DIGITAL MODEL OF OWRCURRENT RELAY CHARACTERISTICS

A.I.Taalab, and H.Shaaban

H.A.Darwish, M.A.Rahman,

Fellow, IEEE
Memorial University of Newfoundland,
Faculty of Engineering and Applied Science,
St . John's, Newfoundland.
CANADA, AlB-3X5.

Menoufiya University,
Faculty of Engineering,
Shebin El-Kom,

EGYPT.

Abstract-In this paper a novel model of the overcurrent relay

standard curves is presented. This model facilitates the implementation of these curves using microprocessors and personal
computer. The proposed model uniquely combines both direct
data storage and curve fitting techniques. Tabulating one timecurrent curve corresponding to any time dial setting in addition
to a number of coefficientsare quite sufficientto get the tripping
time values at any other time dial setting. The selection of the
most suitable time-current curve and the minimum length of its
corresponding table are determined. An alternative form of the
model is developed for computer applications, in particular by
replacing the table by its equivalent fitted equation. Both forms
of the model are adapted to occupy the lowest possible storage
memory. The validity of the analytical models is proviled by the
test results.

I. INTRODUCTION

into an equivalent numerical table. This is an accurate

representation of the tr-I curves. However, it requires large
capacity of the storage memory and it is limited in use to the
stored curves only. The model in reference [8] employs a set
of t,-TDS relations at a number of selected values of I in
order to conform any desired t,.-I curve. However, the
required storage memory for its coefficients is still relatively
large. So, there exists a need to develop an efficient method
to represent the tr-I curves for the whole range of current for
all relay types considering the minimum storage memory.
The purpose of this paper is to represent the overcurrent
relay standard tr-I curves using a novel technique. The
proposed technique combines the direct data storage and the
curve fitting techniques. This combination reduces the memory required for the model and offers the simplicity of its
implementation in the microprocessors. Furthermore, the
model is slightly modified to increase its flexibility for
personal computer applications. A comparison between the
proposed model and the conventional models is given. The
details of the proposed model is as given below.

The standard time-current (6-1) curves of the overcurrent

relay (OCR) are evaluated based on the experimental test
results of the electromechanical relay versions. These curves
are substantially affected by the core saturation, inertia of the
moving parts, friction, etc. These aspects make the curves not 11. PROPOSED MODELFOR MICROPROCESSOR
APPLICATIONS
to follow a specific simplified mathematical model [11. On the
other hand, the recently developed digital or solid-state A. Standard Curves Selection
overcurrent relays are designed based on an ideal $-I curve
equation(s) [2-51. These conflicts create difficulties in coThe standard curves of Westinghouse overcurrent relay
ordinating these relays with the already existed electro- (COll) is used as a test sample for the proposed model.The
mechanical types.
published time-current curve' of this relay shows its extreme
The accurate models for these curves have been developed inverse characteristics. The relay tripping time varies from
mainly for the adjustment of the relay settings according to approximately 20 msec. near the maximum values of the
the co-ordination requirements.Most of these accurate models multiple of tap value current and TDS is equal to 1/2 up to
are developed by modelling one $-I curve at a specific time 100 sec. near the relay pick up value and TDS is equal to 11.
dial setting (TDS) and the model is extrapolated to the other This wide difference between the tripping times is a good test
tr-I curves in different ways [ 1,6,7]. However, it is found that for the model accuracy. The curves are digitized, converted
the extrapolation results are valid only over a limited range of into numerical tables, using an electronic device to get a
current values or for specific relay types. Also, the personal better accuracy.
computer (PC) is normally employed for incorporating this
task. The usual restrictions of fraction exponent and/or B. The Proposed Model
multiple division operations do not exist in the PC implementation. However, fraction exponent or division operation
The proposed model consists of two parts, a stored table
is not included in the instruction set of the commonly used corresponding to one of the t,-I overcurrent relay curves in
microprocessors. Therefore, direct programming of these addition to a number of coefficients. The $-I curve corremodels in the microprocessors involves difficulties. More- sponding to the stored table is called a base curve and its
over, implementation of separate subroutines incorporating time-current is denoted by tb-I. In order to find the coeffithese operations reduces the model accuracy; and a longer cients, all the tripping times of the twelve overcurrent relay
execution time is expected. The most convenient ways for curves are calculated as a time percentage (Tp) of tb as given
modelling the standard $-I curves for implementation pur- below,
poses are the direct data storage or the model in reference
[8]. The direct data storage involves transformingeach curve
0-7803-3008-0195
$4.000 1995 IEEE

1187

Fig. 1 shows the Tp-I relations for different TDS values

considering the curve of TDS=3 and TDS=6 as the base
curves. The undulation that appears in the curves given by
Fig. 1 at some values of I, is referred as the manual error
during the digitizing stage. It can be observed in the cases
that the possibility of approximating each Tp-I relation by a
few number of straight lines. Also, the twelve relations have
consistent changes with respect to each other. This offers
terminating the linear portions by fixed values of I for the
twelve T,-I relations.
However, it is not convenient to store all the coefficients of
the linear portions because their number will be relatively
high. In addition the representation will include the twelve
curves only. Therefore, a polynomial equation of nrh degree
is proposed to relate the Tp and TDS at each current value
terminating the linear portions. The form of the proposed
polynomial is selected as given below,

T~=c, +C,(TDS)+cZ(T D S )+.~..+c,(TDs)~

2
Q

t2-i

1 . 5 ................i...................................

i..................

................. i................. i................

I O
15
20
25
30
m u l t i p l e o f tap value current ( I )

35

40

(a)

2.

where co ... c, are constants determined from the curve

fitting for values of T, against TDS at a value of the terminating current. Therefore, for m linear portions per relation,
there is m + 1 number of polynomial functions. Also, the total
number of the polynomial coefficients will be (n+ l)*(m+ 1).
It is to be mentioned here that there exists a difficulty to find
out a single equation applicable at any value of current
[1,6,7], and it represents the T,-TDS relation within an
acceptable errors.
In order to use this model, the operator should select the
value of the TDS corresponding to the desired curve at first.
This leads to getting the tripping time directly if the required
curve is the base one. If not, m + 1 values of T are calculated
using the polynomial equations. Hence, the vafues of the base
curve in the table are multiplied directly by the T, value if
current value is one of the m + 1 terminating values. If not,
linear interpolation is required at first to get the T, value.

In order to reduce the number of trials to get the most

suitable set of values, the following three main steps were
considered during this stage of model development.
Step (11 Consider each curve of the original twelve curves as
the base curve at a time.
Step ( 2 ) Determine the lowest suitable number of both the
straight portion and the degree of the polynomial for
the selected base curve.
Step (3) Compare the resultant twelve sets and select the set
of the lowest percentage of errors.
A computer program is developed using Matlab software
to simplify the computation of step (2). This algorithm is
adapted to get the minimum suitable number of the linear portions according to the following steps,
(1) Select the base curve by defining its TDS value. This will
store its tr-I values in the tb-1 table.
(2) Select a relatively high value of n, say 6 or 7.

................. j ...................................

.................

(2)

C. Selection of the Model Parameters

0,5

~---~r

1 . 5 ..........................
a

!..........................................

:................. :................. ;.................

.....................

............................

j .................

. . . . . . .

10

15

m u l t i p l e of

20

25

30

35

40

tap v a l u e c u r r e n t ( I )
(bl

Fig. 1. T -I relations considering different base curves.

(!a)Curve of TDS=2 is the base curve
@)Curve of TDS=8 is the base curve

(3) Calculate the twelve relations of Tp-I and then store them.
(4) Start with a high number of the linear portions m, say 20,
and identify their corresponding terminating current
values.
(5) Calculate the n+ 1 polynomial coefficients at each of the
m+ 1 current values using the curve fitting function.
(6) Calculate twelve values of T, by substituting in the precalculated polynomial equations with the corresponding
TDS taking into considerationthat the value of T, of the
base curve is equal to 1. This is repeated at each of the
m + 1 of the terminating current values.
(7) Calculate the tripping times (tr,) for all the twelve curves
by manipulating both tb values and the calculated T,. from
step 6 in (2) and using linear interpolation, if required.
(8) Calculate the mean value of the absolute error between qc
and 5.
(9) Reduce the number m and repeat from steps 5 to 8.
Fig. 2 shows the effect of varying number of linear
portions from 0 to 19 on the mean value of the absolute error
considering n is equal to 6 and the base curve is the curve of

1188

number

of

(1) Select the value m with the pre-calculated convenient

value and identify its associated current values.
(2) Start with n equal to a relatively high value, say 8.
(3) Reduce the number n consecutively and calculate the
errors.
Fig. 3 shows the effect of varying the polynomial degree
from 1 to 8 on the mean value of the absolute error considering the same base curves. From Figs. 3a and b, it can be
observed that reducing n from 8 to 1 increases the percentage
of the error from 1.05% to 3.84% and from 1.086% to
3.46% for the same base curves, respectively. On the other
hand, the number of the polynomials coefficients have been
reduced from 45 values to 10 values. Moreover, Fig. 3 shows
that increasing the degree of the polynomial does not mean a
reduction of the error all the time, e.g. percentage of error at
n equals to 3 is lower than the error at n equals to 4; and this
occurs also in the case of n equals to 6 compared with n
equals to 7. The number n for both cases looks more convenient with n equals to 6.

l i n e a r p o r t i o n s [m)

(a)

polynomial

Fig. 2. Effect of varying m on the mean value of error.

(a)Curve of TDS=3 is the base curve
(b)Curve of TDS=6 is the base curve

degree [n)

(a)

TDS=3 and TDS=6. The calculated error at zero linear

portions is accomplished by considering that the curves are
time multiples of their TDS values. The mean value of the
absolute error is calculated over 497 values per curve, i.e
4964 total number of test points. From Fig. 2 it is obvious
that reducing m from 19 to 4 increases percentage of error
from 0.9625% to 1.117% for base curve of TDS=3; and
from 1.053% to 1.196% for base curve of TDS=6. However, the number of the polynomial coefficients have been
reduced in both cases from 140 to 35 only. In both cases, the
number of the straight portions look to be more Convenient
with m equals to 4. Also, Fig. 2 shows that the maximum
value of the mean error is at m equals to zero. This implied
that considering the standard 5-1curves as time multiples [4],
may deviate the resultant computed family of curves substantially from the standard one.
This algorithm is slightly modified again to get the minimum suitable degree of the polynomial. This modification can
be summarized on the following steps.
1189

polynomial

degree [n)

(bl

Fig. 3. Effect of varying n on the mean value of error.

(a)Curve of TDS =3 is the base curve
@)Curve of TDS=6 is the base curve

Table I contains the values of the twelve sets of parameters

corresponding to the twelve curves. Two sets of model
parameters seem to form the most convenient values. These
are set 4 and set 7. The parameters of set 7 is selected,
because it has the lowest value of the maximum absolute error
calculated over 5964 values and the mean value of its absolute
error is close to that of set 4.

D. Table Length
The data length of the table corresponding to the base curve
is one of the important parameters during the implementation
stage of these standard curves in the microprocessors. Also,
the data table should be stored inside the processor RAM
equi-spaced and its length should be multiples of two. This
facilitates the job of the programmer and reduces the storage
memory size as the corresponding current values will be
implicitly defined. Moreover, it reduces the on-line calculation time for the processor. That is because, the fault current
value equivalent to a number stored in the processor, will
directly offset the jump in the look-up table. This requires
only shifting the number and initializing a stack pointer.
Furthermore, no division operation is required for the linear
interpolation process when the current value does not match
a specific value in the look-up table. That is because, the
table values can be decided on the current difference before
storing them and then division will be manipulated by
multiplication.
Fig. 4 shows the effect of reducing the data length of the
look-up table on the mean value of the absolute error. This
error is also computed over 5964 values. The linear interpolation is used in the simulation for the time values corresponding to the in-between values of the current. Fig. 4 shows the
relatively flat error value from 512 to 128 length of table
data. Therefore, the suitable data length is selected as 128
which corresponds to a fault current values started from zero
up to 40 times the tap value current. Consequently, the table
values corresponding to the current magnitudes lower than the

pick up value (
are filled with zeros or do not care. So,
the actual used ength of data in the look-up table for the
standard $-I curves of the overcurrent relay CO11 is 124
value. The model parameters for this extremely inverse
characteristics are:
Part 1 A table of 124 value length of the tripping times corresponding to 6-1 curve of TDS equals to 6.
Part 2 A 35 relating coefficients corresponding to 5 polynomial equations of the six degree are computed at
current values of 1.25, 2, 10, 20, and 40. Table I1
contains the values of the coefficients obtained from
the curve fitting.

..............

2 ......................

0
0

.......................

........................

.......................

.......................

.................

.......................

........................

.......................

.......................

......................

100

300
400
200
length o f Table data

50 0

600

Fig. 4. Effect of varying length of data in the table on the mean value of
error.

TABLE
I

SETS OF VALUES FOR THE PROPOSED MODELAT DIFFERENT

BASE CURVES
TDS value of the
base curve

Number of linear portions and their terminating current value

Mean value of the absolute

error (E)

Maximum absolute error

Set (1)

112

5 at I=1.25, 2, 10, 20, 40

1.9679%

15.55%

Set (2)

5 at I=1.25, 2, 3 , 16, 40

2.3361 %

13.3%

Set Number

Set (3)

5 at I=1.25, 8, 12, 23, 40

1.2664%

15.62%

Set (4)

5 at I=1.25, 2, 10, 23, 40

1.1175%

10.31%

set (5)

5 at I=1.25, 2, 10, 2 0 , 40

1.2153%

9.14%

Set (6)

5 at I=1.25, 5, 10, 20, 40

1.3441%

11.82%

Set (7)

1
I
I

Set (8)
Set (9)
Set (10)

I
I

5 at 1=1.25. 2. 10. 20. 40

I
I

5 at I=1.25. 4. 10. 20. 40

5 at I=1.25. 4. 12. 20. 40
5 at 1=1.25. 3. 12. 23. 40

1.1736%

I
I
I

1.2197%
1.2905%
1.3391%

7.94%

I
I

9.59%
12.47%

Set (11)

10

5 at I=1.25, 2, 10, 20, 40

1.2558%

14.62

Set (12)

11

5 at I=1.25, 2, 10, 20, 40

1.3182%

14.80

1190

10.06%

1-1

111. EFFECTIVENESS
OF THE

PROPOSED

MODEL

A comparative study between the proposed model and the

existing models can be considered a good measure of effectiveness. But, it is not possible to include all the existing
models in this study. So, the existing model in reference [8]
is selected to be compared with the proposed model in this
paper using the same standard G-I curves of the overcurrent
relay CO11. The previous model of reference [8] has been
calculated for 124 equi-spaced current values starting from the
pick-up value for computational purposes. Table I11 contains
the comparative results. Fig. 5 shows the modelled and the
standard curves of the of the overcurrent relay CO11 using
the proposed model and the previous model in reference [8].
It is obvious from Table I11 that the total stored numbers is
only 164 for the proposed method against 868 values for the
previous method in reference [8]. It is to be noted that there
is no difference between the results of the simulated &-I
curves by each method.

bII
zn-1

b2
bl
t =b +-+-+...+O

where, bo

I-1

12-1

(5)

... bn are the polynomial coefficients.

...
....
.
.
.
A
......
..i..!...?..&i
- ............
..
.""
....:i...-......
.
. ....i. ."...i
........
. i-. .....,....
. . ............ ...
.........
. .....
.........*.............
.............*........
........*i.......,.....
...........*....,...
....;.*"...*.i.................................
.............................................
.;..+
J..".L

".
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

"I

Iv. MODELFOR COMPUTER APPLICATIONS

The proposed model is quite suitable for use in personal
computer [9]. The form of the proposed model for the computer applications will include one equation of the $-I base
curve in addition to the polynomial coefficients. Three forms
of polynomial equation are used to fit the tb-1 curve which
corresponds the curve of TDS equals to 6. The three forms
recommended in IEEE references [1,7] for the representation
of the overcurrent relay characteristics are given as,

log(t,) =bo+L
+b2 + ...+bn
(logo (logo2
(logo*

b,
(I-1)

tr=bo+-+-

b2 +...+(Z-1)2

1621
lo"

(4)

bn
(I-l)*

,:

:'

i
,

.:f

i i i i i

i.

lo'
m u l t i p l e a f tap value current ( I )

(3)

++++
---

standardvalues
using previous method in reference [8].
using the proposed method
Fig. 5. Standard and computed 4-1 curves.

TABLE11

THECOEFFICIENTS OF THE POLYNOMIAL EQUATIONS

TABLE
HI
COMPARISON BETWEEN
THE PROPOSED
Model type

Mean value of
the absolute error

Presented model

1.25%

E
I
M
o
d
.
e
o
181
f
r
e
f
l
I 1.095%

Number of
polynomial
coeff.'~

Number of stored
current values

35

868

MODELAND THE PREVIOUS MODELOF REFERENCE [8]

Length of
data in the
table

Total stored
numbers

124

I
1191

164

868

Number of valid
curves

Max. absolute
error measured
for time values

Idkite

7.945%

10.21%

Infinite

A computer program is developed to calculate the most

suitable form among the three recommended equations and its
associated order in the least square error sense. The results
show that the best fit occurs with eight terms for the three
forms. The mean value of the absolute errors are 1.8341%,
1.6487%, and 1.8317%, respectively. So, equation (4) is
selected in representing the base curve. Fig. 6 shows the base
curve using the selected equation and the actual $-I values.
There exists excellent agreement between the simulated and
standard values of the base curve. The computed values of the
coefficients of this equation are given in Table IV.

model have been developed to fulfill their programming in the

microprocessorsand computers. The proposed model utilizes
one curve, in either a table or polynomial equation form, and
a number of coefficients. A computer programs using the
Matlab software are developed to determine the more convenient values of the model parameters. The extremely
inverse characteristics of the overcurrent relay CO1 1 are
selected to test the proposed model effectiveness. The results
show that storing one curve in 124 values in addition to 40
coefficients are quite sufficient to implement these standard
characteristics using microprocessors with an overall mean
error of 1.25 % . Moreover, replacing the table by eight terms
of a polynomial equation is also suitable for personnel
computer implementations with an overall mean error of
1.866%.

VI.

++ + +
-

REFERENCES

IEEE committee Report, "Computer representation of overcurrent relay

characteristics", IEEE Trans. on PowerDelivery, Vo1.4, No.3, pp. 16591667, July 1989.
G. Benmouyal,"Design of digital multi-curve time overcurrent relay",
IEEE Trans. on PowerDelivery, Vol5, No.4, pp 1725-1731, Nov. 1990.
J.Singh, M.S. Sachdev, R.J. Fleming, and A.E. Krause. ,"Digital IDMT
directional overcurrent relay", Second International Conference on
Developments in Power System Protection, IEE Publication No. 185, pp.
84-87, 1980.
R. Iyer, and C. Downs,"New microprocessor based distribution feeder
protection", Twelfih Annual Westem Protective Relay Conference,
Sopkane, Washington, Oct. 22-24, 1985.
A.I. Taalab and S.M. Rashed,"A universal inverse-time overcurrent relay
using integrated circuits", Electric Machine and Power System, pp 281292, 1993.
M.J.Damborg and R. Ramaswami,"Computer aided transmission
protection system design", Part I, IEEE Trans. on Power Apparatus and
Systems, Vol. PAS-103, No. 1, pp. 51-59, Jan. 1984.
M.S. Schadev, J. Singh, and R.J. Fleming,"Mathematical models
representing time-current characteristics of overcurrent relays for
computer applications", IEEE PES Paper No. A78 131-5 Winter meeting,
Jan. 1978.
T.S.Sindu, M.S. Sachdev, and H.C. Wood,"A computer aided design
tool for developing digital controllers and relays", IEEE Trans. on
Industry Applications, Vol. 28, No. 6 , pp. 1376-1383, Nov. 1992.
BJeyasurya, and M.A. Rahman, "Simulation of transmission line fault
location in personnel computer", IEEE Trans. on Industry Applications,
Vol. 27, No. 2, pp. 299-302, March 1992.

standard values
simulated values
Fig. 6. Standard and fitted $-I base curve.

TABLE
N
VALUES OF THE COEFPICIENTS OF THE BEST FIT OF THE
BASECURVE

V. CONCLUSIONS

The paper presents a novel model for simulating the

standard curves of the overcurrent relays. Two forms of the
1192