High Frequency Modeling of Induction Motor Drives for

EM1 and Overvoltage Mitigation Studies

L. Arnedo and K. Venkatesan
Center for Power Electronic Systems
Electrical and Compute Engineering Department
University of Puerto Rico, Mayaguez Campus
The present work deals with a comparative study of different
overvoltage mitigation techniques and their effect uponthe COD
ducted EMI emissions in an Induction motor dlive system. A de-
tailed PSplce model of the system has been developed
considering lumped parameter model with 64 seclious for the
cable and high frequeucy models for the IGBT PWM inverter
and Induction motor. Simulanon results are compared with er-
perimental results. Four overvoltage mitigation techniques such
as RLC inverter output Nter, modified RLC inverter output fX-
ter, RC Blter at motor tednal s and dv/dt control are consid-
er ed
1. IR0DUCTION
Advances in power electronic switching devices such as
Power MOSFETs and IGBTs have enabled high tequency
switching operatious and hence improved the performance of
PWM inverters for feeding induction motors. However these
new technologies have created new problems related to Elec-
tromagnetic interference (Emand over-voltages at the ter-
mi nal s of electric machies [I].
Presently EMC regulations are more stringent, imposing
additional design objectives for power electronic systems.
Some forms of filtering are required for the input and out-
put(s) lines of equipment However, the optimum design ap
poach is to minimize E M at the source of emission. This
reduces the size and volume of the filter and reduces the pa -
sibility EMI being radiated internally to other sensitive com-
ponents m the equipment.
When an induction motor is connected to a PWM IGBT
inverter through a cable, over-voltage is caused at its termi-
nals w i g electric stress on inter-- insulation of motor
windings. There are also parasitic currents referred as cam-
mon mode (CM) and differential mode OM) currents flow-
ing through the parasitic capacitances of the inverter, cable
and mota. These high frequency currents create EMI prob-
lems in the system. The frequency range of interest for con-
ducted E M in power electronics is usually from IO KHz to
IO MHZ [Z].
The over-voltage phenomenon has destructive effects upon
both cable and machine insulation systemdue the energy
. contained in the transient overshoot caused by voltage wave
reflection at the electric machine termi nal s. This phenomenon
is also directly related with the conducted EM. There exists a
close relationship hetween the over-voltage phenomenon and
the E M problem through the rise and fall times of the volt-
age pulses generated by the PWM Inverter. For voltage
. .
pulses with short rise times the voltage at motor terminal and
the magnitude of the CM and DM currents will increase and
for voltage pulses with large rise time the voltage at motor
terminal and the magnitude of the CM and DM currents will
decrease [3]. The overvoltage mitigations techniques change
the rise and fall times ofthe incident pulses to cable or motor.
It is important that the EMI and over voltage characteris-
tics of the system must be analyzed and predicted in the de
sign stage. The simulation model of the system taking into
account the noise cwent paths would he useful for imple
menting E M mitigation circuits in systemdesign.
In this work, a PSpice model of an electrical drive system
that allows prediction of over voltage at the terminal of the
motor and conducted EMI in presence of long feeders is de
vel& The model is used to study the effect of over-
voltage mitigation techniques upon conducted emissions.
11. , DEVELOPMENT OF SYSTEM MODEL XNP-SPICE
A. HFPWMInvener Model
For an accurate EMC model of the inverter it is necessary
to take into awunt the HF parasitic paths. Fig. 1 shows the
HF equivalent circuit for one leg ofthe inverter [4].
~~~ ( . c .
-
Fig 1
Fig. 1 Inverter model for EM1 studi es
The most important parasitic paths of this circuit are: the
parasitic inductance of the emitter Le and the internal para-
sitic capacitances of the IGBT. The value of L is taken from
dai ce datasheet and parasitic capacitances of IGBT are in-
cluded in the IGBT P-spice model. Stray inductances of the
connecting wires (I.,) have very small values and affect prin-
cipally the differential conducted emissions. For this study
0-7803-78l 7-~3I $l 7.~ BZW3 EEE 468
this inductance has been neglected because the P W M inverter
is enclosed in a package and the length of the connecting wire
is very small. The Stray capacitance C, between the collector
and grounded heatsink is measured mth an impedance ana-
lyzer.
In the HF range the equivalent circuit of the DC link ca-
pacitor consists of the seri es combination of capacitance, re-
sistance and inductance, as show in fig.2
Ls Rs C s
-:-
Ca- bd-
FO . F .
2 . G
Fig. 2 High ikquency model of DC link capacitor
When the frequency increases the impedance of the capaci-
tor decreases linearly at rate of -2OdEVdecade. Tbe impedance
of the inductor increase until it equals that of the capacitor at
the point of resonance. At t hi s point the impedance is %. For
higher frequencies the impedance of the inductor increases at
rate of +20dB/decade. The impedance of the DC linkcapaci-
tor bas a strong effect upon the differential conducted emis-
sions [4].
The parameters of the inverter used are given in appendix
B. HF Cable mod1
The transient phenomena of cables have been explained in
detail using transmission lie theory [ 5] and different cable
model configurations used in studies of voltage reflection are
presented in [a]. In P-spice program although there are circuit
simulation elements for transmission lines, the options are
limited for multi-conductor cables. For obtai i g an ads
quate model of the cable for high fiquency studies software
Maxwell 2D extractor is used.
The Maxwell 2D extractor uses finite element method to
compute the circuit parameter matrices such as inductance
and capacitance for any arbitrary multi-conductor transmis-
sion line. These circuit parameters depend upon the geometry
of the structure and the characteristics of the materials that
make up the sfmchue. Once computed, tbesecircuit parame-
ters can betransformed into a P-spices sub circuit forming the
lumned A reoresentation of the cable. In order to model aw
experimentally determined values closely agree with the cal-
culated values as shown inthe same figure.
Fig. 3 Cablecon mode impedance
C. Induclion Motor model
A motor model as show in fig.4 suitable for low and bigh
frequencies is used [SI. The model is based on the expeainten-
tal observation of frequency response and an approximation
of the distributed HF motor model presented in [9] wfiere it is
possible to identify three dominant capacitances C, Ci, C, at
high teqnencies.
I l l Limp
m Model
Fig. 4 Induaimmotor model for widefrequency range
In above C, q, Ci and %representing phase or neutral to
ground capacitance, phase to phase capacitance, phase to neu-
tral capacitance and eddy loss resistor are effective at high
frequencies. Series impedance elements consisting of %, L,
and C, are associated with phase to ground and neutral to
ground current paths at medium frequencies.
propriately the cable in a wide frequency range 64 lumped
sections have been used [7]. Fig 3 shows the variation of
common mode impedance with frequency as calculated for a
six meter SJ 4-14 AWG cable using 64 lumped sections. The
The advantages of this model are that the parameters can
bedetermined by frequencyresponse tests and the model can
beused for over voltage and conducted EMI studies. This can
be implemented in P-spice or Saber for analysis of inverter
fed induction motor drive systems.
469
Ill. SWATI ON OF OVR-VOLTAGE AND E M ble twe SJ-4 #14 AWG. a 1/3 HP three Dhase208 V induc-
tion -motor and LISN' was modeled ;or low and high
points ofmeasurements are indicated in figure 5,
effectiveness Of the in predicting over-voltages fi qencY studies, Typical results =e given below, The
at motor terminals and conducted EMI in the system has been
verified through experimental results. An induction motor
Drive systemconsisting of a three phase PWM inverter, Ca-
Fig. 5 CompleteDri
Figure 6 shows the simulated and experimental voltage
pulses at the inverter and motor terminals when the lengtb
of the cable connecting the inverter and motor is six meters
and the rise time of the inverter voltage pulse is 1 10 ns.
I*'"_"..,
BXP*ri".(
.", I
..
'* -.&<.."L, - -
Fig. 6 Overvoltageat motor terminals for 6 meters of cable
length and a voltage rise time of 1 IO ns
Figure 7 shows the simulated and experimental total
" m o n mode current for the same cable length and in-
verter voltage rise time. The total common mode current
is the sum of the common mode currents through the para-
sitin capacitances to.ground of the motor, cable and in-
verter
The simulated and experimental spectrum of the total
EMI conducted emissions measured m dBuV up to 9 MHz
for thesystem in consideration is shown in figure 8. The
results obtaiied show a close agreement between simula-
tion and ex p h en t al vahes.
.. ..
.....
Fig. 8 Simulatimand experimental Spectrum of thetotal E M
emissions measuRd at point shown in fig 5
470
VI OVERVOLTAGE MITIGATION TECHNIQUES Conventional Ourput Filter
A low-pass filter to reduce the dddt of the inverter volt-
form is passed viaually unchanged except for the delayed
rise and fall limes [IO]. Fig. 9 shows the inverter output fil-
The developed models are used to analyze the effect of
over-voltage mitigation techniques such as Inverter output
filter, motor terminal filter and dv/dt control upon con-
ducted emissions, To compare the effectiveness of these
age pulses is used at the inverter output The p m wave
...
L a
strategies and their effect upon conducted emissions the
same induction motor drive system is studied with the in-
corporation of different types of filters
Fig. 9 Drive System Wim Inverter Output Filter
Figure.10 shows the line to line voltage at the inverter
and at motor terminals without and with filta. The rise
time of the incident pulse is 11Ons. A filter has been de-
signed to reduce the over-voltage at the terminals of the
motor to 10% of overshoot and increasing the rise time of
the incident pulses ffom 1 lOns to 32Ons. Although the fil-
ter reduces the overvoltage at motor terminals, there is no
significant reduction in the conducted EMI emi ssi ons up to
4 MHz as shown in Fig. 11; this is becausethe magnilude
of the ulmmon mode voltage is still the same.
Sf m u( a e d
Fig
-<...de
.IO. Motor terminal voltage without and with filter
. t-. t--i . --i -' -i ---t-. . f--t---
. , !
I . I .
- a - , ."
Fig. 11 S p c t " of the Total EMI conducted emissions
measured in dB.uV for a system with filter andWithout filter
ModiJied Inverter &put Filter
A modidcation of the output filter is proposed in [ 1 I ] to
reduce rhecommon mode and differential mode conducted
emissions and is shown in Fig.12.
The modified film has been designed to obtain a 20%
overshoot. The simulated voltage at motor terminals shows
15% of overshoot as in Fig. 13. With this filter topology a
reduction of IOdBuV in the total EMI emissions is ob-
tained.
47 I
Ill---
Fig. 12.r)rve systemwith modified invertet output filter
...... I ....... _i ...... ."in-& ................... +......... i ......
. . . .
. . . .
. . . . .
. . . .
. . . . .
." \ . . . . .
, .... i. .... .... I .... .;. .... .. .... i ....
i , : : I
1 ; : i $ i j
Fig. 13 Voltage at motm terminsls audEMI conducted emis-
. I.
Y * a.. * 21 1 a . . ,
'e <W.,
sions using modified inverter output filter
RC tennination Filter
The motor terminal over-voltage can he reduced with a
first order resistor-capacitor filter that is connected in par-
allel with the motor taminals [IO]. With a designed filter
the ovashod pacentage is 14%. The total EMI emission
does not change appreciably compared to a system without
filter. Fig. 14 shows the voltage at the inverter, motor ter-
minal and the spectrum obtained througb simulation up to
5.2 MHz
................ U. ..... l....".....,.. .................. U,.,
D.
....... .- . . . . . .
. . . .
._.__
.....
._..
.....
......
....
I
.2
Fig. 14.Voltageat motor terminals and EMI conducted emir
.2S6
PI . . . "_ ......
si" using RC ten&ation
DV/DT Control
In dddt control the output voltage rate can be con-
trolled by adding pby%ically a small capacitor between the
IGBT gate to collector to increase the Miller capacitance
[12]. The inverter voltage rise time cbanges d e n a capaci-
tor of 0.15 nF is placed between the gate and collector. The
inverter voltage rise time without dvldt control is 1 Ions
whereas with dv/dt control it increases to 524ns. The over-
shoot at motor taminals with a rise time of 52411s is 6%.
Fig. 15 shows the voltage at inverter terminals, at motor
terminals and EMI conducted emissions. A decrease of 10
dBuV in the total EMI emissions is obtained.
412
V. CONCLUSION
The use of RLC low pass inverter output filtes is al-
though effective to mitigate the over voltage at motor ter-
minals, it does not have an appreciable effect in the
reduction of the total E M emissions. More reduction of
the total EM emissions is possible by increasing the value
of the filter capacitor but this would increase the losses in
the filter.
Modified low pass RLC output filter represents an alter-
native to control effectively both the over voltage and EMI
emissions without increasing significantly filter losses. A
reduction of both ovenoltage and EMI conducted muis-
sions is obtained.
The RC filter at motor terminals is a simple solution for
the over voltage control but it is an expensive solution due
to the high power losses in the filter and this technique
does not reduce the EM emissions.
Control with a capacitor placed between the collector
and gate of the IGBT reduces the over voltage at motor
terminals due to the decreased dv/dt of the inverter output
pulses. It is also effective in reducing conducted EMI
emissions.
The over voltage reduction techniques based upon low
pass filters have disadvantages such as the power losses in
the damping resistors of the filters, the lags introduced by
the filters and the sue of the filters in increasing the vol-
ume of the final product
Phase
Volts
Hcrtz
Input
ACKNOWLEDGEMENT
This work was supported primarily by the ERC Program
of the National Science Foundation under Award EEC-
9131617.
APPENDIX
TABLE I
HIGH AND MEDIUM FEQX" PNUMEIERS FOR % w MOTOR
1
I 3
208i230
5otf.o
I
TABLE U
LOW FFSQuurcY P*RI\METuIs FOn % Hp MOTOR
I-= 13.5 R I L4. 4206H
L= 8.61R Frenucncy- 60Hz
Lq-=L1-=20.95E-3H I J ~ =0. 001515k~z
TABLE m
PWM IGBT INVERTER PUUMRERS
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