6/3/15

DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

COURSE SMART GRID TECHNOLOGIES

DFT-BASED SYNCHROPHASOR ESTIMATION
ALGORITHMS THE INTEPROLATED DFT (IPDFT)
Paolo Romano, Mario Paolone

Distributed Electrical Systems Laboratory
cole Polytechnique Fdrale
de Lausanne - EPFL

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

Recall
x(t)

CONTINUOSTO-DISCRETETIME
CONVERSION

x(n)

SIGNAL
WINDOWING

w(n) x(n)

DISCRETE
FOURIER
TRANSFORM

X(k)

SPECTRUM
ANALYSIS

freqeuncy
magnitude
phase

Topics addressed during last lecture and laboratory session

1. Signal sampling:
AnalyLcal derivaLon of aliasing and Nyquist Shannon theorem.
2. The Discrete Fourier Transform:
AnalyLcal derivaLon of spectral leakage and special windowing
funcLons.
Topics to be addressed during todays lecture and laboratory session
3. IdenLcaLon of the main tone parameters via Interpolated DFT (IpDFT)
EsLmaLon of the main tone frequency f, amplitude A, phase

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

Outline

IntroducLon
IpDFT formulaLon
OpLmal selecLon of the IpDFT parameters
IpDFT-based synchrophasor esLmaLon algorithm

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

IntroducUon (1)

A trivial DFT-based synchrophasor es7mator

The main task of a synchrophasor es7ma7on algorithm is to assess the parameters of
the fundamental tone of a signal by using a previously acquired set of samples
represen7ng a por7on of an acquired waveform (i.e., node voltage and/or branch/
nodal current).

A trivial approach to esLmate the parameters of the main DFT tone might be based on
the esLmaLon of the posiLon of a local DFT maximum within a specic frequency
range. Based on this approach the synchrophasor may be computed as follows:

f = k MAX f

A = X(k MAX )

= X(k MAX )

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

IntroducUon (2)

A trivial DFT-based synchrophasor es7mator

The accuracy of this trivial synchrophasor esLmator is related to the accuracy in the
locaLon of the DFT peak. In parLcular the maximum error in the peak locaLon is equal
to half of the DFT frequency resoluLon dF = 1/T, as the main spectrum tone may lie
somewhere between the highest and 2nd highest bin of the DFT spectrum.

In parLcular it should be noLced that the relaLve error in the frequency esLmaLon

max f
max k MAX f fin 1 f 1 fs

max f ,r =
=
=
=
fin
fin
2 fin 2 Nfin

Is maximized when fs >> fin (i.e. for components lying in the beginning of the signal
spectrum), that is the case of typical synchrophasor esLmaLon algorithms.

( )

( )

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

IntroducUon (3)
DFT interpola7on

In order to improve the accuracy of this trivial synchrophasor esLmator there are
several opLons:
1. Decrease the sampling frequency (see previous formula)
CONS: aliasing may arise
2. Increase the window length (i.e., improve the frequency resoluLon)
CONS: higher number of samples to be processed -> higher computaLon Lme
CONS: in order to reach high accuracy levels very long windows are needed
3. DFT interpolaUon (see References)
A more exact esLmaLon of the main spectrum tone locaLon can be given by
calculaLng the abscissa of the maximum of an interpolaLon curve of the DFT
spectrum

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

IpDFT formulaUon (1)

Signal model, 7me-windowing and DFT

Lets consider a simple discrete-Lme signal s(n) produced by a sampling process

characterized by a sampling frequency fs
x(n) = A cos ( 2 fnTs + )

being f, A and the signal frequency, amplitude and phase respecLvely.
The input signal is cut in porLons containing N samples using a pre-selected
windowing funcLon w(n) and its DFT spectrum can be computed:

2 N 1
X(k) = w(n) x(n)WNkn

B n=0

As known, if the window does not contain an integer number of periods of the signal
s(n) leakage occurs and the main tone of the signal is located between two consecuLves
DFT bins. Its locaLon can therefore be expressed as follows:

k peak = k MAX +

being kMAX the index of the DFT bin characterized by the highest magnitude and
-0.5<<0.5 a fracLonal correcLon term.

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

IpDFT formulaUon (2)

An intui7ve interpreta7on

From last equaLon, the IpDFT problem may be formulated as follows:

Based on the DFT spectrum X(k) of the signal x(n) analyzed with the known windowing
function w(n), find the correction term that better approximates the exact location of
the main spectrum tone.

To be noLced that kpeak can also be interpreted as the number of acquired cycles of
the input signal. Therefore if

kpeak = kMAX (=0)
-> coherent sampling (NO leakage)

kpeak kMAX (0)

-> incoherent sampling (LEAKAGE)

Based on the number of DFT bins used to
Perform the interpolaLon, IpDFT algorithms
may be separated in 2-points, 3-points,
DFT interpolators.

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

IpDFT formulaUon (3)

Analy7cal formula7on

The spectrum of s(n) can be expressed in terms of the posiLve and negaLve images of
the main frequency tones:
A
A

X( ) = 0 e j W ( 0 ) + 0 e j W ( + 0 )

2
2
being W() the Fourier transform of the selected window funcLon.
Assuming that the eects of leakage are properly compensated by windowing, we can
neglect the long-range spectral leakage
produced by the negaLve spectrum image
and express the 2 highest bins of the DFT
X(kMAX) and X(kMAX+), =1 as a funcLon
of the posiLve spectrum image only:

X ( kMAX + ) X ( k + ) W ( k + 0 )

=
=
=
X ( kMAX )
X ( k )
W ( k 0 )

W ( 0 + ( ) 2 / N 0 ) W (( ) 2 / N )
=
=
W ( 2 / N )
W ( 0 2 / N 0 )

where the only unknown is .

0

MAX

MAX

MAX

MAX

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

10

IpDFT formulaUon (4)

Solu7on for rectangular window

As known the spectrum of the discrete-Lme rectangular window of length N is
represented by the so-called Dirichlet kernel:
sin( N / 2)

WR ( ) = e j ( N 1)/2

sin( / 2)
By replacing in the previous formula W()=WR():

X ( k MAX + ) WR ( ( ) 2 / N )
sin ( + )
sin ( / N )
sin ( )
/ N

=
=

=

WR ( 2 / N )
sin ( / N + / N ) sin ( )
/ N + / N sin ( ) 1
X ( k MAX )

we can express delta as

X(k MAX + )

=

X(k MAX ) + X(k MAX + )

and the signal parameters as:
f=
( kMAX + ) f
A=

X(k MAX )

= !X(k MAX )

sin( )
(N 1)
N

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

11

IpDFT formulaUon (5)

Solu7on for Hanning (Hann) window

As known the spectrum of the discrete-Lme Hanning window of length N may be
represented as the following combinaLon of Dirichlet kernel [Harris]:

WH ( ) = 0.25 WR ( 2 / N ) + 0.5 WR ( ) 0.25 WR ( + 2 / N )

By replacing in the previously dened 2-bins raLo W()=WH() we can obtain:

X ( k MAX + ) WH ( ( ) 2 / N )
+
=

WH ( 2 / N )
2
X ( k MAX )

and express delta as:

2 X(k MAX + ) X(k MAX )

=

X(k MAX ) + X(k MAX + )

and the signal parameters as:
f=
( kMAX + ) f

A = X(k MAX )

2 1
sin( )

= !X(k MAX )

(N 1)
N

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

12

IpDFT-based synchrophasor esUmaUon (1)

Signal sampling and buering

Input signal
x(t)
Signal
sampling
x(n)
Signal
buering
x(n), n 2 [0, N
Signal
windowing
w(n) x(n)
DFT

1]

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DISTRIBUTED ELECTRICAL SYSTEMS LABORATORY (DESL)

13

IpDFT-based synchrophasor esUmaUon (2)

Signal windowing

Input signal

Hanning window:

2 n
w ( n ) = 0.5 1 cos
, n [ 0, N 1]
N 1

x(t)
Signal
sampling
x(n)
Signal
buering
x(n), n 2 [0, N
Signal
windowing
w(n) x(n)
DFT

1]

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n 2 [0, N 1]
IpDFT-x(n),
based
synchrophasor esUmaUon (2)
Signal
windowing

Discrete Fourier Transform

w(n) x(n)
DFT
N 1
2 X
X(k) =
w(n) x(n) WNkn , k 2 [0, N
B n=0

DFT maximum
identification

{X(k)}, k = kM AX + { 1, 0, +1}
DFT
Interpolation
f, A, '
Synchrophasor
estimation

1]

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15

n 2 [0, N 1]
IpDFT-x(n),
based
synchrophasor esUmaUon (2)
Signal
windowing

DFT maximum iden7ca7on

w(n) x(n)
DFT

X(kMAX)

N 1
2 X
X(k) =
w(n) x(n) WNkn , k 2 [0, N
B n=0

DFT maximum
identification

{X(k)}, k = kM AX + { 1, 0, +1}
DFT
Interpolation
f, A, '
Synchrophasor
estimation

1]

X(kMAX+)

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16

n 2 [0, N 1]
IpDFT-x(n),
based
synchrophasor esUmaUon (2)
Signal
windowing

DFT inteprola7on

w(n) x(n)
DFT

X(kMAX)

N 1
2 X
X(k) =
w(n) x(n) WNkn , k 2 [0, N
B n=0

DFT maximum
identification

{X(k)}, k = kM AX + { 1, 0, +1}
DFT
Interpolation
f, A, '
Synchrophasor
estimation

1]

X(kMAX+)

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17

References
1. V. K. Jain, W. L. Collins, and D. C. Davis, High-accuracy analog measurements via
interpolated FFT, InstrumentaLon and Measurement, IEEE TransacLons on, vol.
28, no. 2, pp. 113122, 1979.
2. T. Grandke, InterpolaLon algorithms for Discrete Fourier Transforms of weighted
signals, InstrumentaLon and Measurement, IEEE TransacLons on, vol. 32, no. 2,
pp. 350355, 1983.Andria Savino etc
3. P. Romano and M. Paolone, Enhanced Interpolated-DFT for Synchrophasor
EsLmaLon in FPGAs: Theory, ImplementaLon and ValidaLon of a PMU Prototype,
IEEE Trans. On InstrumentaLon and Measurements, vol. 63, num. 12, pp. 2824 -
2836, Dec. 2014.