Parks transformation analitycal approach of transient

signal analysis for power systems

R.G. Ferraz; L.U. Iurinic; A.D. Filomena; A.S. Bretas
Electrical Engineering Department
Federal University of Rio Grande do Sul
Porto Alegre, Brazil
Abstract A rapid change in power system states leads to
appearing of electromagnetic transients signals in system
variables. Such transients are in the form of DC offset or
frequencies above de fundamental and have information about
its producer phenomenon. Thus, system signals can be recorded
using adequate equipment in order to diagnose the phenomenon.
Within the previous contextualization, this paper present an
analytical study of Parks transformation applied in the
framework of power system three-phase signals. Furthermore,
this paper highlights the potential use of such transformation as
a filter that could be useful to improve the transient signal
analysis. By means of a numerical implementation of Parks
transformation taken on Matlab environment, four cases are
analyzed. Three of them consist on studying synthetics and
controlled signals, whereas the last analyze the phase voltages of
a faulted power system simulation performed in ATP-EMTP.

I.

INTRODUCTION

It is well established that rapid changes in circuit states

create electromagnetic transients seem in the system variables.
The term transient indicates the notion of an event that is
undesirable but momentary in nature, disappearing during the
transition from one steady-state to another. Common sources
of electromagnetics transient in power systems are lightings
and commutations. Such creates impulsive or oscillatory
transients that can affect the performance of equipment or
damage their electrical insulation [1].
Transient waveforms contain oscillatory components
above the fundamental frequency and the natural frequency of
these oscillations characterizes the phenomenon that produced
the transient. From all possible sources of transients, faults
(short circuits) are common and worrisome due to the high
magnification produced in system currents. Therefore, a
reliable detection and location of faults is necessary to
minimize the period of interruptions and associated costs.
Faults create travelling waves and resonances phenomena that
produce transients used in many works to perform an event
diagnostic [2-7].
Reference [8] presents a fault location approach for a two
terminal time-synchronized algorithm. The concept is to
monitor all three-phase by the direct axis voltage component
The authors gratefully acknowledge Coordenao de Aperfeioamento
de Pessoal de Nvel Superior (CAPES), Conselho Nacional de
Desenvolvimento Cientifico e Tecnologico (CNPq), and Companhia
Estadual de Gerao e Transmisso de Energia Eltrica (CEEE-GT) for the
financial support of this study.

978-1-4673-2308-6/12/$31.00 2012 IEEE

(vd) obtained through Parks transformation (Tdq0). The fault

point is located knowing the time difference between the wave
fronts arrival in each terminal and the known wave velocity.
The same approach is presented in [9] but adding a selfadaptive block to account system unbalance levels. These
works highlight the vantages of Tdq0 to monitor the three
phases with only one signal and eliminate the influence of
fundamental frequency, improving the transient detection.
Nevertheless, a more rigorous analytical study of the
application of Tdq0 to power system signals has not been done.
Thus, this paper intends to present an analytical study of
Tdq0 contextualized on electric power system in order to assess
transient signals. The potential application of this tool as a
filter to eliminate the fundamental frequency is presented.
Furthermore, the effects of amplitude unbalance and distortion
of transients characteristics are analyzed. A numerical
implementation of the Tdq0 is assessed with four cases. The
first three are taken on to validate the resulting equations and
show the effects of unbalances and transients in a controlled
manner. The fourth employ signals from a digital simulation
of a faulted transmission line.
II.

ANALYTICAL APPROACH

Parks transformation allows relating variables from a

static reference frame with a rotating reference frame. Its main
and best known application is in analysis of rotating electric
machines, turning the variables inductances of the stator in
constant inductances on a rotating reference with synchronous
speed [10]. The given Parks transformation name of was
adopted due to R. H. Park works consecration, that presents a
generalized theory to analyze rotating electric machines [11].
Consider the matrix Parks transformation TP presented in
(1) [10]:
2
2

cos (t + )

TP =

2
-sin (t + )
3

1
2

cos (t

+ ) cos (t +
+ )
3
3

2
2
+ ) -sin (t +
+ ) ,
-sin (t
3
3

(1)

where:
is the angular power frequency;
t is the time instant;
is the angle between the axis of phase a and the direct axis
component (d-axis).

vd =

2 1
{ (Vma + Vmb + Vmc ) +
3 2
1
[V cos (2t)
2 ma

Parks transformation allows the transformation from the

abc phase variables to the dq0 variables in the following
matrix form [10]:
fdq 0 = TP fabc ,

(5)

for the zero voltage component;

Vmb cos (2t / 3)

Vmc cos (2t + / 3)] +

(2)

where:
fdq0 = [fd fq f0]T is the vector of signals dq0;
fd, fq e f0 are the signals of direct axis, quadrature axis, and
zero, respectively;
fabc = [fa fb fc]T is the vector of signals abc;
fa, fb e fc are the signals of the phases a, b, and c, respectively.

f (t ) cos(t )},
T

(6)

for the direct axis voltage component and

vq =

2 1
{ [Vma sin (2t) +
3 2
Vmb sin (2t 4 / 3) +

Since the transformation (2) is orthogonal; i.e., the inverse of

the transformation matrix TP is equal to its transpose, can be
the conversion of signals abc to components dq0 and viceversa [10].

Vmc sin (2t + 4 / 3)] +

f (t ) sin (t)},
T

for the quadrature axis voltage component.

(7)

A. Three-Phase System with Voltage abc Signals and

Electromagnetic Transient
Consider the following set of voltage signals from a three
phase system with an electromagnetic transient in phase a as:

For simplicity, the angle of the transformation matrix TP was

considered zero.

va Vma cos (t) + fT (t )

vb = Vmb cos (t 2 / 3) ,
v V cos (t + 2 / 3)
c mc

cos x cos y = 0.5 [cos( x y ) + cos( x + y )]

(8)

sin x cos y = 0.5 [sin ( x + y ) + sin ( x y )]

(9)

cos( x + y ) = cos x cos y sin x sin y

(10)

cos( x + y ) = cos x cos y + sin x sin y

(11)

(3)

where:
fT (t) is the function that represent the electromagnetic
transient;
is the angular power frequency;
Vma, Vmb e Vmc are the maxim values of signals of the phases a,
b, and c, respectively.
In this paper the transient function is given as (4):
(t )2
2
f (t ) = FT e 2
cos ( t),
T

Consider the following trigonometric relationships by

definition:

Applying the trigonometric relationships (8), (9), (10), and

(11) on (5), (6), and (7) the following expressions are
obtained:
v0 = k1 cos(t ) +

(4)

where:
T is the angular power frequency of transient;
is the time position of transient;
represents the temporal dispersion of the Gaussian function.

v0 =

k1 = k 2 + k3 ,

k2 =

V
V
(Vma mb mc ),
3
2
2
3

k3 =

{[Vma cos (t) +

(12)

where:

The application of Parks transformation according to (2)

on (3) results in:
2 1

3
f (t ),
3 T

1
2

(Vmb Vmc ).

(13)

(14)

(15)

and
1

Vmb cos (t 2 / 3) +

= cos ( k 2 / k1 ).

Vmc cos(t + 2 / 3)] + f (t )},

T

(16)

Similarly, (6) can be rewrite in the form:

III.

2
vd = Vx + k 4 cos (2t + ) +
f (t ) cos(t ),
3 T

(17)

where:
6

Vx =

(18)

(Vma +Vmb + Vmc ),

2

(19)

k 4 = k5 + k 6

k5 =

V
V
(Vma mb mc )
6
2
2
6

k6 =

2
4

(20)

(21)

(Vmb Vmc ).

ANALYSIS OF ANALYTICAL APPROACH

This section will analyze some important operation

conditions of power system.
A. Balanced System Operating without Eletromagnetic
Transient
For a balanced system operating without electromagnetic
transient, in (3) Vma = Vmb = Vmc = Vm and fT (t) = 0. Where Vm
is the maximum phases a, b, and c value.
Analyzing (26), (27), and (28) for the condition described
above, it is possible to verify that:
for the zero voltage component:
v0 = 0,
(29)
because k1 is zero;
for the direct axis voltage component:
vd = Vx =

and
1

(22)

= cos ( k5 / k 4 ).

2
f (t ) sin (t )],
3 T

because k4 is zero;
vq = 0,

(23)

where k6 is given by (19) and

1

= cos ( k6 / k 4 ).

(24)

Thus, the application of Parks transformation on (3)

results in:
3

k1 cos (t ) +
f (t )
3 T

v0

v = V + k cos (2t + ) + 2 f (t ) cos (t ) . (25)

3 T
d x 4

vq

[ k 4 cos (2t + ) + 2 fT (t ) sin (t ) ]

3

( t )2
2
e 2 cos( t)

(31)

because k4 is zero.
In other words, the application of Parks transformation to
a set of signals at the fundamental frequency of a balanced
system results only in a DC level in the direct axis voltage
component.
B. Balanced
Transient

System

Operating

with

Electromagnetic

For a balanced system operating with electromagnetic

transient in phase a, in (3) Vma = Vmb = Vmc = Vm and fT (t) 0.
Analyzing (26), (27), and (28) for the condition described
above, it is possible to verify that:
for the zero voltage component:
(t )2
2
3
(32)
v =
F e 2
cos( t),
0

Substituting (4) in (25) results:

3
v0 = k1 cos(t ) +
F
3 T

(30)

for the quadrature axis voltage component:

Similarly, (7) can be rewrite in the form:

vq = [ k 4 cos (2t + ) +

6
V ,
2 m

because k1 is zero;
(26)

for the direct axis voltage component:

( t )2
2
6
6
vd =
Vm +
FT e 2
[cos(( ) t) + cos(( + ) t)],
T
T
2

vd = Vx + k4 cos (2t + ) +
(t )2
2
6
F e 2
[cos(( ) t) + cos(( + ) t)]
T
T
6 T

(27)
vq = { k 4 cos (2t + ) +

because k4 is zero;

(33)

for the quadrature axis voltage component:

( t )2
2
6
vq =
FT e 2
[sin (( + ) t) + sin (( ) t)],
T
T
6

( t )2
2
6
[sin (( + ) t) + sin (( ) t)]}
F e 2
T
T
6 T

(28)

because k4 is zero.

(34)

That is, the application of Parks transformation to a set of

signals at the fundamental frequency of a balanced system
operating with electromagnetic transient in phase a results:

 zero voltage component is the same as the modified

amplitude transient signal;
in a DC level and direct axis voltage component
modification in amplitude and natural frequency;
only transient signal in quadrature axis voltage
component with natural frequency and amplitude
modification.
C. Unbalanced System Operating without Eletromagnetic
Transient
For an unbalanced system operating without
electromagnetic transient, in (3) Vma Vmb Vmc and fT (t) = 0.
Analyzing (26), (27), and (28) for the condition described
above, it is possible to verify that:
for the zero voltage component:
v0 = k3 cos(t );

(35)

for the direct axis voltage component:

vd = Vx + k6 cos(2t + );

on voltage signals, but the transformation could be applied to

current or any other set of three-phase signal. For all the cases
the fundamental frequency was defined as 60 Hz.
The analyzed cases may be summarized as:
Case I Parks transformation to a balanced set of threephase voltages with fundamental frequency;
Case II examines a three-phase unbalance system
without an electromagnetic transient in phase a;

Case III analyzes a balanced system, however with an

electromagnetic transient in phase a;

Case IV analyzes the voltages measured at any

substation during a momentary fault in loads phase a
with simulations time duration of two cycles from
fundamental frequency with the faults connection at
10.5 ms and disconnection at 17 ms.
An illustration of the power system circuit simulated is
presented in Fig. 1.

(36)

Z1

Transmission Line

Z2

for the quadrature axis voltage component:

vq = k 6 cos (2t + ).

MP

(37)

Z 1: Source impedance 1;
Z 2: Source impedance 2;
Z f : Fault impedance;

The application of Parks transformation to a set of signals

at the fundamental frequency of an unbalanced system
operating without electromagnetic transient results:
the fundamental frequency in zero voltage component;
in a DC level and second harmonic in direct axis voltage
component;
the second harmonic in quadrature axis voltage
component.
D. Unbalanced System Operating with Eletromagnetic
Transient
For an unbalanced system operating with electromagnetic
transient, in (3) Vma Vmb Vmc and fT (t) 0.
the zero voltage component is a fundamental frequency
and transient signals combination;
the direct axis voltage component is the following
combination:

MP: Measurement point.

Figure 1. Transmission line simulated in ATP-EMTP.

V.

TABLE I.

second harmonic of fundamental frequency;

CASE STUDY

To achieve an understanding of the Parks transformation

applied on power system signals and illustrate the analytics
results obtained before, four cases were analyzed. The first
three cases consists in simulations of Parks transformation
carried out at Matlab [12] environment, using synthetics
signals to represent the three-phase voltages of a power
system. The fourth case is a simulation of a power system
performed in ATP-EMTP [13]. This papers approach based

VALUES OF CASE I

Input

modified frequency and amplitude transient signal.

IV.

TEST RESULTS ANALYSIS

A. Case I
Parks transformation was implemented as a system where
the phase voltages were the inputs and the dq0 voltages the
outputs. Each phase voltage, which was represented by (3),
was characterized by the phase amplitude. However dq0
voltages also need to be characterized by frequency and
continuous components. Table I shows the numerical results
that are according with (29), (30), and (31). In Fig. 2 the
results are presented in a friendly manner and easily identify
the transformation behavior in a balanced system.

DC level;

the quadrature axis voltage component is the same as

direct axis voltage component without the DC level.

Zf

Output

Signal

Amplitude
[PU]

Signal

Amplitude
[PU]

Frequency
[Hz]

DC
[PU]

va

v0

vb

vd

1.225

vc

vq

multiplications of the transient with a sine and cosine

according with (25), each one in the fundamental frequency.

Figure 2. Parks transformation of Case I:

(a) Phase voltages; (b) v0; (c) vd; (d) vq.

B. Case II
The results were analyzed as Case I, showing in Table II
that in an unbalanced set of voltages the dq0 voltages have
oscillations and amplitudes according to (35), (36), and (37).
Fig. 3 shows the graphical results of the Parks transformation.
TABLE II.

VALUES OF CASE II

Input

Output

Signal

Amplitude
[PU]

Signal

Amplitude
[PU]

Frequency
[Hz]

DC
[PU]

va

v0

0.2

60

vb

0.8

vd

0.141

120

1.225

vc

1.2

vq

0.141

120

Figure 4. Parks transformation of Case III:

(a) Phase voltages; (b) v0; (c) vd; (d) vq.

In order to illustrate in a better way the frequency

distortion, the Gaussian envelope variance was extended to 5
ms and a Fourier analysis was performed. In Fig. 5 are shown
the Discrete Fourier Transform (DFT) [14] of the v0 and vq
signals. The peak seen on v0 DFT has the same value that the
characteristic frequency of the original transient (1000 Hz).
However the vq DFT is composed of two peaks located within
60 Hz of the transient characteristic frequency. Similar
behavior is noticed vd signal spectrum continuous component.

Figure 5. Discrete Fourier Transform of signals:

(a) DFT of v0; (b) DFT of vq

Figure 3. Parks transformation of Case II:

(a) Phase voltages; (b) v0; (c) vd; (d) vq.

In this case was considered a set of balanced voltages with

a momentary oscillatory transient in phase A. Such transient
was mathematically represented by a Gaussian envelope
characterized by a variance of 1 ms, centered at 18.5 ms and
modulated by a cosine function of 1000 Hz:

fT ( t ) = 0.3 e

1 t 0.0185

2 0.001

C. Case IV
Fig. 6 shows the phase voltages and dq0 signals from the
power system simulation. This is a more real case and shows
the combination of two related disturbs: a fault insertion
transient and an unbalance produced by the voltage drop in the
faulted phase.

cos ( 2 1000 t ) .

(38)

As shown in Fig. 4, the v0 signal is the proper transient

with only an amplitude modification exactly as (32) predicts.
The vd and vq signals were modified according to (33) and
(34), not only by an amplitude modification but also by a
frequency distortion. This distortion is given by

Figure 6. Parks transformation of Case IV:.

(a) Phase voltages; (b) v0; (c) vd; (d) vq.

A DFT was simulated on the v0 and vd voltages with

results shown in Fig. 7. In v0 spectrum occur two means peaks
located at 60 Hz and 1440 Hz, the first due the unbalance and
the second due the oscillatory transient. The vq spectrum
analysis indicates that the first peak occurs at 120 Hz, whereas
the peak corresponding with the transient was degenerated in
two near peaks located approximately at 1500 and 1380 Hz.

[6]

[7]

[8]

[9]

[10]
[11]
Figure 7. Discrete Fourier Transform of signals.
(a) DFT of v0. (b) DFT of vq.
[12]

VI.

CONCLUSIONS

A basic analytical study of Parks transformation has been

presented within the context of transient signal analysis in
electric power systems. By means of analytical results and
numerical validations, the following conclusions are possible:
balanced systems, present all the dq0 signals constants
values, equal or not to zero;
unbalanced systems present sinusoid of fundamental
frequency v0 component, whereas vd and vq components
are second harmonics of fundamental frequency. that can
include a DC level;
balanced systems with a transient presented it in the v0
component with only an amplitude modification.
However in vd and vq the single-phase transient has a
natural frequency modification in addition to an
amplitude modification.
unbalanced systems with a single-phase transient has as
result a superposition of the two cases above.
It is thus clear that Parks transformation is a useful and
valid approach for transient detection in electrical power
systems.
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