Fault Location Algorithm Based on Cross Correlation
Method for HVDC Cable Lines
Young-Jin Kwon*, Sang-Hee Kang*, Dong-Gyu Lee*,
*Next-generation Power Technology Center
Myongji University, Korea
yjkwon(aPmiu.ac.kr shkana(&miu.ac.kr
Keywords: Fault Location, HVDC, Cross Correlation,
Travelling Waves
Abstract
In this paper, a fault location algorithm using travelling waves
and a cross correlation method is proposed for HVDC cable
lines. The arriving instants of the first fault-induced transient
backward travelling wave and its subsequent reflected wave
can be detected by using a cross correlation method. The fault
distance is estimated by using the time difference between the
two instants of incident waves and the velocity of the
travelling wave. Because the fault-induced backward wave is
much similar to a square wave when a fault occurs in the
HVDC cable lines, a kind of step function is used as the
reference function for the cross correlation in this paper. The
proposed algorithm was verified with varying fault distances
and fault resistances in submarine HVDC cables connected to
the current source converter (CSC) type HVDC system and
the voltage source converter (VSC) type HVDC system
respectively.
1 Introduction
HVDC transmission systems are widely used in modem
power systems as alternative to AC transmission systems. The
HVDC can be a solution for high voltage, large capacity, long
distance power transmission and even if asynchronous power
system interconnection. For the stable and reliable operation
of HVDC systems, the fault location and clearance of faults in
the HVDC cable lines are very important.
Several alternative solutions for the cable fault location have
been suggested and used. The search coil method, the Murray
loop method, the pulse echo/time domain reflectometry and
the impulse current/surge reflection method have mainly been
used for the fault location of cable systems. These methods
are off-line methods. The results of these methods, however,
depend on the existence of assistance cables, fault resistance
and broken cables. The environment of the fault point also
affects the result of the fault location. To use these off-line
methods, the faulted cable should be separated from system
and it is time consuming work. Moreover, if the total length
of an HVDC transmission line/cable is above hundreds of
kilornetres, it is very difficult to apply these methods.
T1o cope with these drawbacks, considerable research effort
has been devoted to developing travelling-wave-based
methods for locating faults in cable systems. The fault-
360
Hyung-Kyu Kim *
mallow(d'mju.ac.k smrnfdahny~awumail.com
induced travelling waves contain sufficient fault informnation
about the fault type, location, direction, and sustain time. The
use of travelling wave theory for fault detection was
suggested in 1978 [1]. An overview of travelling wave
protection in AC power systems is introduced in [2]
particularly.
The cross correlation method is the most widely used in
travelling wave protection and fault location in AC systems
[3-5]. It is based on the similarity between an incident
travelling wave measured as the template signal and a
subsequent backward travelling wave. If two signals have the
same shape, the correlation result would have maximum.
Recently, some other methods have been proposed to improve
the results, such as wavelets [6], and pattern recognition
methods [7-8].
In AC power systems, the amplitude of a fault-induced
travelling wave depends on the fault inception angle. When a
fault occurs at a voltage zero-crossing instant, most of the
travelling wave-based methods cannot detect the fault in this
condition because the amplitude of the fault-induced
travelling wave is too small. In DC power systems, however,
there is no such a problem. Therefore, the travelling wave-
based methods are more suitable for HVDC systems than for
AC systems.
In HVDC systems, there are two kinds of methods for the
fault location based on the travelling waves. One is the
reflectometry technique [9-10], which measures the time
difference between the arrival of the first surge and its
subsequent reflection at one end of the line. It requires no
information from the remote terminal and therefore needs no
communication link between them. This technique is
attractive for its simplicity, but it cannot be relied upon for
accurate location under all possible fault conditions. The
other method is based on the time difference in the arrival
times of the fault-induced waves at each end of the line [11I].
The accuracy of this method depends on its ability to provide
a common time reference at both ends of the line.
A fault location algorithm based on the cross correlation
method is proposed for a submarine HVDC cable lines in this
paper. The arriving instant of the first fault-induced transient
travelling wave and the instant of its subsequent reflected
wave can be detected by a cross correlation method. The fault
distance is estimated with the time difference between the two
instants of the consecutive incident waves and the velocity of
the travelling wave. Because the fault-induced backward
wave is much more similar to a square wave when a fault
occurs in the HVDC cable, a kind of simple step function was
used in this paper as the reference function for the cross 2.2 The proposed fault location algorithm
correlation. The proposed algorithm was verified with varying
fault distances and fault resistances for both the CSC and
VSC type HVDC systems simulated by EMTDC/PSCAD.
The performnance evaluation results show the nice accuracy of Backward I I
the proposed algorithm. Wave

2 Fault location for HVDC cables

ti Q2 13 t4
Figure 2: Typical fault-induced backward waveform of an
2.1 Travelling wave theory HVDC system
Any disturbance on a transmission line results in the initiation
of travelling waves. The voltage and current at any point
comply with the partial differential equations below
al~ ~ La a nV
d aiZ -C ala (1)
/x x /Ox

where, L and C are the inductance and capacitance of the line.

If the resistance is assumed to be negligible, the solutions of
these equations are Figure 3: Reference function for cross correlation

V (X 1 ) f(X -Ut )±+f.2(X +Ut (2) In figure 1, when the first backward travelling wave reaches
the point of discontinuity such as a rectifier or inverter,
I(x' I) = [f,(x -Ut) j(x + Ut (3)
reflection would occur. The reflected wave would return
along the line toward the fault point. At that point, this wave
would be reflected again, and the reflected wave would return
where, Z4 is the characteristic impedance of the line, u is the
to the relaying point. Figure 2 shows the typical backward
surge velocity, and x is the distance that a surge travels away
waveform when a fault occurs on an HVDC cable line.
from the fault point. The forward travelling wave /7 and the
If we can get the time interval between the arrival instants of
backward travelling wave f2 can be derived by combining (2)
the first backward wave and its subsequent reflected one at
and (3) as follows
one end of the line, the fault distance, x, can be determined by
2 f,(t) = v (t) + Z~i(t) (4)
u x (t 2 -t 1) (6)
2.f2() =v(t) - Zoi(t) (5) 2

In this paper, the cross-correlation method is employed to

detect the wave front of backward travelling wave. Because
the fault-induced backward wave is similar to a square wave
like in Figure 2, the square wave shown in figure 3 was used
as the reference function for cross-correlation.

If the fault resistance is non-zero in figure 1, the reflection

coefficient at the fault point is given by

kl4 = -Z(J/(2Rf+ Z,) (7)

Figure 1: Lattice diagram for the propagation of travelling
waves
When a fault occurs at an HVDC cable line, voltage and
current surges propagate away from the fault point in both
directions. In time domain, these surges reach the points of
discontinuity on the cable and are reflected back towards the
fault point. This is shown graphically by means of a lattice
diagram as shown in figure 1. For simplicity, we assumed the
full reflection at the fault point (a zero impedance fault).
The transmission coefficient at the fault point is
kf=2R f/(2R1 +Z,) (8)
The reflection coefficient at the fault point is always negative
and the transmission coefficient is always positive. The
reflection at the fault point is different from the reflection at
the remote terminal. So, the time delay between the two wave
fronts arriving with different polarities of cross-correlation

361
 results can be calculated. Figure 4 shows the flow chart of the shown in figure 5 and 6 were simulated by EMTDC/PSCAD.
proposed algorithm. Figure 5 is a CSC type bipolar HVDC configuration with
280[MW] and ±175[kV]. Figure 6 is a VSC type HVDC with
Fault data(V,I0 50[MW] and 80[kV]. The HVDC cable is the MI(Mass
Anti-aliasing lowpass filtering
impregnated) Cu 800[ mm2 ] type cable which is used for
submarine HVDC system commonly. The depth of the laying
F Backward wave calculation cable is 2[m] and the cable data is shown in table 1. The line
length of the each HVDC cable is 100 [kin] and the travelling
wave velocity is 148,026 [km/sec] in the model systems.
F Cross correlation
The proposed algorithm was verified with the line-to-ground
orrelation resu faults with varying fault distances and fault resistances. As a
> Threshold ? performance index, the estimation error was calculated as
follows
t1, t2 determined ?
%Error = lestimated location - actual locationf lX 00 (9)
total cable length
F Fault distance estimation
Figure 4: Flow chart of the proposed algorithm 3.2 Simulation results
Figure 7-1 0 show the test results of the proposed algorithm.
3 Case studies In figures, each graph shows the backward wave, the cross-
correlation result and detection instants of wave fronts for
3.1 HVDC system modelling fault location, respectively. Figure 7 shows the results of the
proposed algorithm for a 25[km] and 0 [QŽ] fault in the VSC
HVDC system. As shown in the second graph, the opposite
polarity of the cross correlation results indicates that the
second wave is the reflected one from the fault point. If a
fault occurs without fault resistance, the fault-induced
travelling wave is continuously reflected between the relaying
point and the fault point, therefore the polarity of the cross-
correlation results repeatedly changes as in the second graph.
The fault distance can be easily estimated with high accuracy
in this case.

Figure 5: Diagram of a simple CSC type HVDC system 0 i i iBackward Wav.e

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5

-50

Figure 6: Diagram of a simple VSC type HVDC system 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5

1 -T - -ti_ -
Outer radius[m] Resistivity Relative I I-. Wave Front Detection
___________ oh~m*m] Permittivity 0.51 . I T
Conductor 0.01 165 10-
-I~

Insulatorl 0.03295 4.1 0

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Sheath 0.03595 10- Tirmetms]
Insulator2 0.04-195 2.3 Figure 7: Results of the proposed algorithm for a 25[km] and
Armour 0.0495 104 0[ C2] fault in a VSC HVDC cable
Insulator3 0.005 1.0
Table 1: Cable parameters Figure 8 shows the results of the proposed algorithm for a
75[km] and 10 [K2] fault in the VSC HVDC system. If a fault
To evaluate the performance of the proposed algorithm, occurs with resistance, the reflection of the fault-induced
various faults in the simple submarine HVDC systems as travelling wave is more complex comparing to a zero
impedance fault. In the second graph, there are two

362
 results of the proposed algorithm
consecutive positive values and then two negative values of Figure 9 and 10 show the
the cross-correlation results. The second negative value for a 5[km] 20 [Q] fault and a 95[km] 0[ Q~] fault in the CSC
occurs
indicates the arrival of the reflected wave from the fault point. HVDC model system respectively. Although a fault
near the remote end or a fault occurs with resistance, the
To estimate fault distance, a reflected wave (fault point -*
relaying point --+ fault point --+ relaying point) should be proposed algorithm can estimate fault distance accurately.
detected at the relaying point. The second positive value of
I
cross correlation result indicates the arrival of the wave I I I I
Backward Waac I I
I I
travelled from the fault point to the remote end then reflected
I I I
-200-11 I I
r- r- I 1
to the fault point and transmitted to the relaying point. The
~~1 1~
I I I I _

first negative value indicates the arrival of the wave made IM 0 0.5 1 1ý5 2 2.5 3 3.5 4 4.5
round trip twice firstly between the fault point and the remote
end and then transmitted to the relaying point. The polarity of 200 ~ CosCnaii - - --

this wave is negative and the value of correlation result is 0

smaller than that of the fourth wave. The fourth wave is the -200 4- 1- - - 4 -I - -

wave travelled from the fault point to the relaying point then 1 1.5 2 2.5 3 35 4 4.5
0 0.5
reflected to the fault point and reflected again to the relaying
point. Therefore, the fault distance can be estimated with the
time interval between the arriving instants of the first wave
and the fourth wave.
o4J Wake FrontDecto j
0 0.5 1 1.5 2 2,5 3 3.5 4 5
I.. Backward Wave
Timnetars]

Figure 10: Results of the proposed algorithm for a 95[km] and

-404 --- - I------- 4 1---- 0[fl~] fault in a CSC HVDC cable
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Table 2 summarizes the results of the proposed algorithm.
ZI~eI~ion These results show that the proposed algorithm can estimate
0 , I
II II II I
I
the fault distance with reasonable accuracy. The results show
I I I I I
that the location errors in the VSC HVDC model system are
I I I
I I I I I I I I I

50 0 0.5 1 1.5 2 2.5 3 3.5 4 45 bigger than those in the CSC HVDC model system. Because
the DC link capacitors are installed at both ends of the HVDC

U
WaweFront Detection cable in the VSC HVDC system, the wave-front of the
0.5 backward wave are crushed in case of the faults with fault
resistance as a result.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Timetmns)
Actual Fault Resistance (Sampling Freq: I 00[kHzl)
Figure 8: Results of the proposed algorithm for a 75[km] and Fault 0 [Kf 10 [K] 20[Q]
Location-,.- -
10[ Q] fault in a VSC HVDC cable [kin] Est. Error Est. Error Est,, Error
Location [%] Location _[21 Location %_!J
5 5.18 0.18 5.18 0.18 10.36 5.36

L ___Backward W;,e Voltage 25 24.42 0.57 25.16 0.16 25.16 0.16

-100 -- Source 50 50.32 0.32 51.80 1.80 51.06 1.06
-200- --
4 -I - Convcrter -

HVDC 75 76.23 1.23 176.23 1.20 76.97 1.97

-0.2 0 0.2 04 0.6 0.8 95 96.95 1.95 97.70 2.70 97.70 2.70
5 5.18 0.18 5.18 0.18 5.18 0.18
200 -- -- -- Cross Correlationj
0 1_ _........_ Current 25 25.16 0.6 25.16 0.16 25.16 0.16
source 50 50.32 0.32 51.06 1.06 51.12 11
-200 -- -- ----i----+ --- - ------
Converter - - -

HVDC 75 76.23 1.23 76.20 1.20 76.93 1.93

-0.2 0 0.2 0.4 0.6 0.8
95 96.21 1.21 194.07 0.92 94.07 0.92

Table 2: Estimation errors in various fault distances and fault

resistances
0-
-0.2 0 0.2 0.4
Timelms)
0.6 0.8
For the analysis of the influence of the sampling frequency, 3
different frequencies are tested. Table 3 shows the effect of
Figure 9: Results of the proposed algorithm for a 5[km] and the sampling frequency on the estimation error. The results
20[ 92] fault in a CSC HVDC cable

363
 show that the accuracy of the fault location can be increased
classification in the transmission lines", Elect. Power Syst.,
with high sampling rates.
Vol. 20, p327-332, (1998)
[7] J. Liang, S. Elangovan and J. B. X. Devotta. "Pattern
Actual Sampling Fr~equencies (Fault Riesistance, 0[f~l) recognition technique for travelling wave protection", Elect.
Mach. Power Syst., Vol. 26, pl100 7 -1018, (1998)
Loautio 100 [kHz] 500 [kHzl I[MHz] [8] Ernesto Vazquez, Horge Castruita, Osca L. Chacon, "A
new approach traveling-wave distance protection-part 1:
Location MI] Location [Vo) Locat ion [%]
Voltage
Algorithm", IEEE Trans. PWRD., Vol. 22, p795-800, (2007)
5 5.18 0.18 4.88 0.11 4.59 0.04
Source 5-0 50.32
[9] Ando M., Schweitzer E. 0. and Baker R. A.,
0.32 150.32 0.32 150.32 0.32
Converter ____ "Development of field-data evaluation of single-end fault
HVDC 95 96.95 1.95 96.36 1.36 96.06 1.06 locator for two-terminal HVDC transmission lines", IEEE
Current 5 5.18 0.18 5.03 0.03 4.95 0.04
Trans., Vol. PAS-104, No. 12, p3524-3537, (1985)
Sore 50 50.32 0.32 50.32 0.32
[10] L. Shang, G. Herold, J. Jaeger, R. Krebs, A. Kumar,
50.25 0.25
COFnVcrter ___ __ "High-speed fault identification and protection for HVDC
HVDC 1 9 96.21 1.2 95.77 0.77 95.62 0.62 line using wavelet technique", 2001 IEEE Proto Power Tech
Table 3: Estimation errors in various sampling frequencies Conference., September, (1985)
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satellite time references to HVDC fault location", IEEE Trans.
Conclusions PWRD, Vol. 8, No. 3, p1295-1302, (1993)

A fault location algorithm based on the cross correlation

method was proposed for the HVDC cables. The instants of
the first arrival of the fault-induced transient backward
travelling wave and its subsequent reflected wave can be
detected by the cross correlation method using a simple step
function as its reference function. The fault distance is
estimated by using the time difference between the two
instants of incident waves and the velocity of the travelling
wave. The proposed algorithm was verified with varying fault
distances, fault resistances and sampling frequencies in the
submarine CSC HVDC and VSC HVDC model systems. The
performance evaluation of the algorithm shows it has good
ability of fault location.

Acknowledgements
This work was supported by the ERC program of
MOST/KOSEF (Next-generation Power Technology Center)
and the 2nd Brain Korea 21 Project.

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364