplitude is low. Hence, it is
concluded that the proposed directional criterion is not
sensitive to fault resistance. The corresponding time sequence
of the DPP scheme is depicted in Fig. 8. and it shows that the
total time cost of the DPP scheme is no more than 2ms in this
case. R12 will detect the fault early, and the status of fault
direction (Flag3) needs to be transmitted to the opposite end
(R21) through optical fiber communication system. After some
delay, R21 will detect the fault area when the signal is
confirmed. R12 has a similar process. Since the time delay is
important to the DPP scheme, it is necessary to analyze the time
required in detail. The total time cost of the DPP scheme is
defined as follow:

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Table 3 The derivatives of forward traveling waves at different positions

Line12(kV/ms) Line14(kV/ms) Line23(kV/ms) Line34(kV/ms)
Location Fault type
R12 R21 R14 R41 R23 R32 R34 R43
P-PTG 10843.4 5756 379.4 259.4 730 637.2 48.2 52.8
F1(1/8 of Line12) N-PTG 10875.4 5757 381.8 259.2 715.2 626.8 47 52.8
PTP 27162 22402 797.2 659.4 1060.4 574.6 104.8 79.4
P-PTG 9597.4 9600.6 311.4 270.6 405.2 371.8 42.4 55.4
F1(1/2 of Line12) N-PTG 9597.4 9600.6 590.2 498.6 477 451 42.6 75.6
PTP 23732 23742 993.2 837.2 787.8 761.8 65.8 103.6
P-PTG 473.2 427.8 10307.8 10256.2 60.8 53.6 315.8 366.2
F2(1/2 of Line14) N-PTG 457.8 430.2 10406.8 10256.6 60.6 53.6 315.2 366.2
PTP 1076.4 812.8 26106 25982 154.2 135.8 615.4 841.6
F3 P-PTG 731.6 808.4 121.4 81.2 849.4 725.4 81.8 40.4
F4 3-phase 19.8 21.8 18.2 19 4.6 4.8 5.4 6.4

t p = t f + tr (26) 12000
0O
Where tp is the total time cost, tf is the fixed action time 50O
10000
including signal processing, criterion operation and so on, tr is 100O
200O

Main protection (kV/ms)

the variable delay time which is determined by the length of the 8000 300O
transmission line and the position of the fault. tr has the 400O
maximum value when the fault happens at the beginning of the 6000
line. And the tr consists of two parts: the time of fault wave
traveling through the whole line and the time of signal passing 4000

to the opposite end through the communication system. With

the increasing of transmission line, the tr is increased. When the 2000
Threshold
length of transmission line is 500km, the maximum of tr is
0
about 4ms. Therefore, the DPP scheme can be used as a backup R12 R21 R14 R41 R23 R32 R34 R43
protection when the length of transmission line is longer. Position
Fig. 9. The protection results with different fault resistances.
B. Main Protection
To test the performances of the proposed main protection,
faults at difference positions(F1-F4) are applied at 0s with 0ohm
4000
fault resistance. The simulation results are shown in Table 3. R12-P
R21-P
According to Table 3, it is obvious that the derivatives of 3000 R12-N
R21-N
line-mode forward traveling waves are far exceed the threshold 2000 R12-PN
Pole identification (kV)

of Kset in faulty region, while they are far below the threshold in R21-PN
1000
no-faulty region, whatever the types of faults happen or where
the faults happen. In addition, the results of PTG faults (P-PTG 0

or N-PTG) lower than PTP fault are almost alike. The DC bus -1000
fault(F3) and the AC side three phase fault(F4) would not lead
-2000
to incorrect identification of the proposed scheme. Noteworthy,
the measuring points R14 and R23 could be excluded according -3000

to directional criterion of SATD.

It is known that the derivative-based protection scheme is
sensitive to fault resistance. Therefore, P-PTG faults with fault
resistances from 0ohm to 400ohm are applied at middle of
line12(F1). The simulation results are shown in Fig. 9. The
derivatives of forward traveling waves are downtrend with the
increasing of the fault resistance as shown in Fig. 9, especially
at the faulty region where the protection values down from near
10000kV/ms to 3000kV/ms. The change of the protection
values in no-faulty region are not obvious than faulty region. In
Fig. 9, the discriminations of faulty region and no-faulty region
are obvious even the fault resistance up to 400ohm. Therefore,
it is concluded that the main protection can distinguish the high
resistance faults.
C. Faulty Pole Identification
The accumulation of zero-mode component(S) is adopted to
discriminate the faulty pole when the faulty region is
-4000
0 100 200 300 400
Transition resistance (ohm)
Fig. 10. The values of S after different types of faults.
recognized by main protection or directional pilot protection.
Different types of faults are applied at middle of line12(F1)
with fault resistances from 0ohm to 400ohm. The simulation
results are shown in Fig. 10. In Fig. 10, S is positive after
N-PTG fault, and it slows down from approximative 4000kV to
1000kV with the increasing of fault resistance. The trend of the
change of S after P-PTG fault is similar to N-PTG fault, but the
polarity is opposite. According to (3), there would not produce
zero-mode component after PTP faults. From the simulation
results as shown in Fig. 10, the S measured at measuring points
are close to zero whatever the fault resistance is after PTP fault.
Therefore, it is clear that the faulty pole can be easily identified
by using the values of S.

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12000
Z c1 Z c1
Ldc
10000 R12 2u fP1   (t )
R21
Z t1
Main protection (kV/ms)
Rmax
8000

6000
Fig. 12. Peterson equivalent circuit of line-mode component.

4000 0 ub1
uf1

u(p.u.)
0

u(p.u.)
2000
ub1 u
-1 -1 f1
0 0 (a) Waves Time(ms)
measured at R12 1 0 (b) WavesTime(ms)
measured at R14 2
0 50 100 150 200 250 300
Size of FCLR (mH)
300 20 300
t b1 tf1 tb1

MMF(kV)
MMF(kV)
Fig. 11. Influence of FCLR sizes for the main protection.
t f1
0 0 0
VI. ROBUSTNESS ANALYSIS 0 Time(ms) 1 0 Time(ms) 2
(c) After MMF at R12 (d) After MMF at R14
A. Influence of the Sizes and Positions of the FCLR Fig. 13. Protection results under FCLR is shared.
The main function of DC reactor is to limit the rising speed
of fault current, and the size of it is decided by the system 0 0
parameters. Therefore, it is necessary to study the effects of the uf1

u(p.u.)

u(p.u.)
uf1
sizes and positions of the FCLR for the protection schemes. ub1 ub1
To validate the influence of FCLR sizes, FCLRs varying -0.8 -0.8
from 30mH to 300mH separately are simulated in Fig. 1 system. 0 (a) Waves Time(ms)
measured at R12 1 0 (b) WavesTime(ms)
measured at R21 1
200 200
According to (5)-(6), the line-mode forward traveling waves t f1 tf1
MMF(kV)

and backward traveling waves are hardly influenced by FCLR
sizes. The size of FCLR only affects the attenuation rate
without affecting the initial value. The decay time constant is
increased with the increasing of FCLR size as in (6), but the
SATD is not affected by FCLR size obviously. Therefore, only
the derivatives of line-mode forward traveling waves with
different FCLR sizes are discussed in follows. A P-PTG fault at
1/8 length of line12 is applied at 0s with 0ohm fault resistance.
The protection results are shown in Fig. 11. In Fig. 11, Rmax is
the maximum value calculated in no-faulty region except R14
and R23, because R14 and R23 can be eliminated by directional
criterion. It is clearly indicated that the discriminations of faulty
and no-faulty region are obvious even when the size of FCLR is
lower than 50mH. Therefore, the proposed main protection
would be effective if the FCLR is greater than 100mH.
Fig. 12 is the Peterson equivalent circuit of line-mode
component when FCLRs are installed at the converter side of
DC bus. According to Fig. 12, it can be calculated that the
initial line-mode backward traveling wave (ub1) in faulty line is
the same as (5), which is not affected by the position of FCLR.
However, the initial line-mode forward traveling wave (uf1) in
faulty line is given as follows:
u fP1  Z c1 − t −T1
u f 1 (t ) = (e − 1)   (t −  1 ) (27)
2Z t1 + Z c1
Where Zt1 is the equivalent line-mode impedance of MMC,
T=2Ldc/(2Zt1+ZC1) is the decay time constant. Comparing with
(27) and (6), it can be found that the uf1 do not occur step
change at t=τ1 when FCLRs are installed at the converter side of
DC bus. Therefore, the amplitude of uf1 after MMF is far lower
than ub1. According to Fig. 12, the initial line-mode backward
traveling wave is zero in sound line, and the line-mode forward
traveling wave is the sum of ub1 and uf1, and can be given as:
MMF(kV)
100 t b1 100 t b1
0
Time(ms)
0
Time(ms)
0 (c) After MMF at R12 1 0 (d) After MMF at R21 1
Fig. 14. Protection results with 35db SNR.
u f ,1 (t ) = ub1 (t ) + u f 1 (t ) (28)
The line-mode backward and forward traveling waves can be
detected simultaneously in faulty line, but with a time delay(td)
in sound line. A P-PTG fault at middle of line12(F1) with 0ohm
fault resistance is applied at 0s under FCLRs installed at the
converter side of DC bus. The simulation results are shown in
Fig. 13, and it is indicated that the directional criterion is still
working. although the amplitude of uf1 in faulty line after MMF
is lower, because the values of uf1 is continuous at t=τ1.
B. Influence of Noises
In the actual environment, the measured signals are mixed
with different components of noises which may interfere with
the fault protection scheme. In order to test the robustness under
noisy environment, a P-PTG fault at middle of line12(F1) with
100ohm fault resistance is applied at 0s. Then, white noise with
35db of signal-to noise ratio(SNR) was added in the measured
signals. The line-mode backward traveling waves and forward
traveling waves at R12 and R21 are shown in Fig. 14(a) and Fig.
14(b). The corresponding results after MMF are shown in Fig.
14(c) and Fig. 14(d), and it is clearly indicated that the proposed
DPP scheme is also applicable in the case of 35db SNR noisy
environment.
C. Influence of Sampling Frequency
In general, with the increasing of sampling frequency, the
protection accuracy is also improved. However, the higher the

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180 180 Table 4 Comparing with different methods

backward backward
after MMF(kV)

after MMF(kV)
forward forward Fault Detecting
Directio- Position
Methods detecti- high fault
nal or not of signal
on time resistance
Proposed scheme Yes <1ms 1 >400ohm
0 0 ROCOV[10, 11] No <1ms 1 >100ohm
0 Time(ms) 1 0 Time(ms) 1
(a) 100kHz sampling frequency (b) 50kHz sampling frequency Voltage at FCLR[13] Transient 1ms 1 300ohm
180 180
backward backward ROCOV at FCLR[12] Transient <1ms 1 >200ohm
after MMF(kV)

after MMF(kV)
forward forward Ratio of ROCOV[14] Yes <1ms 2 >200ohm
[4, 15, 16, 17]
ROTV Yes >1ms 2 >200ohm

0 0
0 (c) 20kHz Time(ms) 1 0 (d) 10kHzTime(ms) 1
sampling frequency sampling frequency judge the advantages of different protection schemes by one
Fig. 15. Protection results under different sampling frequency. specific index. Therefore, this paper compares with different
methods in directional or not, fault detection time, position of
6 ubreaker 2 signal and ability to detect fault resistance. The corresponding
Current(kA)

Voltage(p.u.)
Ib
comparison results are shown in Table 4. Where the fault
fault detection I main
1 detection time refers to the period from traveling wave arriving
0 at measuring point to identifying the fault. The transient means
0 that the directional is valid when the initial traveling wave
0 Time(ms) 10
(a) DCCB breaking at R12 arrives, and it may be affected by fault position. The data of
1
detecting high fault resistance are from the simulation results in
Voltage(p.u.)

voltage of R14 corresponding papers. In Table 4, those methods are all based
voltage of Bus1
0 on single-end main protection.
The purpose of directional discrimination is to improve the
voltage of R12 difference of protection boundary between faulty and healthy
Time(ms)-1
0
(b) voltage at Beijing station 10 zone. The proposed new directional criterion uses the SATD
Fig. 16. Currents and voltages after DCCB breaking. instead of the magnitude of traveling waves, and it is almost
unaffected by fault resistance and fault position. Therefore, the
sampling frequency is, the more cost the protection is. The proposed DPP scheme is able to detect high resistance faults
sampling frequency is chosen as 20kHz in this paper, but the (over 800omh). Moreover, the proposed directional criterion is
proposed scheme can work at other sampling frequency. not sensitive to the sizes of FCLR. The proposed local
A P-PTG fault at middle of line12(F1) with 0ohm fault measurement based ultra-high-speed main protection can detect
resistance is applied at 0s. The protection results at R12 with faults within 1ms, which is shorter than ROTV methods. The
10kHz, 20kHz, 50kHz, 100kHz severally are shown in Fig. 15. proposed scheme is easy to achieve, and it is not required
Theoretically, as long as the sampling interval is smaller than intra-station communication. In a word, the proposed scheme
the setting value(k2 × 0.33ms) of the shortest line in Fig. 1, then meets the special protection requirements of MMC-HVDC.
the directional criterion is working. However, the proposed
scheme is impractical on the ultra-short lines. VII. CONCLUSION
D. Influence of Hybrid DCCB Operation It is crucial to have an ultra-fast, selective, and reliable DC
fault protection scheme, so that there is time to open the DCCB
The transient process of DCCB during the interruption may
before its capacity is breached. A DC fault protection scheme
cause interference to the fault protection scheme. The proposed
consisted of main protection, directional pilot protection and
protection scheme was established by the simulation platform,
faulty pole identification is presented in this paper.
and it triggers the hybrid DCCB when the DC line fault is
The simulations have demonstrated that the proposed
detected. A P-PTG fault at 1/8 length of line12 with 0ohm fault
scheme is capable of identifying various types of faults with
resistance is applied at 0s. The voltage and currents at Beijing
different fault resistances at different positions. According to
station are shown in Fig. 16 during the interruption. In Fig.
the robustness analysis, the proposed scheme is not sensitive to
16(a), Ib and Imain are the currents in bypass branch and the main
the FCLR size, noise environment, sampling frequency and the
DC breaker severally, and ubreaker is the voltage of the DCCB.
operation of hybrid DCCBs within limits. Discrimination of
According to a large number of simulations, the protection
lighting fault and dc-bus fault protection scheme have not been
values of no-faulty regions are far lower than the threshold
discussed in this paper. The dc-bus fault can be achieved by
during the interruption. Therefore, it is confirmed that the
using current differential protection. Further study considering
transient process of DCCB during the interruption do not
lightning disturbance and lightning fault identification will be
engender the performance degradation of the proposed
addressed later.
protection scheme.
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