IET Generation, Transmission & Distribution

Research Article

Current differential protection principle of ISSN 1751-8687

Received on 1st September 2016
Revised 30th October 2016
HVDC transmission system Accepted on 21st November 2016
E-First on 26th January 2017
doi: 10.1049/iet-gtd.2016.1380
www.ietdl.org

Shu-ping Gao1 , Qi Liu2,3, Guo-bing Song2

1College of Electrical and Control, Xi'an University of Science and Technology, Xi'an 710054, Shaanxi Province, People's Republic of China
2College of Electrical Engineering, Xi'an Jiaotong University, Xi'an 710049, Shaanxi Province, People's Republic of China
3Shaanxi Electric Power Design Institute Co., Ltd, China Energy Engineering Group, Xi'an 710054, Shaanxi Province, People's Republic of

China
E-mail: gao.sp2003@163.com

Abstract: Traditional high-voltage DC (HVDC) current differential protection has problems on identifying fault current and has
long delay. In this study, a novel current differential protection principle for HVDC transmission lines is proposed. By the
adoption of distributed parameter model, differential current criterion is formed at a selected point on the transmission line.
When fault occurs on DC line, setting point differential current reaches a high value. When no fault occurs or fault occurs outside
the DC line, setting point differential current reaches a small value. Comparing with the traditional current differential protection,
the proposed principle eliminates the impact of distributed capacitive current and has no requirement of delay. Comparing with
travelling wave protection, fault identification can be performed during both transient and steady states, and the proposed
method has reasonable sampling frequency requirements and has high reliability. Simulation analysis shows that the proposed
principle identifies faults reliably and rapidly. The proposed principle is theoretically novel and practically applicable.

1 Introduction characteristics along with fault characteristics are analysed in this

High-voltage DC (HVDC) power transmission systems have many
advantages. They have long transmission distance, flexible power
flow control and lower line cost. They play an increasingly
important role in fields as large capacity power transmission,
power transmission to islands, power supplement for weak
receiving girds, and serve as vital interconnections between HVAC
grids [1]. Stability and reliability of HVDC transmission systems
have direct impact on the security of connected AC grids [2].
HVDC transmission lines are longer and have high failure
possibility. Therefore, it is very important to improve HVDC
transmission line protection in order to guarantee the safety and
reliability of HV power grids.
According to operation experience and feedbacks of existing
HVDC systems, the operating HVDC line protection scheme has
problems, such as invalid and inadaptable setting criterion, the
dependency of simulation. The existing protection schemes are
imperfect [2–14].
For a conventional HVDC line protection set, travelling wave
protection is adopted as main protection and current differential
protection serves as low-speed backup [2]. Travelling wave
protection operates rapidly and is not affected by load adjustments
or distributed capacitive current, but it does not have enough
reliability on faults with high resistance [5]. Traditional current
differential protection is a backup for faults with high resistance,
but it is easily false trip when voltage fluctuates and has a
lockdown mechanism of 600 ms, which possibly leads to trip
rejection [12]. In HVAC systems, current differential protection has
been improved by recent researches and serves as main protection
[15–19].
Current differential protection principle is based on Kirchhoff's
current law (KCL) and has absolute selectivity. Its unsatisfied
performance in HVDC lines is caused by the inadaptability of
HVDC systems. In order to take advantages of its excellent
principle, it is important to improve the performance of current
differential protection for HVDC lines.
The objective of this paper is to propose a novel HVDC
differential protection. It is based on Bergeron model and requires
synchronisation of two terminals data. Converter control
IET Gener. Transm. Distrib., 2017, Vol. 11 Iss. 5, pp. 1286-1292
© The Institution of Engineering and Technology 2017
paper and protection criterions are constructed in time domain.
Comparing with traditional current differential protection, the
proposed method eliminates the impact of distributed capacitive
current during fault transient state and steady state. The proposed
approach is simple, has high rapidity, sensitivity and reliability,
while sampling frequency requirements are reasonable.
This paper is organised as follows:
In Section 2, structure of a bipolar HVDC transmission system
is introduced and control characteristic along with fault
characteristic is analysed. In Section 3, the new protection principle
and criterions are introduced. In Section 4, related issues are
discussed. In Section 5, simulation results with PSCAD-EMTDC
and MATLAB are presented. Section 6 concludes this paper.
2 Control characteristic and differential current
fault characteristic
The structure of a typical bipolar HVDC transmission system is
shown in Fig. 1, which consists of rectifier station M, inverter
station N and HVDC transmission lines. In Fig. 1, uMp, uMn are
measured voltages of positive and negative poles from M side, iMp,
iMn are measured currents of positive and negative poles from M
side, uNp, uNn are measured voltages of positive and negative poles
from N side, iNp, iNn are measured currents of positive and negative
poles from N side.
The criterion of traditional differential protection in HVDC
positive pole is shown as follows [15]:
iMp + iNp > I set (1)
where Iset is tripping threshold. According to KCL, when line-fault
does not occur, differential current in (1) is theoretically zero and
practically very small. When line-fault occurs, differential current
is approximately equal to short circuit current. For AC lines, short
circuit current is huge and easy to be identified. As for HVDC
lines, DC short circuit current is limited by converter control.
A generally adopted control characteristic of bipolar HVDC
systems, or current margin control, is presented in Fig. 2 [11, 16],
1286

Fig. 1  Structure of a bipolar HVDC transmission system
Fig. 2  Current margin control characteristics of bipolar HVDC systems
Fig. 3  Equivalent circuit of Bergeron model
where rectifier control characteristic is indicated by curve abcde,
inverter control characteristic is indicated by curve fghij, In is load
current.
HVDC systems transmit energy exported by rectifier. During
DC-line-fault steady state, rectifier control works at fixed current
characteristic shown as curve bc or de, and rectifier side DC
current can be stabilised. HVDC thyristors have unilateral
conductivity and prevent inverter to transmit short circuit current
back to DC line, so that DC current of inverter side can also be
controlled by following rectifier control characteristic with a
margin, indicated by curve gh or ij. Therefore, DC line current on
both sides are then stabilised in this state. As shown in Fig. 2,
regardless the severity of faults and voltage drop (V1, V2 or V3),
fault differential current always maintains to 0.1In–0.15In, which
equals to current margin. The fault differential current is small and
uneasy to be distinguished, so that Iset in (1) is set to a low value,
normally 0.05In.
HVDC lines are long and have huge distributed capacitance.
Any transient process which leads to DC voltage fluctuation will
discharge those distributed capacitance. Distributed capacitive
current of non-fault state is generally larger 0.1In and is
undistinguishable with fault current. Therefore, traditional
differential protection is only valid for HVDC lines after all
transient processes or DC voltage fluctuations are terminated.
Existing designs use a start-up delay of 500 ms and a cyclic DC
voltage fluctuation delay of 600 ms, which results in low speed and
even lose the opportunity to trip.
IET Gener. Transm. Distrib., 2017, Vol. 11 Iss. 5, pp. 1286-1292
© The Institution of Engineering and Technology 2017
Actually, during fault transient state, as control adjustments is
unfinished by proportional–integral regulators, differential current
is significant enough for fault identification. The length and
amplitude of differential current here are different by fault position,
fault resistance and regulator parameters changes. For faults with
high resistance, amplitude of differential current is still hard to
distinguish from non-fault transient distributed capacitive current.
Ratio restraining method shown in (2) usually applied to ensure
the security of current differential protection for AC lines
iMp + iNp < I res (2)
where Ires is restraining threshold. However, as energy only
provided by rectifier, fault currents from both rectifier and inverter
sides actually have the same direction and have insufficient
difference, which means restraining criterion cannot be distinct
between external faults and internal faults. Therefore, ratio
restraining method cannot be applied to HVDC line differential
protection.
To be summed up, fault characteristic of HVDC differential
current are:
i. For fault transient state, differential current is significant.
However for fault with high resistance, differential current is
hardly distinguished from non-fault distributed capacitive
current. This state is valid for fault identification if distributed
capacitive current is compensated.
ii. For fault steady state, differential current maintains 0.1In–
0.15In. In order to identify faults without delay, distributed
capacitance must be precisely compensated, so that a trip
threshold lower than 0.1In will not lead to false trip when DC
voltage fluctuates.
3 Novel principle of HVDC differential protection
3.1 Adoption of Bergeron model in HVDC lines
According to researches performed for HVAC line differential
protection, Bergeron model is successfully applied [15–19].
Bergeron model is proved to be enough accurate for long ultra-
high-voltage AC line differential protection and works for both
transient and steady states. As distributed capacitance is integrated
in the model, distributed capacitive current is no need to be
considered.
Bergeron model describes the travelling wave process of one
phase transmission line.
Unlike in AC systems, HVDC transmission lines do not require
phase transposition. For a bipolar HVDC system shown in Fig. 1,
both poles of HVDC lines can be assumed as uniform transmission
lines. Bergeron model can be adopted after two poles are
decoupled. As line parameters of both poles are identical, based on
Karenbauer conversion matrix, a two phase (poles) decoupling
matrix S is given as follows:
2 1 −1
S= (3)
2 1 1
Taking an example of M side in Fig. 1, measured voltages and
currents can be decoupled as follows:
u1M uMp i1M iMp
=S =S (4)
u0 M uMn i0M iMn
where u1M, u0M are 1-mode and 0-mode voltages, i1M, i0M are 1-
mode and 0-mode currents.
The equivalent circuit of Bergeron model is shown in Fig. 3.
As seen for Fig. 3, the equivalent model presents a relationship
between two sides’ voltages and currents which is deduced in [18].
From the relationship, current from one side can be calculated by
voltage and current from the opposite side. As the length of
equivalent section can be random, for a complete transmission line
without fault branch on it, current distribution of the whole line can
1287
be calculated by voltage and current from each side. A practical
current distribution calculation under Bergeron model is given in
[10], and shown as follows: (see (5) and (6)) (see (6)) where j is
mode index and j = 1 or 0; rj, Zcj, vj, are resistance, characteristic
impedance and wave velocity of j-mode per unit length; iMj(t),
uMj(t) are j-mode current and voltage at M end, ijM(x,t) is j-mode
current on the line with a distance x from M end; iNj(t), uNj(t) are j-
mode current and voltage at N end, ijN(x,t) is j-mode current on the
line with a distance x from N end.
3.2 Novel differential protection principle
As current distribution can be calculated, any random position on
the protected line can be chosen and use KCL to construct
differential protection criterion. Novel current differential
protection principle is
i. Select a setting point at line end or on the protected line.
ii. According to (3) and (4), decouple voltages and currents
measured by both sides relay devices into mode voltages and
currents.
iii. According to (5) and (6), use mode voltages and currents of
both sides to separately calculate setting point mode currents.
iv. Setting point protection criterion can be composed by either
mode currents or polar currents. If criterion is composed by
polar currents, reconverts mode currents to polar currents by
reversing (4).
Protection criterion based on mode current is shown as follows:
Criterions with two thresholds along with their valid tripping
periods are given below.
i. Criterion with high value and short delayed threshold.
For fault transient state, short circuit current is greater.
Imbalanced current of external fault is caused by data
transmission error, measurement error and Bergeron model
error, while model error consists of parameter error and
approximation of line loss by resistance R [19]. Threshold
should be set to avoid maximum error possibly. Criterion in
this state is shown in the following equation:
iM(lset, t) + iN (l − lset, t) > I set.1
(9)
T set > 10 − 20 ms
where mode index and pole index are omitted, Tset is tripping
period, Iset.1 is the high value threshold designed to avoid the
maximum imbalanced current of external fault transient state.
As the maximum transient short circuit current Imax during
external faults is 2.5In [1], Iset.1 can be calculated by
I set.1 = krelkmknpI max ≤ 2.5krelkmknpI n (10)
where krel is reliability coefficient and krel = 1.1–1.2; km is
coefficient for model error and km = 1.1; knp is measurement
error coefficient of HVDC diverters, which is <0.1 when short
circuit current is around 2.5In [1]. For this paper, high value
threshold can then be selected by

i jM(lset, t) + i jN (l − lset, t) > I set (7) I set.1 = 0.3I n (11)

ii. Criterion with low value and long delayed criterion.
where mode index j = 1 or 0. Protection criterion based on polar
current is shown as follows: For fault steady state, criterion is shown in the following equation:

iMP(lset, t) + iNP(l − lset, t) > I set (8)
where pole index P is p or n. lset is the distance between setting
point and M end; l is the total length of protected line; Iset is setting
threshold.
Either mode criterion or polar criterion exceeds threshold, line
internal fault is identified. Otherwise it is non-fault or external fault
state. Fault pole is automatically selected by each polar criterion. If
mode criterion is adopted, use voltage level to identify fault pole.
3.3 Criterion settings
According to fault characteristic analysis in Section 3, as
differential currents form fault transient and steady states are
diverse, setting threshold should be adjusted to both states.
iM(lset, t) + iN (l − lset, t) > I set.2
(12)
T set > 250 ms
Bergeron model describes travelling wave propagation procedure
through the line. As DC current is stabilised, wave procedure is
vanished and model error can be neglected. During fault steady
state, short circuit current is generally stabilised under In, while Iset.
2 can be calculated by
I set.2 ≤ krelknpI n (13)
where krel is reliability coefficient and krel = 1.1–1.2; knp is
measurement error coefficient of HVDC diverters, which is <0.002
when line current is under 1.3In [1]. Iset.2 can be selected as
follows:

1 Z c j + r j x/4 x x r jx
i jM(x, t) = uM j t + − iM j t + Z +
2Z c j Zc j vj vj cj 4
1 Z c j + r j x/4 x x r jx
− uM j t − + iM j t − Z − (5)
2Z c j Zc j vj vj cj 4
1 r jx r jx
− ⋅ u (t) − i (t)
2Z c j 2Z c j M j 4 Mj

1 Z c j + r j x/4 x x r jx
i jN (x, t) = uN j t + − iN j t + Zc j +
2Z c j Zc j vj vj 4
1 Z c j + r j x/4 x x r jx
− uN j t − + iN j t − Zc j − (6)
2Z c j Zc j vj vj 4
1 r jx r jx
− ⋅ u (t) − i (t)
2Z c j 2Z c j N j 4 Nj

1288 IET Gener. Transm. Distrib., 2017, Vol. 11 Iss. 5, pp. 1286-1292
© The Institution of Engineering and Technology 2017
 I set.2 = 0.003I n
As fault differential current is stabilised to 0.1In–0.15In, it is
unnecessary to select a very low value for Iset.2. The selection of
Iset.2 would only be <0.1In to prevent tripping rejection and provide
enough sensitivity, while still need to be high enough to prevent
false trip. For ensuing reliability, selection of Iset.2 is recommended
as follows:
I set.2 = max {(1.5 − 2)I cd0, 0.05I n}
where Icd0 is the differential current of non-fault steady state. Icd0 is
related to the real-time imbalanced current caused by measurement
error.
4 Discussion on related issues
4.1 Sampling frequency selection
Microcomputer protection devices adopted in modern power
systems compute with discrete data. Therefore, (5) and (6) can be
written in discrete form as follows: (see (16) and (17)) (see (17))
where Ts is sampling interval and Ts = 1/fs, fs is sampling
frequency. nx is obtained as follows:
x metallic ground fault occur outside rectifier DC relay device, is
nx =
v jT s
where square brackets represent rounding function.
The meaning of nx is that: under discrete computation with a
fixed sampling frequency fs, only several points of current
distribution along the line can be calculated. fs related to the
density of calculable points. As shown in (18), nx is actually the
nearest point of distance x, which means if fs is selected higher, the
position of nx will be closer to the actual position of distance x and
ijM and ijN will be more accurate, thus the imbalanced current
within setting point differential current will be less significant.
To ensure dependability, imbalanced current should be limited
up to 50 A, while sampling frequency should be no <6 kHz
according to simulations. Data interpolation should be used to
guarantee differential current accuracy while lower sampling
frequency is selected. For HVDC transmission systems, sampling
devices of 10 kHz are adopted for travelling wave protection. The
proposed method can utilise those sampling devices and meet the
dependability requirement.
4.2 Setting point selection
Theoretically, differential current at any random point on the line
can be calculated, the selection of setting point can be random. For
decreasing the amount of digital calculations, setting point should
1 Z c j + r j x/4
i jM[x, t] =
2Z c j Zc j
1 Z c j + r j x/4
− uM j[t − nxT s] + iM j[t − nxT s] Z c j −
2Z c j Zc j
1 r jx
− ⋅ u [t] −
2Z c j 2Z c j M j
1 Z c j + r j x/4
i jN [x, t] =
2Z c j Zc j
1 Z c j + r j x/4
− uN j[t − nxT s] + iN j[t − nxT s] Z c j −
2Z c j Zc j
1 r jx
− ⋅ u [t] −
2Z c j 2Z c j N j
IET Gener. Transm. Distrib., 2017, Vol. 11 Iss. 5, pp. 1286-1292
© The Institution of Engineering and Technology 2017
(14) be selected at line end, and only one side fault current needs to be
calculated. For decreasing data window and increase rapidity,
setting point should be selected at midpoint. In this paper, midpoint
is selected.
5 Simulation analysis
PSCAD/EMTDC is used for power system simulation and
MATLAB is used for algorithm simulation.
In PSCAD, a±500 kV bipolar HVDC transmission system
(15) model shown in Fig. 1 was built, where nominal DC current is 2 
kA and transmission line length is 1000 km. Energy of HVDC
lines is distributed majorly on 0 Hz, while still some distribution on
other frequencies. Line parameters under 0 Hz is used for Bergeron
model calculation. In order to verify that energy distribution on
other frequencies will not affect tripping results, frequency-
dependent parameters line model is used, and line tower structure
is presented in [10].
Data generation frequency in PSCAD is 10 kHz, and faults
occur at 0.5 s with duration of 0.5 s. Differential current of
traditional differential protection is given for comparison.
5.1 Validation verifications
To verify validation and accuracy of Bergeron model for HVDC
line differential protection, the most critical external fault, i.e.
(18) selected. Calculations cover the whole line, where IMjN is the
calculation results at N side using M side voltage and current, INjM
is the calculation results at M side using N side voltage and current,
mode index j = 1 or 0. Transient calculation results are used for
verification, and simulations are shown below.
Simulation results in Fig. 4 indicate that: (i) 1-model calculation
results are accurate; (ii) transient 0-mode calculation are not very
accurate, this is because 0-mode parameters are unstable and will
normally have huge error. For mode criterion adopted, 1-mode
criterion and voltage level are used to identify fault pole and is not
affected by 0-mode data. For polar criterion adopted, there will be
inaccuracy occurring at reconverted polar currents at setting point.
With Bergeron model integrated travelling wave propagation
procedure in time domain, currents at setting point obey KCL at all
time, and so does their integrations. A mean filter is valid for
decrease 0-mode calculation error. In this paper, mean filter with
10 ms window is adopted for fault simulation below.
5.2 Setting point randomness verifications
To verify the randomness of setting point, metallic ground fault
occurring outside the rectifier DC relay device is selected as most
serious external fault, and DC line ground fault by 500 Ω at 10 km
from M side is selected as most undistinguishable internal fault. As
setting point varies, maximum transient differential current
distribution along the line is calculated and shown below.
r jx
uM j[t + nxT s] − iM j[t + nxT s] Z c j +
4
r jx
(16)
4
r jx
i [t]
4 Mj
r jx
uN j[t + nxT s] − iN j[t + nxT s] Z c j +
4
r jx
(17)
4
r jx
i [t]
4 Nj
1289
Fig. 4  Simulation results for Bergeron model valid verification
Fig. 5  External fault simulation results of maximum differential current
distribution
Fig. 6  Internal fault simulation results of maximum differential current
distribution
Fig. 7  Results of differential current when metallic ground fault occurs at
500 km from M side
Maximum transient differential current is critical for fault
identification. As seen from Figs. 5 and 6, maximum differential
current distribution is approximately uniform regardless setting
1290
Fig. 8  Results of differential current when ground fault by 500 Ω occurs at
500 km from M side
point changes. Fault identification will not be affected by setting
point position.
5.3 Internal faults simulations
Figs. 7 and 8 present simulation results of differential currents
when metallic ground fault and ground fault by 500 Ω occur at
500 km from M side, where Id1, Id0 are differential currents of 1-
mode and 0-mode by proposed approach, Idp, Idn are differential
currents of positive and negative poles by proposed approach, Idpc,
Idnc are differential currents of positive pole and negative pole by
traditional differential protection scheme.
As shown in Figs. 7 and 8, both mode and polar differential
currents indicate internal fault regardless ground resistance.
Compared with traditional differential protection, differential
current of proposed approach is very small while DC voltage
fluctuates, and differential current of traditional protection exceeds
400 A and remains for a long time. Fault differential current of
steady state is only 200–300 A for the simulated power system.
Therefore, traditional differential protection will false trip.
As for non-fault pole, differential current by proposed approach
is much smaller than by traditional differential relay. Traditional
differential protection will possibly false trip on non-fault pole and
requires supplemental criterions to ensure selectivity. Compared
with the traditional differential protection, proposed approach has
higher security.
5.4 Simulations with external faults
Figs. 9 and 10 present simulation results of differential currents
when metallic ground fault and ground fault by 500 Ω occur
outside inverter smoothing reactor.
As shown in Figs. 9 and 10, differential current by proposed
approach is <50 A regardless ground resistance, protection has
IET Gener. Transm. Distrib., 2017, Vol. 11 Iss. 5, pp. 1286-1292
© The Institution of Engineering and Technology 2017
Fig. 9  Results of differential current when metallic ground fault occurs
beyond the line in inverter side
Fig. 10  Results of differential current when ground fault by 500 Ω occurs
beyond the line in inverter side
high security, while differential current by traditional differential
protection exceeds 500 A and possibly leads to false trip.
5.5 Simulations with field data
To verify the performance of the proposed algorithm, field data of
±500 kV transmission lines, the Gui Guang line in China, is used.
The distance from substation An Shun in Gui Zhou province to
substation Zhao Qing in Guang Dong province is 882.144 km. The
rated capacity of An Shun-Zhao Qing bipolar HVDC system is
3000 MW. The voltage and current signals are input to both ends
protection devices with a sampling frequency of 6.4 kHz. A single
pole-to-earth fault occurred at a point 170.89 km from substation
Zhao Qing on 14 August 2005 (2:40:18 Beijing time).
From Fig. 11, both mode and polar differential currents indicate
internal fault. Compared with traditional differential protection,
differential current of proposed method in non-fault pole is much
smaller and is less possible to false trip, and indicates that proposed
method has higher security, while traditional differential protection
will possibly false trip on non-fault pole and requires supplemental
criterions to ensure selectivity. Thus, it can be concluded that the
proposed protection principle can action correctly and has a good
applicability in practical engineering project.
To be summed up, the proposed approach can effectively
decrease non-fault differential current or differential current on
non-fault pole. Its selectivity has been significantly improved
comparing with traditional differential protection. The proposed
method eliminates the impact of distributed capacitive current
during transient and steady states, and rapidity is improved as delay
is no longer needed.
IET Gener. Transm. Distrib., 2017, Vol. 11 Iss. 5, pp. 1286-1292
© The Institution of Engineering and Technology 2017
Fig. 11  Results of differential current when metallic ground fault occurs at
170.89 km from Zhao Qing in positive pole
6 Conclusions
In this paper, through control characteristic analysis and fault
characteristic analysis, existing problems of traditional differential
protection are analysed. A novel HVDC differential protection
scheme is proposed. The new approach uses distributed parameter
line model to calculate differential current in time domain.
Combined criterions with a high value short delayed threshold and
a low value long delayed threshold are introduced.
Comparing with travelling wave protection, the proposed
approach is not limited by wave head and can identify internal
faults during both transient and steady states, while also has high
tolerance to high ground resistance. Comparing with traditional
current differential protection, the proposed approach adopted
distributed parameter model and is not affected by distributed
capacitive current. Its reliability is greatly increased.
The proposed approach with combined high-value and low-
value thresholds ensures both rapidity and sensitivity as well as
security for the HVDC differential current protection scheme. The
adoption of Bergeron model and combined thresholds is an
improvement to the theory of HVDC differential current protection
and the proposed approach is applicable in practice.
7 Acknowledgment
The authors gratefully acknowledge the support of the National
Natural Science Foundation Committee of China (nos. 511777128
and 51477131).
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IET Gener. Transm. Distrib., 2017, Vol. 11 Iss. 5, pp. 1286-1292
© The Institution of Engineering and Technology 2017