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variables are continuous and a lower bound to the solution of Tik = 0.14 xTDS i /[( I ik / Ipi ) 0.04 1] (6)
the problem is obtained. If the solution of the relaxed problem
where Iik is the fault current passing through the relay for a
gives integer solutions for the relaxed integer solutions, then
the search stops and this will be the solution to the problem. fault in zone k. It can be seen from (6) that the non-linearity
Otherwise, the problem is divided into subproblems and a comes from the pickup current term. For LP formulations, the
master problem. The subproblems are NLP problems with pickup current is assumed to be known and as a result (6)
fixed values for the binary variables. The master problem is takes the form
an MIP problem where the variables calculated from the NLP
subproblmes are used to obtain the optimal solution. Tik = ai xTDS i (7)
In the next subsections, an overview on the different where ai is a constant depending on the values of Ip and the
directional overcurrent relay coordination problem fault current.
formulations will be presented.
A. Linear Problem Formulation Transient Configuration Equations
The transient changes in the network topology due to the
In the coordination problem, the main objective is to
operation of the primary relay are usually considered when
calculate the TDS and Ip, which would minimize the time of
setting the relays. When the main relay operates, the current
operation of the relays [1-6]. The coordination problem of
seen by the other relays changes leading to a different
directional overcurrent relays in a power system can be stated operating time. Thus, the transient changes are included in the
as follows: problem formulation and are given in the following equations:
Coordination Criteria where Tnk and Tik are the time of operation of the backup
and primary relay for transient configuration. Iik is the fault
current of relay i for a fault in zone k for transient
Tnk Tik T (2)
configuration.
where Tnk is the operation time of the first backup of Ri for a The main disadvantage of this formulation is that the
given fault in protection zone k . T is the coordination time pickup currents are assumed predetermined. Since each relay
interval and is taken to be 0.2 seconds. The coordination time can allow for several Ip values, there could be a better pickup
interval is the minimum interval that permits the backup relay current setting for each relay that would lead to a better
to clear a fault in its operating zone. It includes the breaker objective function.
operating time, relay overtravel time and a safety margin to B. Nonlinear Problem Formulation
compensate for possible deviations in calculated fault Due to the similarities in the curves of the time-current
currents. characteristics for different TDS values, a relationship
Bounds on relay settings and operation times between the operating times and the TDS for each value of
current can be approximated [7], [8]. The relation can be
TDS imin TDS i TDS imax (3) written as follows:
Ipimin Ipi Ipimax (4) Ti = ao + a1 (TDS i ) + a 2 (TDS i ) 2 + a3 (TDS i ) 3
(11)
Tikmin Tik Tikmax (5) + a 4 (TDS i ) 4
where TDSi is the time dial setting and Ipi is the pickup
current. The minimum pickup current is determined by setting where Ti is the relay operating time, and ao to a4 are obtained
it at twice the normal load current. This is to assure that the using the data from the published curves and the least square
relay will not misoperate under normal load conditions. The curve fitting. This model is appropriate for use in
maximum pickup current is chosen such that it is less than the microprocessor-based relays since it requires much less
minimum fault current that passes through the relay. memory than the previous model but unfortunately; the
pickup currents are assumed known. Constraints shown in (2)
Relay characteristics to (5) are included in the problem formulation.
settings are changed in steps and the relation between time It can be seen from (15) that if one of the binary variables
and pickup current is nonlinear as given in (6), the problem is for a relay is equal to 1, then all the others for the same relay
an MINLP problem [9-11]. Genetic algorithm was used to will equal 0.
solve the problem and the coordination problem was Constraints (2) to (6) are included in this formulation and
formulated as follows: thus the problem becomes an MINLP problem. The main
advantage of this formulation is that the pickup current
objective = relay operating time settings are not fixed to a predetermined value. Thus, a better
optimal solution could be obtained, other than the solution
+ (relay TDS user preferred TDS ) 2 + obtained with predetermined values for pickup current.
(12) Similarly, due to the non-linearity in the formulated problem,
(relay CSM User preferred CSM ) 2 + there is a chance that local optimal solutions are generated.
(Tnk Tik T ) 2
III. PROPOSED PROBLEM FORMULATION
It can be seen that the constraints are added in the
The protective relay coordination problem is originally an
objective function by squaring and multiplying by a weighting
MINLP problem since Ip is discrete, TDS is continuous and
factor. ,,, and are the weighting factors for each some constraints are nonlinear. It is well known that MINLP
constraint. The time of operation in (12) are calculated from techniques might result in local optimal solutions due to the
(6). Due to the non-linearity in the problem, the technique non-linearity of the problem. In order to overcome this
used to solve such problem might get trapped in a local problem, the coordination problem has been reformulated and
optimal solution. constraints and additional variables were added to avoid the
Similarly, the coordination problem was formulated as an non-linearity. The main objective can be written as follows
MINLP problem in [12]. The main objective was to minimize
the time of operation of relays as give in (1). In order to take
into account the discrete pickup current values, an additional
objective = min W ' T i ik
(16)
binary variable ymi was added to the problem formulation. The For n discrete pickup current values for each relay, the
pickup current of each relay was written as a sum of each of time of operation of a relay could written as a sum of the time
its available pickup current settings multiplied by a binary of operation of the relay for each Ip multiplied by a binary
variable. Thus, if a relay has 6 available pickup settings, it can variable. Only one of these binary variables is equal to 1 to
be written as follows assure that only one pickup current setting is chosen. Equation
(6) has been modified to account for the discrete pickup
Ip1 = y11 Ip a1 + y 21 Ip a 2 + y 31 Ip a 3 + y 41 Ip a 4 current settings and takes the form
(13)
+ y 51 Ip a 5 + y 61 Ip a 6 n TDS i y ij
Tik = 0.14 x i (17)
where Ipa1, Ipa2,..,Ipa6 are the available relay pickup current j =1 [( I ij / Ipij ) 0.04 1]
settings. To assure that one pickup current setting is chosen, the sum of
In general, the decision binary variable for each relay is equated to 1.
Since Ipij and Iij are fixed values and known, the pickup
Ipi = y
m
mi Ip am i where i = 1,2,.....n (14) current is no longer the source of non-linearity in the problem.
Unfortunately, there is still non-linearity as a result of the
ymi =1 if pickup current setting m is chosen multiplication of the TDS by the decision variable. To
overcome this, (17) has been further modified by replacing
for relay i the results of the multiplication of the two variables in (17)
ymi = 0 otherwise with one new variable Rij as shown in (18)
n Rij
Tik = 0.14 x
where n is the number of relays , m is the number of available
i (18)
pickup current settings, and Ipam are the allowable discrete
j =1 [( I ij / Ipij ) 0.04 1]
values for the pickup current for each relay i.
From (14), the pickup setting should equal only one of the Additional constraints need to be added to relate the new
available relay settings. In order to assure that not more than variable Rij to TDSi and yij. If yij is equal to 1, then Rij should
one pickup current setting is chosen for each relay, the equal TDSi else if yij equals zero, Rij should equal 0. This If
constraint shown in (15) is included in the problem Then-Else statement could be formulated as follows
4
n TABLE II
y ij = 1 i (23) TRANSFORMER DATA
j =1 Node Sn (MVA) Vp(kV) Vs(kV) x (%)
Equation (24) and (25) represent the bound on the time of s
operation of relays and the TDS. 7-1 150 10 150 4
8-6 150 10 150 4
Tikmin Tik Tikmax (24) TABLE III
LINE CHARACTERISTIC
TDS imin TDS i TDS imax (25) Node R X Y Length
The proposed problem formulation is an MIP problem. s (/km) (/km) (S/km) (km)
The non-linearity was overcome by adding new variables and 1-2 0.004 0.05 0.0 100
constraints. The proposed formulation takes into account the 1-3 0.0057 0.0714 0.0 70
discrete pickup current settings while preventing non-linearity 3-4 0.005 0.0563 0.0 80
and thus this eliminates the possibility of getting trapped in 4-5 0.005 0.045 0.0 100
local optimal solutions. 5-6 0.0045 0.0409 0.0 110
2-6 0.0044 0.05 0.0 90
IV. SIMULATION RESULTS 1-6 0.005 0.05 0.0 100
The system under study is an 8-bus system shown in Fig. 1.
At bus 4, there is also a link to another network modeled by a The coordination problem was formulated as an LP,
short circuit power of 400 MVA. The system consists of 14 MINLP, and MIP problem. For the LP programming case, the
relays and each relay is assigned 10 discrete pickup current pickup current settings were set fixed to their lowest available
values. setting. The problem was solved using the CPLEX solver in
GAMS, which uses the dual simplex method to obtain the
optimal solutions. Table IV presents the optimal solution for
7
the 3 problem formulations for the protective relay
coordination problem.
The results show that for the LP case, the objective
function is equal to 31.96 seconds. For both MINLP and MIP
1 3 4
problem formulations an objective value of 16.5 seconds was
8 4
obtained. Thus, setting the pickup current to a predetermined
2 9 3 10
value could lead to inefficient solutions. Both MINLP and
MIP problem formulations generate the same exact solution,
which proves that the proposed MIP formulation is equivalent
7
to the MINLP problem formulated in [12]. Despite the fact
12 5 that both MINLP and MIP give the same solutions, but the
13 6
1 11 new formulation eliminates the possibility of generating local
2 6 5
optimal solutions. For larger system with more relays and
more available settings, there is a possibility that the MINLP
problem formulation will generate local optimal solutions.
The main advantage of the proposed problem formulation
8 over the MINLP and NLP formulations is the avoidance of
the possibility of getting trapped in a local optimal solution.
Fig. 1. System under study Besides that, the proposed MIP formulation generates better
solutions than the LP problem formulation. To illustrate this,
Tables I, II, and III present the system parameters. The Fig. 2 shows the effect of providing several settings for each
OSL solver in GAMS was used to solve the MIP problem. relay on the optimal solution obtained.
The solver relaxes the problem first by assuming all integer
5
0 R81 TDS 8
TDS 8 10000(1 y81 ) R81 10000 y81
0 R82 TDS 8
Fig. 2. Objective value versus the number of relays with 10 settings TDS 8 10000(1 y82 ) R82 10000 y 82
available.
0 R83 TDS 8
At the beginning, some relays were chosen randomly to TDS 8 10000(1 y83 ) R83 10000 y 83
have a fixed setting, while the rest were assumed to have 10 Similarly, relay 8 operates as backup for relay 13, and the
available settings each. The objective value obtained was time of operation for relay 8 for a fault in the line between
17.128 seconds. One of the relays with fixed pickup settings Bus 2 and Bus 6 can be written as follows:
was chosen randomly and then equipped with 10 pickup
settings. The new objective value improved to 16.74 seconds.
6
0.14 R81 /((3000 /(400)) 0.04 1) H. H. Zeineldin received the B.Sc. and M.Sc. degrees in electrical engineering
from Cairo University, Egypt, in 1999 and 2002, respectively. He is working
0.14 R81 /((3000 /(500)) 0.04
1)) = 0 toward his Ph.D. in electrical and computer engineering at the University of
The coordination constraints can be written as follows: Waterloo, Ontario, Canada. His current interests include protective relay
coordination, and distributed generators.