Detection and Localization of Power Quality

Disturbances Using Space Vector Wavelet

Transform: A New Three Phase Approach
Subhash V. Murkute V. B. Borghate M. A. Chaudhari
Dept. of Electrical Engineering, Dept. of Electrical Engineering, Dept. of Electrical Engineering,
P.E.S.C.O.E., Aurangabad, INDIA VNIT, Nagpur, INDIA VNIT, Nagpur, INDIA
[email protected] [email protected] [email protected]

Abstract—This paper presents a new three phase approach successfully applied to stationary signals where the
based on space vector discrete wavelet transform to detect and properties of the signals do not vary with time.
localize power quality disturbances (PQD). This approach Consequently, the Short Time Fourier Transform (STFT)
provides high resolution time frequency representation used to uses a time frequency window to localize –in-time-sharp
detect and localize the disturbances. Supplementary transitions are used for non stationary signals. However, the
information about detected disturbances (duration and STFT uses a fixed time time-frequency window, which is
frequency spectrum) extracted in order to characterize them. inadequate for practical power system disturbances
From the monitored three phase voltage signals a space vector encountering a wide range of frequencies. Therefore, there
is generated using Clarke Transformation. For normal system is a need to apply an analysis technique adaptable to all
voltage the space vector is of constant magnitude signal of types of PQD signal required for effective detection and
1.5pu. If PQD occurs in any one or all phases of system, results
localization. Also, there is need for further improvement of
in change of magnitude or frequency or both of the space
vector. The space vector is decomposed using Discrete Wavelet
the PQ monitoring systems, which can detect and localize
Transform (DWT) and the magnitude of detail coefficients is all types of PQD and efficient in terms of computational
used to detect and localize the PQ disturbances. The proposed resources.
technique monitors all three phase voltages simultaneously In this paper, a new three phase technique to detect and
therefore can offer fast detection than existing single phase localize the PQD is presented. It monitors all three phase
based techniques. A practical power system network is used to voltages simultaneously which eliminates the limitations of
validate the proposed technique.
existing single phase based techniques. This paper is
organized as follows. Section II describes the different
Keywords—space vector, discrete wavelet transform,
signal processing methods used for detection of PQD. Both
multiresolution signal decomposition, Clarke transform, power
quality disturbance, wavelet coefficients
Clarke Transform and discrete wavelet transform used to
generate a space vector and detect PQD are discussed in
I. INTRODUCTION section III. In section IV the new proposed space vector
discrete wavelet transform (SVDWT) technique for
WITH wide use of power electronics and other nonlinear,
time variant loads in the power distribution network,
disturbance detection is explained. Finally the conclusion
presented in section V.
power quality has become a critical issue and attracted
attention in power industry and academic. The power II. DISTURBANCE DETECTION METHODS
quality problems such as voltage sags and swells, impulses, Various signal processing techniques used in power
notches, interruptions, flicker or harmonic distortion, which quality disturbances detection are briefly discussed in
may cause failure or malfunction of equipments, need to be following subsections.
detected and localized to find the cause and source of the
disturbances so that their effect can be neutralized using A. Root Mean Square (RMS)
suitable corrective and preventive measures. These Although the RMS is not an inherent signal processing
disturbances cover a broad frequency range, significantly technique, yet it is the most used tool. A great advantage of
different magnitude variations and can be stationary or non this algorithm is its simplicity, speed of calculation and less
stationary [1-2]. requirement of memory. However its dependency of window
A number of methods for detection and classification of length is considered as a disadvantage. One cycle window
individual types of disturbances that occurs on the power length will give better results in terms of profile than a half
line have been published [3-17]. In [3], unique features that cycle window [11]. Moreover, rms does not distinguish
characterize power quality events and methodologies to fundamental frequency, harmonics or noise components and
extract them from recorded voltage and or current phase angle information get lost.
waveforms using Fourier and wavelet transforms presented.
The Fourier Transform (FT) based approaches have been

1
B. Fourier Transform (FT)
The Fourier transform (FT) technique is commonly used 𝑆𝑣 𝑘 = 𝑋𝛼 2 [𝑘] + 𝑋𝛽 2 [𝑘] (3)
in practice to provide harmonic information about the
signals monitored. FT transforms the signal from time- Eq. (1) gives the CT of three phase voltages Va, Vb and Vc.
domain to the frequency-domain. With this tool it is possible The first two components of CT 𝑋𝛼 and 𝑋𝛽 forms a space
to have an estimation of the fundamental amplitude and its vector given by eq. (2). The third component of CT
harmonics with a reasonable approximation. FT performs represents the zero sequence component (𝑋0 ). Eq. (3) gives
well for estimation of periodic signals in stationary state; the magnitude of space vector.
however, as reported in [2, 4 & 9], FT alone is not sufficient In [13-15, and 17], space vector applications for power
for the feature extraction due to the transient nature of most
quality disturbance detection and classification are
of the PQ signals where the time information is required.
explained. In [13], a three phase vector sum technique is
C. Short Time Fourier Transform (STFT) used to detect the PQD. Space vector analyzed by FT for
An improvement to FT technique, the short time Fourier detection and classification of sags and swells explained in
transform (STFT) is commonly known as a sliding window [14]. In [15], space vector with dual hysteresis filter
version of the FFT, was implemented in [16], where the investigated to detect and mitigate PQD. In [17], statistical
voltage disturbances were analyzed in time frequency features of space vector are utilized for classification of
domain. However, STFT has fixed frequency resolution for PQD.
all frequency and has shown to be more suitable for To test the proposed method power distribution network
harmonic analysis of voltage disturbances than binary tree is modeled using MATLAB SIMULINK as shown in Fig.1.
filters or wavelets when is applied to study voltage dips.
D. Wavelet Transform (WT)
Latest advances in electrical power quality monitoring
techniques are based on extraction of disturbances data
using time frequency analysis. Time frequency analysis is
more suitable to detect PQ disturbances which vary in a
wide range of time and frequency. Wavelet transformation
has unique ability to examine the signal in time and
frequency ranges, which makes WT a promising tool for
power quality disturbances analysis [6-8].
The disadvantage of all above methods is that all are
single phase based techniques. That takes more time to Fig. 1 Practical power system network (Simulink model)
detect and identify the PQD. Another problem is that the
practical disturbances are of different magnitude and having The power distribution network considered has a three
different frequency spectrum no single method explained phase distribution transformer of 100 KVA, 11 KV/415 V
above can detect or identify them. (Dyg) supplies different loads, which produce the
In this paper new technique based on three phase disturbances during their operation or at the time of
approach using space vector discrete wavelet transform switching. The capacitor switching transients get generated
(SVDWT) is presented, which eliminates the limitation of at the time of switching the 5 KVAR power factor
existing single phase based techniques. improvement capacitor bank. Three phase converter of 35
KW used to supply DC power, which produces the
III. CLARKE TRANSFORM AND DWT notching. The sags and swells on different phases are
generated by reducing or increasing the phase voltages.
A. Clarke Transform
Seven different types of PQD given in Table 1 are
The Clarke transform is commonly utilized in real time considered to generate data for testing. The considered
motor control applications. This is due to the fact that in a disturbances are of 1-phase sag and swell, combined 1-
three phase system the phase quantities are not independent phase sag and swell (equal and unequal magnitudes), 3-
variables. Therefore, it is possible to transform a three phase phase balanced sag and swell, 3-phase capacitor switching
system to an equivalent two phase representation. transients and three phase converter operation notching.
In this paper above concept is applied to offer an Notching is a steady state (S.S.) event. Capacitor switching
alternative method which is able to process all three phase is a nonstationary disturbance occurred at starting time
voltage signals simultaneously. tst=0.012 sec. All type of sag and swell disturbances occur at
The Clarke transform is defined as [14], tst=0.025sec. and ended at time ted=0.125 sec.
𝑋𝛼 [𝑘] 1 −1/2 −1/2 𝑉𝑎 [𝑘
𝑋𝛽 [𝑘] = 2 0 3/2 − 3/2 𝑏 [𝑘] 𝑉 (1) Table 1 PQD considered for simulation
3
𝑋0 [𝑘] 1/2 1/2 1/2 𝑉𝑐 [𝑘]
Duration (sec.)
𝑆𝑣 𝑘 = 𝑋𝛼 [𝑘] + 𝑗𝑋𝛽 [𝑘] (2) Sr. No. PQ Disturbance
tst ted

2
1 Capacitor switching 0.012 -
2 Notching S.S.
3 Single phase sag 0.025 0.125
4 Single phase swell 0.025 0.125
5 Combined sag & swell
i) Equal magnitude 0.025 0.125
ii) Unequal magnitude
6 Three phase sag 0.025 0.125
7 Three phase swell 0.025 0.125

Fig. 2 Space vector for different PQD a) Normal 3-phase

supply, b) 80% sag in phase A, c) 120% swell in phase A,
d) Equal sag and swell (80% & 120%) in two phases, e)
Unequal sag and swell(80% sag & 140% swell) in two
phases, f) Three phase balanced voltage sag, g) Three
phase balanced voltage swell, h) Capacitor switching
transients, i) Three phase converter operation (notching)

Fig. 2 shows the three phase voltage and space vector

waveforms for different types of disturbances mentioned in
table1. In Fig. 2(a), space vector for normal condition of
three phase voltage is shown. It is observed that for normal
voltage the space vector is of constant magnitude. If PQD
occur in any one or more phases, during the disturbance
interval, the smoothness (magnitude or frequency or both)
of the space vector get changed as in Fig. 2(b) to 2(i). In Fig.
2(b) and 2(c), the effect of 1-phase sag of 80% and 1-phase
swell of 120% on characteristics of space vector is shown.
for sag and swell of 80% and 120% magnitude on phase The
effect on space vector for combined sag and swell of 80%
(20% drop in voltage on one phase) and 120% ( 20% rise in
voltage on other phase ) on two different phases occurred at

3
same time instant is shown in Fig. 2(d). In Fig. 2(e), the Wavelet transform can obtain both time and frequency
effect of combined sag and swell of 80% and 140% (20% information of the signals which is very attractive feature in
drop and 40% rise in voltage on two different phases) analyzing time series because time localization of spectral
respectively is shown. The space vector characteristics for components can be obtained.
three phase balanced voltage sag and swell of 80% and One advantage of wavelet analysis is its ability to
140% magnitude on each phase voltage is shown in Fig. 2(f) perform local analysis. Wavelet analysis is able to reveal
and 2(g) respectively. Fig. 2(h) and 2(i) show the space signal aspects that other analysis techniques miss, such as
vector magnitude due to disturbances generated by three trends, breakdown points, discontinuities, etc. This property
phase capacitor switching (transients) and converter of wavelet analysis is used to detect and localize the PQD.
operation (notching).
From the results it can be conclude that when the PQD IV. SVDWT TECHNIQUE FOR DISTURBANCE DETECTION
occur the characteristics such as frequency contents and AND LOCALIZATION
magnitude of space vector get changed. It is also observed The space vector generated of different PQD has been
that the space vector has unique for different group of PQD. analyzed using wavelet multiresolution signal decomposition
This paper applies above concept to offer an alternative (MSD) to detect and localize the disturbance. SVDWT
method which is able to detect and localize the PQD in three analyses used in this paper detect variation in the space
phase voltage signals simultaneously by analyzing the space vector magnitude and frequency and determine the
vector using DWT. disturbance interval. To apply wavelet transform to identify
time intervals following steps are taken:
B. Descrete Wavelet Transform (DWT)
i) Generate PQD space vector signal data with known
The DWT is one useful mathematical tool to decompose
initial and final times.
disturbance signals in time domain in to several scales at
ii) Apply DWT with suitable mother wavelet.
different levels of resolution through dilation and translation
iii) Identify the disturbances intervals with the help of
[8-9]. This property of DWT is known as multiresolution
wavelet coefficients.
signal decomposition (MSD) technique which decomposes a
Different algorithms have been applied by many
signal in to scales with different time and frequency
researchers for fast detection of PQD [14-16]. In this paper
resolutions. In power quality disturbance (PQD) signals,
MRA algorithm has been applied on generated PQD data to
many disturbances contain the sharp edges, transitions, and
test the proposed technique. Many commercial power quality
jumps. Through dyadic filter banks MSD can easily be
monitoring instruments have sampling rates of 256
achieved. So, MSD technique discriminates disturbances
samples/cycle since the majority of power quality events
from the original one and analyzes them separately. The
have frequency contents below 5 KHz [1]. Hence, the PQD
ability of wavelet to focus on short time intervals for high
data generated is sampled at 12.8 KHz of sampling
frequency components and long intervals for low frequency
frequency for 8cycles i.e. 2048 samples and is analyzed to
components improves the analysis of signals with localized
six levels of resolution using eq. (4) and (5). Higher level
impulses and oscillations, particularly in the presence of a
scaling of wavelet is more suitable but taking the benefit of
fundamental and low order harmonic.
computational efficiency and practical consideration six level
There are many types of DWT in regard to the choice of decomposition with Daubechues mother wavelet Daub6 is
mother wavelet function; however, in practical applications observed sufficient to get appropriate information.
a dyadic transformation of DWT with multiresolution
By using MATLAB Wavelet Blockset and DSP (Digital
analysis (MRA) is usually used for detecting PQD [9]. The
Signal Processing) tools SVDWT algorithm is implemented.
wavelet coefficients of the sampled signals, s(n),
Table 2 shows the frequency bands of approximate and
decomposed by L-scale MSD defined as;
detail WTC after SVDWT analysis for six decomposition
𝑁
𝑑𝑗 𝑘 = 𝑛=1 𝑠 𝑛 ℎ𝑗 𝑛 − 2j 𝑘 𝑗 = 1,2, . . , 𝐿 (4) levels.
𝑁
𝑐𝐿 𝑘 = 𝑛=1 𝑠(𝑛) 𝑔𝐿 𝑛 − 2L 𝑘 (5) Table 2 Approximate and detail coefficients and their
frequency bands
Where dj(k) is the detail coefficients at the j th scale,
cL(k) the approximate coefficients at the last scale, L, hj and Approx. Frequency Detail WTC Frequency
𝑔𝐿 denote the impulse responses followed by filtering in WTC Band (Hz) Band (Hz)
MSD, and N is the number of sampled data in a finite a1 level 0-3200 d1 level 3200-6400
interval. Since the family of dilated wavelet constitutes an
orthogonal basis, it is then possible to exactly reconstruct a2 level 0-1600 d2 level 1600-3200
the original signal from its coefficients. a3 level 0-800 d3 level 800-1600
Power quality problems are characterized by their
a4 level 0-400 d4 level 400-800
maximum amplitudes, crest voltages, RMS, frequency,
statistics of wavelet coefficients, instantaneous voltage a5 level 0-200 d5 level 200-400
drops, number of notches, duration of transients etc. These
characteristics are unique identifying features of different a6 level 0-100 d6 level 100-200
PQD.

4
a7 level 0-50 d7level 50-100
a8 level 0-25 d8 level 25-50
a9 level 0-12.5 d9 level 12.5-25
a10 level 0-6.25 d10 level 6.25-12.5
a11 level 0-3.125 d11level 3.125-6.25
a12level 0-1.56 d12level 1.56-3.125
a13level 0-0.78 d13level 0.78-1.56

It can be seen that DWT coefficients at the interval of

disturbance are much higher than other times. First scale
detail coefficient signal (d1) includes the highest frequency
band detects the disturbance instantaneously. The high
scale approximate coefficient signal (a6 & d6) detects low
frequency band of signal in sixth scale. This decomposition
gives time and frequency information of signal with good
resolution.

5
 disturbance on WTC values at different resolution levels. It
is observed that at the time of occurrence and at the end of
disturbance the WTC values much higher than other time.
This feature of WT is utilized to know the start time (tst) and
the end time (ted) of disturbance. Then eq. (6) is used to
measure disturbance duration Δt and used to categorize the
disturbance as instantaneous, momentary or temporary.
Δt = t ed − t st (6)
At the lowest scale (scale 1) the mother wavelet is most
localized in time and oscillates most rapidly within a short
period of time. As the wavelet goes to higher scales, the
analyzing wavelet become less localized in time and
oscillate less due to the dilation. The lower decomposition
levels (1-3) of Figs. 3(b) to 3(g) hardly show any nonzero
coefficients due to absence of frequency components at
these high frequencies except at the start and end of PQD.
Higher resolution levels, corresponding to lower frequencies
start to pick up the disturbances. Fig. 3(h) shows the start of
the transient phenomenon that decays gradually with time.
This may give sense to soon sort of discharging or decaying
transients, involving capacitor energization. Fig.3 (i) shows
the transient phenomenon due to switching of
semiconductor devices of the converter. This is high
frequency phenomenon, get detected at lower scales.
This proves that as the scale increases the accuracy of
disturbance time resolution decreases, and frequency
resolution increases. Hence good time localization is at low
scale and good frequency localization at high scale.
V. CONCLUSIONS
A new three phase technique (SVDWT) explained in this
paper is a powerful tool for feature extraction of power
quality disturbances. The detection and time localization of
PQD is fast and efficient. From the results it can be
concluded that the SVDWT is suitable tool to analyze PQ
disturbances when time and frequency information required
simultaneously. Also it can detect almost all types of PQD
very fast and accurately. The only drawback is that it fails to
detect gradual changing events.
REFERENCES
Fig. 3 SVDWT analysis of PQD a) Normal three phase
supply, b) 1-ph (80%) sag, c) 1-ph(120%) swell, d) Equal 1- [1] Dugan, McGranaghan, Santoso, and Beaty,―Electrical Power Syatems
ph sag and swell (80% and 120% each), e) Unequal 1-ph sag Quality‖, McGraw-Hill, 2nd Edition.
and swell (80% & 140%), f) Balanced 3-ph sag, g) Balanced [2] Flores R. A., ― State of the Art in the Classification of Power Quality
3-ph swell, h) Capacitor switching transients, i) 3-ph Events, an Overview,‖ Harmonics and Quality of Power, 2002, 10 th
International Conference on Volume 1, issue, 6-9, pp. 17-20,
converter notching Oct.2002.
Fig. 3(a) -3(i) shows the SVDWT analysis of PQD [3] Santoso, E. J. Powers, and W. M. Grady, ― Power Quality Assessment
signals using MRA. Though the decomposition is performed via Wavelet Transform Analysis,‖ IEEE Transaction on Power
Delivery , vol. 11(2), pp.924-930 (1996).
up to six levels only three levels detail coefficient signals
[4] Surya Santoso, W. M. Grady, E. J. Powers, Jeff Lamoree, Siddharth
(d6, d3, and d1) are shown in Fig. 3. The five different C. Bhatt, ―Charaterization of Distribution Power Quality Events with
signals shown in the waveforms are space vector, detailed Fourier and Wavelet Transforms‖, IEEE Transaction on Power
WT coefficients at levels d6, d3, d1 and squared level 1 Delivery, vol. 15(1), Jan. 2000.
(sq.d1). The reason for squaring wavelet coefficient is to [5] M. Wang and A. V. Mamisev, ―Classification of Power Quality
reduce the effect of noise in the signals. In Fig. 3(a), for Events Using Optimal Time- Frequency Representation,‖ Part 2:
normal three phase voltage the space vector magnitude is Application, IEEE Transanctions on Power Delivery, vol. 18, pp. 544-
549, 2003.
constant and the SVDWT analysis gives zero values of
WTC at all scales. Fig. 3(b) to 3(i) shows the effect of
changed characteristics of space vector during the

6
[6] Santoso, E. J. Powers, and W. M. Grady, ― Power Quality Assessment [12] R. Flores, ―Signal processing tools for power quality event
via Wavelet Transform Analysis,‖ IEEE Transaction on Power classification,‖ Lic.Eng. thesis, School Elect. Eng., Chalmers Univ.
Delivery , vol. 11(2), pp.924-930 (1996). Technol., Göteborg, Sweden, 2003, Tech. Rep. 477L.
[7] T. El-Shennawy, ―Detection, Localization, and classification of [13] A. M. Gargoom, N. Ertugrul, and W. L. Soong, ―A Comparative
Power quality Disturbances using DWT technique,‖ M.Sc. Thesis, Study on Effective Signal Processing Tools for Power Quality
Alexandria University, Egypt-2002. Monitoring‖, EPE 2005-Dresden.
[14] Vanya Ignatova, Pierre Granjon, and Sedddik Bacha, ― Space Vector
[8] S. Mallat, ―A Theory for Multiresolution Signal Decomposition: The Method for voltage Dips and Swells Analysis‖, IEEE Transactions on
Wavelet Represntation‖, IEEE Transations on Pattern Analysis, vol. Power Delivery, Vol. 24, No. 4, Oct. 2009.
11(7), pp. 674-693 (1989).
[15] Oscar C. Montero-Hernandez and Prasad, ―A Fast Detection
[9] Gauda, A. M. Salama, M. M. A., Sultan M. R. Chikhani A. Y., ― Algorithm Suitable for Metigation of Numerous Power Quality
Power Quality Detection and Classification Using Wavelet Disturbances‖, IEEE Transations on Industry Applications, vol. 41,
multiresolution Signal Decomposition‖, IEEE Transactions on Power No. 6, Nov/Dec. 2005.
Delivery, Vol. 14, No.4, pp. 1469-1476, Oct. 1999.
[16] Y. H. Gu and M. H. J. Bollen, ―Time-frequency and time-scale
[10] M. Karimi, H. Mokthari, and M. R. Iravani, ―Wavelet based on line
domain analysis of voltage disturbances,‖ IEEE Trans. Power Del.,
disturbance detection for power quality applications,‖ IEEE Trans. vol. 15, no. 4, pp. 1279–1284, Oct. 2000.
Power Del., vol. 15, no. 4, pp. 1212–1220, Oct. 2000.
[17] Ameen M. Gargoom, Nesimi Ertugrul, and W.L. Soong,
[11] Styvaktakis E., M.H.J. Bollen, I.Y.H. Gu, ―Automatic Classification
―Investigation of Effective Automatic Recognization System of
of Power System events using RMS voltage Measurements,‖ IEEE
Power-Quality Events,‖ IEEE Trans. Power Delivery, Vol. 22, N0. 4,
Power engineering Society Summer Meeting, Vol.2, pp 824-829, July pp. 2319-2326, Oct,2007.
2002.