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+ +
= + =
(2)
where V
OG
is the electric potential of point O.
By considering the simplified model of induction motor
shown in Fig. 5 shaft voltage can be calculated by (3).
3
rg
sh CM
sr
rg
Z
V V
Z
Z
=
+
(3)
where Z
sr
is the impedance between the stator windings and
rotor and impedance between the rotor and frame is Z
rg
as
defined in the following:
g b
rg
g b
Z Z
Z
Z Z
=
+
,
1
sr
Z R JL
JC
e
e
= + + (4)
where Z
b
and Z
g
calculated as
1
1
L
b
b b W W
L
b
R
JC
Z R R JL
R
JC
e
e
e
= + + +
+
(5)
1
g
g
Z
JC e
= (6)
So the bearing current can be calculated by (7).
sh
b
b
V
I
Z
= (7)
and leakage current can be developed as:
3
CM sh sh
c
sg
g b
V V V
I
Z
Z Z
= + + (8)
where Z
sg
is the impedance between the stator winding and
ground.
1
sg sg sg
sg
Z R JL
JC
e
e
= + +
(9)
D. Long Cables
The required high bandwidth is very important for the
modeling of motor cables. The traveling-wave phenomenon
occurring in long cables must be modeled correctly. The
capacitance and the inductance of the cable determine the
propagation velocity of the traveling waves, and the resistance
determines the damping. Therefore, it is important that the
parameter values are correct. However, the cable resistance
increases and the cable inductance decreases when the
frequency increases. Constant high-frequency values are not
applicable since the impedance of the cable would be too high
at lower frequencies and the terminal voltage of the motor
would be much distorted due to the voltage drop over the
cable. An additional problem is encountered when the cable
behavior is to be modeled for both differential-mode currents
and common-mode currents since these currents cause
different magnetic field distributions [19], [20]. The
common-mode resistance of the phase conductors is higher
and the internal common-mode inductance is lower than the
corresponding differential-mode quantities. It was shown in
[20], however, that a sufficient accuracy can be achieved for
both differential mode and common-mode phenomena if the
frequency-dependent parameters of the cable model are
calculated for the common-mode case.
The cable model chosen is based on a network consisting of
a number of lumped-parameter segments [20]. Fig. 6 shows a
model segment for the three phase conductors and the
protective earth conductor. The skin and proximity effects are
taken into account by modeling the resistances and
inductances by ladder circuits. The model has a physically
reasonable foundation, and its parameters can be measured or
calculated from the geometrical data and material properties
of the cable [21].
As shown in Fig. 1, motor terminal voltages with long cable
can be described as the following:
1 1 1 1 1 1
3 3
A G B G C G A O B O C O
CM OG
V V V V V V
V V
+ + + +
= = + (10)
As it is known, motor terminal voltages will be double
approximately with long cable due to voltage reflection so
common mode voltage can be described by (11)
[9].
1 1 1
2( )
3 3
A O B O C O
AO BO CO
CM OG OG
V V V
V V V
V V V
+ +
+ +
= + = + =
Abdolreza and Fazel. Suppressing of common-mode voltage, shaft voltage, leakage current and EMI generated by voltage source PWM
inverter
532 | P a g e
2
3
d OG
CM OG
d
OG
U V
V V
U
V
+
'
+ =
+
(11)
By comparing (1) and (11), it is indicated that the common
mode voltages at motor terminal with long cable also doubled.
So it is very important to suppress common-mode voltage
when long cable is used.
By simulation the AC motor drive systems with and
without the proposed filter, the effect of proposed filter can be
evaluated as discussed in the next sections.
III. SYSTEM ANALYSIS
In Fig. 1 the motor schematic is included with long cables
where they connected to the inverter. Three possible loops of
common mode current in PWM inverter fed ac motor drive
system (Fig. 1) are illustrated by an equivalent circuit shown
in Fig. 7. These three current loops are:
Loop 1: inverter cables motor stray capacitor
motor ground line system ground line mains rectifier
inverter
Loop 2: inverter cables motor stray capacitor
motor ground line heatsink ground line heatsink
device parasitic capacitors inverter
Loop 3: inverter device parasitic capacitors heatsink
heatsink ground line system ground line mains
rectifier inverter
Generally, a three-phase diode module and a three-phase
insulated gate bipolar transistors (IGBT) module are attached
on a common heatsink. This means that the common mode
voltage produced by the rectifier, V
CMrec
, and that by the
inverter, V
CMinv
, cause common mode voltages to the
ungrounded heatsink because non-negligible parasitic
capacitors exist inside the two electrically insulated diode and
IGBT modules in Fig. 1.
Fig. 8 shows the circuit configuration of PWM inverter fed
ac motor drive system connecting a small passive EMI filter
at the output of a voltage-source PWM inverter and at input of
rectifier. The inverter has a digital PWM controller in which
three-phase sinusoidal balanced reference signals are
compared with a repetitive triangular carrier signal with a
frequency of 10 kHz in order to generate the gate signals for
the IGBTs. This filter requires access to ungrounded motor
neutral point. It consists of three differential mode inductors,
a common mode choke in inverter output, and another
common mode choke in rectifier input, six capacitors and four
resistors.
A set of three inductors L, three capacitors C, and three
resistors R forms a differential mode filter that eliminates
high-frequency differential mode voltages from three-phase
line-to-line voltages. It can damp out the over voltage
appearing at the motor terminals. Although its installation
makes the line-to-line voltages sinusoidal, it produces no
effect on each line-to-neutral voltage. The common mode
filter consists of two common mode chokes L
CM1
, C
CM1
,
R
CM1
and L
CM2
, three Y-connected capacitors, C
CM2
and a
damping resistor R
CM2
that is connected between the motor
neutral point and the capacitor neutral point. Common mode
and differential mode equivalent circuit model of the filter is
presented in Fig. 9 and Fig. 10 respectively.
Rotor
Stator and Frame
Zsr/3
VCM
Zsg/3 Zg Zb
Fig.5. Simplified model of induction motor
Fig. 6. Cable model segment
V
CMrec
V
CMinv
DC Link
3C
P1
3C
P2
3C
P
3C
P
M
Motor and
cables stray
capacitor
I
CM
Three Phase
Source
Motor and
cables
Motor ground line System ground line
Loop 2
Loop 1
Loop 3
Inverter Rectifier
Heatsink ground line
Fig. 7. Common mode equivalent circuit of PWM inverter fed ac motor drive
system of Fig. 1.
Vd
CCM1 RCM1
C
R
L
LCM1
25 mH
O 20
1.1 mH
2O
6.8 F
470nF
Rp
210O
1
2
300
8 CM
L H
L mH
=
=
Motor
neutral
point
RCM2
CCM2
LCM2 Motor
IM
100O
47nF
Three-phase
source
Long
Cable
Fig. 8. The system configuration when the proposed passive filter is
connected
L C R
L C R
C R
VDMa Vuv
Fig. 9. Differential mode equivalent circuit
International Electrical Engineering Journal (IEEJ)
Vol. 1 (2011) No. 1, pp. 529-535
ISSN 2078-2365
533
V
CMrec
V
CMinv
DC Link
3C
P1
3C
P2
3C
P
3C
P
M
Motor and
cables stray
capacitor
Three Phase
Source
Motor and
cables
Motor ground line System ground line
L/3 L
CM1
C
CM1
R
CM1
L
CM2
n
Motor
neutral
point
R
CM2
3C
CM2
R
P
3C
R/3
Loop 5
Loop 4
Loop 6 Heatsink ground line
Fig. 10. Common mode equivalent circuit (Loops 1 to 3 have similar
direction as Fig. 7)
A. Design of Differential Mode Filter
Fig. 9 shows the differential mode equivalent circuit where
the motor inductance parameters are disregarded from HF
differential mode voltage and current points of view. This
means that the inductance and capacitance values in the
differential mode circuit are 3L/2 and 2C/3, respectively.
Because a relation of 3L/23/(2C) exists at the carrier
frequency of 10 kHz, it is not the capacitor but the inductor
that determines the amplitude of the current. Note that the
common mode choke is eliminated from Fig. 9 because it
makes no contribution to the differential mode equivalent
circuit.
The switching ripple current flowing through the inductor
should be less than 10%, (It is about 2 A in this case). When
the differential mode voltage in Fig. 9 is assumed to be a
sinusoidal waveform with amplitude of V
d
/2=269 V and a
carrier frequency of 10 kHz, the L value is given by (12).
3 2 10000 269
2
2 1
2 2 2
d
L r
V
L
x i L mH
t
> > >
(12)
Hence, the inductance value was decided as 1.1 mH. The
resonant frequency of the differential mode filter should be in
the 1 kHz to 3 kHz range, taking into account both the
maximum inverter output frequency of 50 Hz and the carrier
frequency of 10 kHz. The resonant frequency was chosen to
be 1.8 kHz so that the value of capacitor computes out to be
6.8 F. The characteristic impedance given by Zo=(L/C)1/2 is
nearly equal to 12. The resistance value of R is considered
2 to the total loss dissipated in the three damping resistors
be less than 0.1% of the rated inverter capacity (6 kVA).
B. Design of Common Mode Filter
Fig. 10 shows a common mode equivalent circuit of the
configuration system presented in Fig. 8. The equivalent
circuit described in Fig. 10 makes clear the effect of the EMI
filter on eliminating the common mode voltage from the
motor terminals. This equivalent circuit helps to conclude that
installation of the EMI filter yields the following current
loops.
Loop 1: inverter common mode choke (L
CM1
) L/3
cables motor stray capacitor motor ground line
system ground line mains common mode choke (L
CM2
)
rectifier inverter
Loop 2: inverter common mode choke (L
CM1
) L/3
cables motor stray capacitor motor ground line
heatsink ground line heatsink device parasitic
capacitors inverter
Loop 3: inverter device parasitic capacitors heatsink
heatsink ground line system ground line mains
common mode choke (L
CM2
) rectifier inverter
By evaluation of the considered loops of Fig. 10, it is
obvious that the common mode choke, L
CM1
, has no any effect
in attenuating the common mode currents on loops 3 and 5.
This shows that the circuit requires installing another
small-sized common mode choke, L
CM2
, at the rectifier input.
The common mode voltage with dc and ac components is
characterized by a step-changed voltage resulting from PWM
operation as shown in Fig. 11. Note that the fundamental
frequency of the ac components is equal to the carrier
frequency of 10 kHz. The dc component is applied across the
capacitor C
CM1
, while the ac components are applied across
the inductor L
CM1
.
Since the flux produced in the inductor is given by the
integration of the ac components with respect to time, it is
reasonable to take into account the effect of the
carrier-frequency component presented in the common mode
voltage on flux saturation, neglecting other high-frequency
components. The Faradays law leads us to the following
relation between the flux in the inductor and the
common-mode voltage:
1
CM
V dt
N
| =
}
(13)
where N is the turn number per phase of the inductor, is
flux in the inductor and V
CM
is common mode voltage. The
flux density, B is given by
1
CM
B V dt
S SN
|
= =
}
(14)
where S is the cross section area of the core. For a given
value of carrier frequency, and a known value of common
mode voltage, the product SN dictates the value of B
max
.
Alternatively, the product SN can be designed if the value of
B
max
is allowed not to exceed the saturation flux density B
sat
of
the core material used. A soft magnetic material having a
crystalline structure in the nano-scale range is selected as the
core material. This material has a saturation flux density as
high as B
sat
=1.2 T. Generally, the inductance value of an
inductor without air gap is give by:
2
CM
SN
L
l
=
(15)
where l is the mean core length, and is the core
permeability. A peak value of common mode current, I
CMpeak
is inverse-proportional to the inductance value of L
CM
, and
therefore it is proportional to a value of l/N as long as SN is
constant. The shorter the mean core length and the larger the
number of turns, the smaller will be the peak value of the
common mode current.
However, the number of turns cannot be increased beyond
a certain limit because that would need a larger core and
would result in a larger mean core length. This means that
there exists an optimal value of l/N ratio, which is dependent
Abdolreza and Fazel. Suppressing of common-mode voltage, shaft voltage, leakage current and EMI generated by voltage source PWM
inverter
534 | P a g e
on the diameter of the copper windings used, or in other
words, on the current rating of the inductor.
Based on the above discussions, the following common
mode choke is designed and constructed: an inductor with a
maximum flux density of 0.8 T at 40 Hz, which is 2/3 of the
flux density of magnetic saturation. Note that a resonant
frequency for the common mode circuit should be placed in a
range of about 1.5 kHz, so that the capacitance value of C
CM
is
designed as practical value of 470 nF by considering (16).
1
2
CM CM
f
L C t
=
(16)
So L
CM1
is found as 25mH with characteristic impedance of
210 that is shown in Fig. 8 as R
p
. The resistance value of
R
CM1
was designed as 20 . Finally R
CM2
, L
CM2
and C
CM2
considered as 100 , 8 mH and 47 nF respectively.
IV. SIMULATION RESULTS
The system without filter (Fig. 1) and with the proposed
filter (Fig. 8) is simulated by Saber software. The simulation
results of common mode voltage (V
CM
), shaft voltage (V
sh
),
bearing current (I
b
) and leakage current (I
CM
) are shown in Fig.
11. the predictions show that shaft voltage between motor
shaft and ground appears by 17 volt and bearing current
flowing through bearing and ground is about 400mA, leakage
current also is 4 A, which can cause of bearing surfaces
damage in time due to EDM effect, or electroplating of the
race steel and bearing balls. Also predicted EMI couldnt
meet the EMI limits (EN55011). But after connecting the
proposed filter to system (Fig. 8) EMI reduced. A comparison
between the predicted EMI without and with EMI filter is
shown in Fig. 12. Fig. 13 shows the predicted shaft voltage,
bearing current and leakage current for system with the
proposed filter. As shown in Fig. 13 shaft voltage is about
several mVs, which cannot cause of any damaging in motor,
bearing current and shaft voltage are ignorable.
V. CONCLUSIONS
The adverse effects of PWM inverter in electrical machine
system has concerned in this paper. A passive cancellation
method based on two small passive filter connected between
motor neutral point and rectifier input and also between
inverter output and motor terminal has been proposed.
Whole system has been modeled and then simulated by
Saber software with and without connecting the proposed
passive filter for a 6 kW inverter fed 4 kW induction motor.
Fig. 11. Predicted common mode voltage (Vcm), shaft voltage (Vsh),
bearing current (Ib) and leakage current (Icm) without filter
Fig. 12. Comparison between the predicted EMI without and with EMI filter
Fig. 13. Shaft voltage, bearing current and leakage current with proposed
filter
Simulation results have verified that the proposed passive
filter is effective and valuable in preventing the adverse
effects of PWM inverter in electrical machine system.
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535
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