Microprocessor based setting group controller for protective relay operations

[0002] This application claims the benefit of U.S. Provisional Application No. 60/134,562 filed May 17, 1999.

[0003] This invention relates to protective relays used in electric power system applications and, in particular, to the automatic and/or semi-automatic control of these protective relays.

[0004] As shown in FIG. 1, in the transmission and distribution of electrical power within an electrical power system operated by an electric utility, there exists multiple substations (A, B, C, D) which control the switching and distribution of electric power from a generating source (main dispatch center) to various distribution points and loads within the power system. These substations normally include a plurality of power transformers whose primary windings are connected to input lines and whose secondary windings are connected to output feeders/distribution lines. The substations also include a plurality of circuit breakers which are coupled to the incoming transmission lines, the power transformers and the outgoing feeders to switch (and hence protect) the respective lines and/or piece of equipment when a fault (e.g., an overload) condition is sensed. The switching (opening and closing) of the circuit breakers within a substation is controlled by protective relays which, by controlling the opening and closure of the circuit breakers, protect the incoming transmission lines, the power transformers, the outgoing feeders and the circuit breakers contained within the substation. The protective relays may be of various configurations, including electromechanical, non-programmable static, and programmable microprocessor based relays. Each protective relay is designed such that when it senses, or responds to, a fault condition, it causes its associated circuit breaker(s) to interrupt the power to, or out of, the device the relay is designed to protect.

[0005] In general, the protective relays are designed to sense and/or respond to a fault condition based on a plurality of settings maintained in, or applied to, each relay. Those protective relays which include a microprocessor/controller normally also include memory storage in which these settings are stored. The stored settings may be compared to various signals and preset conditions to enable a relay to sense the presence of faults based on these different signals and preset conditions. Further, these microprocessor based relays have means for selecting one of the stored setting groups when a signal is presented.

[0006] Typically, the power ratings of pieces of equipment such as the power transformers, the power distribution lines and the circuit breakers change as a function of temperature. By way of example, a particular power transformer may be rated to safely carry 15,000 amperes at minus (−) 35 degrees centigrade and only 10,000 amperes at plus (+) 85 degrees centigrade. In general, the resistance of the wiring and material used to form the transformers and distribution lines increases with increasing temperature resulting in a decrease in the power rating of these pieces of equipment with increasing temperature. For the example of the particular power transformer, above, a protective relay associated therewith would be, for example, set to “trip” an associated circuit breaker when the current through the transformer would exceed 12-to-13,000 amperes in the winter and 8-to-9,000 amperes in the summer. Therefore, it is a normal operating practice for electric power utilities to change the settings of protective relays at certain times during the course of a year to take into account different seasonal ambient conditions such as temperature. It is also accepted practice in the industry to send a highly skilled technician to each substation to reprogram each protective relay or manually set a new setting group via a rotary switch in the substation. Because of the number of substations, the distance between them, and the time to re-set and test the various protective relays, this is both expensive and impractical.

[0007] Also, on a particular day, the ambient temperature in a substation can be substantially higher (or lower) than expected, which either leaves the settings of the various protection relays too sensitive (e.g., too low) or not sensitive enough (e.g., too high). This can lead to mis-operation of these protection devices which results in unwanted blackouts, or to a catastrophic failure of a power transformer or circuit breaker.

[0008] Thus, the fixed settings applied to the relays does not solve the problem resulting from the fact that the temperature within the substation can vary over a wide range at any instant of time. This gives rise to a basic problem since the settings of the relays within the substation and their set points is based on preset or preprogrammed information and not on the actual value of the temperature and load conditions. Because of the significant change in the power rating of the transformers and circuit breakers (and other pieces of equipment) as a function of temperature, undervoltage and overvoltage conditions can occur. Also, either there may be a failure to recognize a fault condition or a false error condition may be sensed resulting in unnecessary disruption of power to customers.

[0009] Applicant's invention resides, in part, in the recognition that temperature changes within a substation can occur relatively quickly and unpredictably, whereby even where the relay settings are changed seasonally, they may not be appropriately set at any particular point in time. Therefore, it is highly desirable to continuously sense and monitor ambient conditions, such as temperature, within each substation and to continuously and automatically operate (open and close) the circuit breakers designed to protect the power distribution system. Where protective relays are used to “trip” (open and close) the circuit breakers, a microprocessor (microcontroller) may be used to continuously and automatically signal and control the protective relays for the temperature conditions currently existing within the substation, as well as the load conditions.

[0010] A substation containing power transformers and other pieces of equipment for distributing power to outgoing feeders may be subjected to a wide range of ambient and temperature conditions which affect the power transformers and the distribution equipment. Circuit breakers to protect the transformers and the other pieces of equipment are coupled to various points of the transformers and the pieces of equipment. The circuit breakers are operated by means of protective relays which are designed to sense and respond to various fault conditions. In systems embodying the invention, certain of the protective relays and their operation are made responsive to the ambient temperature of the substation.

[0011] In a particular embodiment, a temperature probe sensing the temperature of the substation is coupled to the input of a microcontroller whose output controls the settings of protective relays coupled to circuit breakers which, in turn, control the distribution of electric power into and out of the substation.

[0012] Protective relays for use in practicing the invention may be controlled by microprocessors and may be used in distribution substations for the purpose of determining when to change a preprogrammed group of settings stored in these protective relays and their associated microprocessors. Typical microprocessor based protective relays include unit and line protection devices with multiple setting groups. This includes, but is not limited to, transformer protection, transmission line protection, and feeder protection relays.

[0013] In the accompanying diagrams like reference characters denote like components; and

[0014] FIG. 1 is a block diagram of a prior art electric power distribution system;

[0015] FIG. 2 is a partial block, partial schematic, diagram of a substation containing a system embodying the invention;

[0016] FIG. 3 is a block diagram of a portion of the control system in accordance with the invention;

[0017] FIG. 3A is a block diagram of timer and delay circuitry suitable for use in the microprocessor circuit of FIG. 3;

[0018] FIG. 4 is a block diagram of circuitry for comparing the actual load currents versus temperature dependent reference currents; and

[0019] FIG. 5 is a block diagram of a distribution substation containing a system in accordance with the invention.

[0020] The invention will now be described with reference to FIGS. 2 and 3 which show, respectively, a highly simplified block diagram of a system embodying the invention contained within a substation 10, and a block diagram of a portion of the system shown in FIG. 2. The system embodying the invention includes a microprocessor based setting group microcontroller 12 to which several input signals are applied and which, in response to these input signals, produces a number of control and output signals. Microcontroller 12 may be any one of a number of known microprocessors or microcontrollers.

[0021] One of the input signals to the controller 12 is derived from a temperature probe 14 having an output 141 which is coupled via an analog-to-digital (A/D) converter 15 to an input of the microcontroller 12. Only one probe 14 is shown in FIG. 2. However, as shown in FIG. 3, probe 14 may include, for example, a precision thermistor, or any other suitable temperature sensor, 14a, for sensing the ambient temperature in the substation, a temperature sensor 14bfor sensing the temperature of the circuit breaker CB1, a temperature sensor 14cfor sensing the temperature of the transformer T1, and a temperature sensor 14dfor sensing the temperature of the circuit breaker CB2. Thus, it should be understood that a multiplicity of temperature sensors may be placed at different locations within the substation to sense the ambient temperature at the different points. In addition, a multiplicity of temperature sensors may be placed on, within, or in close proximity to, certain critical components, to monitor their temperature. The temperature signals of the various temperature sensors may then be processed individually or they may be averaged or be given different weights to obtain the desired temperature information. The outputs of the various temperature sensors are supplied (via an A/D converter) to microcontroller 12 which is programmed to control the operation of the protective relays as a function of the ambient temperature within the substation and/or as a function of the temperature of certain selected critical components (e.g., the circuit breakers and/or transformers) within the substation and as a function of other inputs such as load current and voltage conditions, as further described below.

[0022] Other input signals may be supplied to the controller 12. For example, a remote terminal unit (RTU) 16 which may be used to receive and/or collect a variety of information external or internal to the substation may be used to supply signals via line(s) 161 to controller 12. Other signals from a signal source 171 may be supplied via lines 172,173 to controller 12.

[0023] Three phase (Φ_A, Φ_B, Φ_C) power signals are inputted to the substation on lines 17a, 17b, and 17c. The input power lines are respectively coupled via contacts in a circuit breaker CB1 to the primary windings of a three-phase power transformer T1. Transformer T1 produces corresponding three-phase power signals on its secondary bus lines 18a, 18b, and 18c. The three-phase power signals may be distributed within the substation 10 via lines 19a, 19b, and 19cand via contacts in a circuit breaker CB2 to various loads and distribution lines shown as 21a, 21b, 21c. In FIGS. 2 and 3, circuit breaker CB1 is shown to be controlled by line protection relays 51 and by transformer “differential” protection relays 53. Circuit breaker CB2 is shown to be controlled by feeder protection relays 55. The combination of circuit breaker CB1 and protection relays 51 and 53 serves to protect the input power lines and the primary and secondary circuitry of transformer T1. The combination of circuit breaker CB2 and protection relays 55 protects the secondary circuit of transformer T1 against faults along the feeder output lines.

[0024] In FIG. 2 only one set of output power lines (21a, 21b, 21c) is shown. However, it should be appreciated that more than one circuit breaker, such as CB2, may be used to couple lines 19a, 19band 19cto other output lines and loads.

[0025] The load currents on input power lines 17a, 17band 17care sensed by current transformers 104a, 104b, and 104c, respectively. The outputs of current transformers 104a, 104b, and 104care applied to inputs of line protection relays 51. The line protection relays are shown to be coupled via lines 8ato microcontroller 12. Control lines 8a, 8b, and 8care outputs from the microcontroller 12. Output lines 8a, 8band 8ccarry electrical output signals from controller 12 to protective relays 51, 53, 55, respectively, with the output signals supplying commands to the respective relays to change setting groups. In FIG. 2, it is shown that line protective relay 51 may supply an input signal via a line 511 to microcontroller 12, transformer protection relays 53 may supply an input signal to microcontroller 12 via a line 531, and the feeder protection relays 55 may supply an input signal via line 25 to controller 12. The information on lines 25, 511 and 531 may be current or voltage information or any other suitable information obtained from their respective relays (or respective current transformers) and which it is desired to supply to the controller 12. This specific electrical signal provides an input to the controller telling it when the load current is above a pre-set threshold. In response to certain predetermined conditions, line protection relays 51 can, and will, “trip” circuit breaker CB1 by providing an electric signal to its trip mechanism via line(s) 151.

[0026] The load currents in the primary lines of transformer T1, after passing through the circuit breaker CB1, are sensed by current transformer 102a, 102band 102c, respectively, and the load currents on secondary lines 18a, 18band 18care sensed by current transformers 103a, 103b, and 103c, respectively. The outputs of transformers 102a, 102b, and 102c, and the outputs of transformers 103a, 103b, and 103care applied to transformer “differential” protection relays 53. In response to certain predetermined conditions, relays 53 can “trip” circuit breaker CB1 via signals on line(s) 153.

[0027] The load currents on lines 18a, 18band 18cmay also be sensed by current transformers 20a,20b, and 20c, respectively. The outputs of transformers 20a, 20b, and 20c, are applied to the inputs of a load sensing circuit 120 whose output(s) is supplied as input signals to controller 12.

[0028] The load currents in output power (load) lines 21a, 21band 21care sensed by current transformers 101a, 101b, and 101c, respectively. The outputs of transformers 101a, 101b, and 101care applied to inputs of feeder protection relays 55. Controller 12 generates output signals which are coupled to feeder protection relays 55 via lines 8c. In response to certain predetermined conditions, relays 55 can “trip” circuit breaker CB1 via signals on line(s) 155.

[0029] A current load signal from feeder protection relays 55 supplied via line 25 to controller 12 may function to provide feedback control. As noted above, microcontroller 12 supplies control signals via lines 8ato input line protection relays 51, via lines 8bto transformer differential protection relays 53, and via lines 8cto output feeder protection relays 55.

[0030] In the discussion above and that to follow, the invention is illustrated using current sensing; however it should be appreciated that voltage sensing can also be effectuated to provide power sensing.

[0031] The temperature probe 14 (which may include several different temperature sensors located at different points within the substation or on, within, or adjacent to certain critical pieces of equipment) enables the sensing of the ambient temperature anywhere in the substation 10 and/or the temperature of selected critical components. The temperature probe generates an analog signal which is supplied to analog-digital converter circuit 15, which may be located external to, or within, controller 12. The temperature information is converted to a digital format and is then supplied to processing circuitry within controller 12.

[0032] In one mode of operation, the temperature is continuously sensed and the corresponding temperature information is continuously supplied to the microcontroller 12. By way of example, the controller 12 includes associated memory circuitry (see 119 in FIG. 3) storing data corresponding to a power rating chart which specifies the maximum load current which the system should pass at any particular temperature, and/or the maximum input current which the system should draw, and/or the maximum differential that should exist between the primary and secondary sections of transformer T1.

[0033] For one mode of operation, the signals from the current transformers 20a, 20b, and 20c(sensing the currents in the secondary windings of T1) may be coupled to load sensing circuitry 120 and via circuitry 120 to controller 12 where these signal currents can be compared with the maximum load current which can be carried along lines 18a, 18band 18cat the temperature then present in the substation 10. Controller 12 then supplies one or more output signals (or causes one or more signals to be supplied) on lines 8a, 8b, and 8cto relays 51, 53 and 55, respectively, to adjust their respective settings, (e.g., their trip points).

[0034] Similarly, to the example above, signals from current transformers 101a, 101b, and 101csupplied to feeder relays 55 may be used to generate input signals which are supplied to controller 12 via line 25. The signals on line 25, when indicative of the load current, may be compared with the maximum specified load current which can be carried along lines 21a, 21band 21cat the temperature then present in the substation 10.

[0035] Similarly to the examples above, the signals from current transformers 104a, 104b, and 104csupplied to line protection relays 51 may be used to generate input signals supplied to controller 12 via line 511. The input signals on line 511, when indicative of the load current, may be compared with the maximum allowable input current which can be drawn, at the input, from lines 17a, 17band 17cat the temperature then present in the substation 10.

[0036] Likewise the signals from current transformers 102a, 102b, and 102cand 103a, 103b, and 103csupplied to transformer protection relays 53 may be used to generate input signals supplied to controller 12 via line 531. The input signals on line 531 may be compared with the maximum condition which can exist across the transformer T1 at the temperature then present in the substation 10. In one embodiment, the transformer protection relays 53 sense the various load conditions and provides one or more logic signals to the controller 12 to indicate whether a predetermined threshold has been attained. These signals are used by the microcontroller in conjunction with temperature data to command the protection relays (51, 53, 55) in the substation to change setting groups. In practice, the signals produced by the protection relays and supplied to controller 12 may be of an analog, or digital, nature proportional to the load current.

[0037] Thus, in accordance with the one mode of operation, the settings of the protective relays 51, 53, 55 may be a continuously varying function of the temperature and vary to provide continuous and appropriate protection of the transformer and associated circuitry in accordance with preprogrammed data.

[0038] In accordance with another mode of operation, the system shown in FIGS. 2 and 3 may be operated such that a user may enter into the controller 12 a starting temperature set point and an exit temperature set point. The controller 12 may use these two parameters to define an adjustable range of temperatures in which the microprocessor hardware and software generate signals to be processed by the processing circuitry of the controller 12 to provide signals to the setting group inputs of the various group inputs of the various protective relays (e.g., 51, 53, 55) in the substation via control lines 8a, 8b, and 8c. That is, the system may be operated such that the relay settings will be set to have different values for different temperature ranges. For example, between 10 and 20 degree centigrade the relay settings will have one value. Then, between 20 and 30 degrees the relay setting will have a second, different value, so on and so forth.

[0039] To prevent large instantaneous changes, the system also contains circuitry for sensing a change in temperature and for sensing that the change of temperature is stable for a preset amount of time before this information is acted upon by the processor 12 and before the information is used to change the relay settings. As further detailed below, the controller may include hardware (see 117 in FIG. 3A) and/or software to control the response of controller 12 so as to include a pre-programmed time delay in response to temperature changes so as to prevent spurious output changes due to rapid fluctuations in temperature.

[0040] Load Current Sensing

[0041] The system of FIGS. 2 and 3 includes means (e.g., current transformers 20a, 20b, 20c) for sensing the load current . The load current is an analog signal which is converted to a digital format and which is then applied via load sensing circuitry 120 to the controller 12.

[0042] The controller 12 generates certain reference current(s) (Iref) which, as shown in FIG. 4, are compared (e.g., by means of comparators 410, 411, 412, 413) with corresponding selected actual load currents. The actual selected load currents may be, for example: a) Input load derived from lines 17a, 17b, 17cor from relay 51 via line 511; b) I_DIFderived from relay 53 via line 531 or any inputs to relay 53; c) I_LOADsensing derived from load sensing circuit 120; and d) I_OUTPUTLOADderived from relay 55 via line 25 or any input to relay 55. In systems embodying the invention, the reference currents (e.g., I_REF1, I_REF2, I_REF3, I_REF4) typically change as a function of temperature signals derived from probe 14. Thus, in accordance with the invention, a temperature dependent varying reference current is generated and used by the microcontroller or processor for comparison with the actual, or a portion of the actual, currents being monitored. The temperature dependent reference currents are thus used to control the comparators'(410, 411, 412, 413) switching level and the comparator outputs are then fed via circuitry (not shown) to outputs of the microcontroller to set and/or control the trip points of the protective relays which then control the opening and closing of their corresponding circuit breakers.

[0043] Digital Input Sensing

[0044] Digital input signals (such as signals from source 171, or from a set of front panel switches 126 or from the RTU 16) may be applied to the controller 12. These signals include, but are not limited to, digital or relay contact outputs from a supervisory control and data acquisition (SCADA) remote terminal unit (RTU) for the purpose of enabling or disabling a specific programmable output controlled by the programmable controller 12. Signals can also come from protective relays sensing load current, so as to provide digital signals to controller 12 when the protective relay has been programmed for this purpose. The digital signals can be used independently or in combination with the system's current sensing circuitry. As discussed above, the apparatus also contains circuitry to enable the system to verify that the input is stable for a programmable period of time (e.g., a given delay) before passing the signal to the processor 12.

[0045] The method for responding to temperature change includes circuitry and software programmed in the microcontroller. The system monitors (senses) numerous input signal conditions (e.g., temperature, various current levels, various voltage levels, setting of certain switches, etc.) within the substation. When an input signal condition reaches or exceeds a predetermined level a signal is supplied via a first signal level (or transient) detector 318 to the set input of a timer 320, formed within a circuit 117 and located in controller 12, which is programmed (set) to count for a predetermined delay. If the input signal condition persists for a period equal to, or longer than, the predetermined time delay the input signal condition is recognized and appropriate signals are then produced on lines 8a, 8band 8cto set the trip points of the protective relays. If the input signal condition falls below the predetermined level during the predetermined time delay period, a signal is supplied via a second level (or transition) detector 319 to the reset input of timer 320 which is then reset. The change in the input signal condition, if of insufficient duration, is then not recognized (is filtered out). This prevents spurious changes of any input signal condition from being recognized and causing an unwanted change. The time delay operation is similar to the function performed by coupling debouncing circuitry to a switch to remove the effect of switch bounce on switch closure.

[0046] Feedback Responsive Means

[0047] As shown in FIG. 2, the system includes circuitry such as the feeder protection relays 55 to which input signals are supplied by controller 12 and which, in turn, has an output which may be fed back via line 25 to an input of controller 12. This feedback signal (and others, not shown) may be used for the purpose of enabling or disabling selected outputs of the relays by means of the controller 12. Each programmable output at 8a, 8b, and 8cmay be made to include an adjustable delay provided by timer and delay circuit 117, as shown in FIG. 3.

[0048] Time and Date Inputs

[0049] As shown in FIGS. 2 and 3, the system includes a real time clock 122 whose output is supplied to the controller 12. The real time clock in combination with the controller 12 can be programmed to provide date and time information. The controller 12 is programmed to enable a user to set a start time (or date) and a stop time (or date) which is used by the controller 12 to enable or disable selected ones of the system's programmable outputs. For example, at certain times of the day (e.g., at night) or on certain days of the week (e.g., Sunday), the maximum allowable load current for a given temperature may be a different value than at other times (e.g., during the day and or during the week). The processor 12 may thus be programmed to allow different load currents for a given temperature depending on other factors such as time of day, day of week, day of month, month of year, etc.

[0050] LCD Display

[0051] The system includes circuitry for storing selected bits of information and a liquid crystal display (LCD) 124 for displaying selected information. The circuitry may be located within controller 12 or may be located on a separate electronic circuit board. In one embodiment the LCD display included an electronic circuit board including an alphanumeric 16 character ×2 line LCD display and a display controller chip coupled to controller 12.

[0052] Communication Circuitry

[0053] The system also includes a module such as RTU 16 having an RS-232 interface to allow information generated by the controller 12 and/or the protective relays to communicate with the dispatch center. This information may be sent between the substation and the dispatch center by telephone line or by radio wave.

[0054] Front Panel Switches

[0055] In FIGS. 2 and 3 there is shown front panel switches 126 for selectively supplying various signals to the controller 12. In one embodiment there are six push button which allow the user to access information stored in the controller or program the controller's set point temperatures, timers and logic. There are also four menu navigation buttons: UP, DOWN, LEFT, and RIGHT. These buttons allow the user to scroll through menus or establish settings. There are two additional buttons: YES, NO which are used in connection with the menu navigation buttons. These allow the user to select a specific programmable parameter to be changed, enter as sub-menu or abort a data entry operation.

[0056] Referring to FIG. 5, there is shown a distribution substation 10 to which power is supplied via a line 210 from a first power generator G1 and via a line 212 from a second power generator G2. Line 210 is coupled via a circuit breaker CB11 to a main distribution point 214 and line 212 is coupled via a circuit breaker CB12 to distribution point 214. The power at distribution point 214 is distributed via a circuit breaker CB21 to an output power line L1, via a circuit breaker CB22 to an output power line L2, and via a circuit breaker CB23 to an output power line L3. There could be many more input power lines and many more output power lines, but for ease of illustration only two input lines and three output lines are shown. A current transformer (CT1, CT2, CT3) is coupled to each output power line to sense the load current showing in each output power line. Each current transformer (CT1, CT2, CT3) then supplies a signal (IN1, IN2, IN3) to the microcontroller 12 indicative of the amplitude of the current drawn in its corresponding power line. As discussed above, at least one (there could be several) temperature sensor 14, sensing the temperature within the substation 10, provides a signal to microcontroller 12 indicative of the temperature within the substation. The microcontroller 12 processes the temperature and current (power) information and in response to these signals generates one or more output signals at its outputs (O1, O2, O3). The output signals at O1, O2, O3 are fed via lines 201, 202, 203 to protective relays 205 which control the opening and closing of the circuit breakers CB21, CB22, and CB23. In FIG. 5, the protective relays are discrete, individual components. However, the function of these relays may be incorporated into the microcontroller or into the circuit breakers. In which case, the outputs of the microcontroller would be connected directly to the circuit breakers. The outputs of the current transformers may also be applied to the protective relays 205 which may then be designed to supply signals-(via line 204) to IN4 of micontroller 12. As discussed above, the microcontroller includes preprogrammed information stored in various memory location(s) whereby the trip points of the protective relays and/or the point at which the circuit breakers CB21, CB22, and CB23 are opened and closed is a function of both the temperature within the substation and the power being drawn or fed to the various output loads. Note that the loads are normally external to the substation but may include loads located within the substation.