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I. INTRODUCTION
VON JOUANNE AND ENJETI: DESIGN CONSIDERATIONS FOR AN INVERTER OUTPUT FILTER
1139
Fig. 1. PWM inverter driving an induction motor with proposed inverter output filter.
(a)
(b)
(c)
(d)
(e)
Fig. 2. Repeated reflection steps.
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where
and
are cable parameters (see Appendix A).
Then, the source voltage reflection coefficient is defined as
(3)
is the source resistance. At the inverter, the reflected
where
forward-traveling wave has the same shape as the incoming
backward-traveling wave, but with corresponding points reduced by . Due to the dominating winding inductance, the
characteristic impedance of the motor can be 10100 times
that of the characteristic impedance of the cable connecting
the drive to the motor. Therefore, the incident wave voltage
will be reflected back toward the inverter as a function of the
load reflection coefficient (1), and the voltage amplitude at the
terminals of the motor will approximately double.
B. Effect of PWM Rise Time
In this section, the effect of inverter pulse rise time will be
considered. From wave propagation theory and voltage reflection analysis, the peak voltage magnitude due to reflections at
the terminals of the motor can be determined. The time (
in s) for the inverter output pulse to travel from the inverter
terminals to the motor terminals can be expressed as
(4)
where
(8)
for
(9)
(10)
(5)
Therefore,
where
(11)
cable length;
cable inductance per unit length;
capacitance per unit length;
time for pulse to travel the length of the cable once.
After time , the forward-traveling inverter output pulse
will be reflected at the motor terminals, and the resulting
backward-traveling wave, moving toward the inverter, will
have an amplitude of
for
(6)
and
for
(7)
where
dc-bus voltage;
reflection coefficient at the load (typically 0.9 for
motors less than 20 hp);
inverter output pulse rise time (typically 0.1 s for
IGBTs).
Notice that when
, the rise time
is no longer a
parameter in the reflected voltage in (7), and the peak motor
terminal voltage will be reached after the pulse travels the
length of the cable once. Cable lengths of 15 m (50 ft) or
less will typically result in
and, therefore, (6) would
apply. For cable lengths of 5 m (16.5 ft) or less,
and, therefore, the PWM pulse will still be rising while the
(12)
(13)
VON JOUANNE AND ENJETI: DESIGN CONSIDERATIONS FOR AN INVERTER OUTPUT FILTER
1141
TABLE I
MINIMUM CABLE LENGTH AFTER WHICH VIRTUAL VOLTAGE
DOUBLING OCCURS AT MOTOR TERMINALS
function
(14)
III. DESIGN CONSIDERATIONS FOR INVERTER OUTPUT FILTER
Fig. 3 shows that slowing down the rise time of the PWM
inverter output voltage applied to the cable to a critical
value will significantly reduce overvoltages due to reflections.
Thus, a low-pass filter, as shown in Fig. 4, placed at the
output terminals of the inverter can be specially designed to
slow down the inverter output pulse rise time and, therefore,
significantly reduce the overvoltage and ringing at the motor
terminals. From Fig. 3 and (10), the critical rise times ( )
corresponding to a 20% overvoltage for a given cable length
can be found to be approximately 1.5 s for 15 m (50 ft),
2.5 s for 30 m (100 ft), and 3.5 s for 60 m (200 ft) of
cable.
There are several low-pass polynomial filter configurations
with different shapes of amplitude-versus-frequency responses.
The topology in Fig. 4 was chosen since the series capacitor
and resistor combination reduces the
power losses
across the damping resistor. The lower order (second-order)
filter is desirable from the standpoint of the number of components, filter size, cost, and weight. In addition, the second-order
filter is found to yield the necessary stopband attenuation
characteristics and the maximum ripple values in the passband
[9]. Since a flat passband response is appropriate, as is
exhibited in Butterworth filters, the selected attenuation is 3 dB
at the cutoff frequency
. From Fig. 4, the transfer
(16)
Thus, for 3-dB attenuation at a specified cutoff frequency, ,
(14)(16) can be solved for appropriate values of
and
.
The design procedure for an inverter output filter to slow down
the rise time to the specified critical value for 30 m (100 ft)
of cable with be illustrated here.
First, the cutoff frequency ( ) should be determined. For
30 m (100 ft) of cable, the critical rise time
is found to be
approximately 2.5 s for a motor terminal overvoltage of 20%
(Fig. 3). According to the Fourier series, the highest frequency
component will determine the sharpness of a near square-wave
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LL voltage without filter for 460-V 5-kVA 2-kHz ASD with 100-ft cable.
LL voltage with proposed inverter output filter for a 460-V 5-kVA 2-kHz ASD with 100 ft of cable.
pu
(19)
(20)
(21)
where
1 pu voltage (line-to-neutral)
120 V;
1 pu kVA (three-phase)
10 kVA;
27.78 A;
1 pu current
1 pu impedance
4.32 ;
1 pu frequency
60 Hz;
1 pu inductance
11.45 mH;
1 pu capacitance
614.0 F.
The designed filter effectiveness is demonstrated through
simulation using PSpice for a 460-V 5-kVA 2-kHz ASD with
30 m (100 ft) of cable. Lumped circuit parameters are used to
represent the cable. Fig. 5 shows the inverter output pulse and
the motor terminal line-to-line voltage without a filter applied.
Note the very fast rise time for both waveforms and the motor
terminal overvoltage. Fig. 6 demonstrates the effectiveness of
the proposed inverter output filter to reduce the motor terminal
overvoltage and to slow down the rise time to approximately
2.5 s. The designed inverter output filter is demonstrated
experimentally in Section V, and the losses are given in Table
II. The long lead cable specifications are given in Table III.
VON JOUANNE AND ENJETI: DESIGN CONSIDERATIONS FOR AN INVERTER OUTPUT FILTER
RC
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filter termination.
(a)
(b)
(c)
(d)
(e)
Fig. 8. Repeated wave reflections with
RC
TABLE II
LONG LEAD FILTER SCHEMES FOR UP TO 30 m (100 ft) OF THHN
14 AWG CABLE, WHERE Zoc
190
, fs = 2 kHz
R = Z0 .
The incident current and incident voltage will charge the
inductances and the capacitances one by one, starting from
the source (Fig. 8). The current and voltage in the incident
wave are related by [7]
(22)
and in the reflected wave by
(23)
LONG
TABLE III
LEAD CABLE SPECIFICATIONS
filter is
and
(25)
IV. COMPARISON OF FIRST-ORDER MOTOR TERMINAL FILTER
The motor terminal overvoltage can also be significantly reduced if the cable is terminated with the cable surge impedance
[3]. In this section, the reflected wave equations due to a
series
filter termination are presented. For more complete
derivations, see [5].
Fig. 7 shows an equivalent circuit of the cable represented
by small but finite lumps of inductances and capacitances.
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(27)
Then, the solution for the total voltage across the
nation (or motor terminals) is
termi-
(28)
Motor Terminal Filter
A. Design of
(a)
(29)
Solving (29) for
results in
(30)
(b)
Fig. 9. 5-hp 460-V 2-kHz ASD with 30-m (100-ft) cable: [1] leading edge
voltage of inverter output; [2] motor terminal without filter; [3] motor terminal
with (a) inverter output filter, (b) motor terminal filter.
VON JOUANNE AND ENJETI: DESIGN CONSIDERATIONS FOR AN INVERTER OUTPUT FILTER
1145
REFERENCES
[1] E. Persson, Transient effects in application of PWM inverters to
induction motors, IEEE Trans. Ind. Applicat., vol. 28, pp. 10951100,
Sept./Oct. 1992.
[2] R. H. Daugherty and C. H. Wennerstrom, Need for industry standards
for ac induction motors intended for use with adjustable-frequency controllers, IEEE Trans. Ind. Applicat., vol. 27, pp. 11751185, Nov./Dec.
1991.
[3] A. von Jouanne, D. Rendusara, P. Enjeti, and W. Gray, Filtering
techniques to minimize the effect of long motor leads on PWM inverter
fed ac motor drive systems, IEEE Trans. Ind. Applicat., vol. 32, pp.
919926, July/Aug. 1996.
[4] V. Divljakovic, J. Kline, D. Barta, and D. Floryan, Aging of magnet
wire in the presence of variable frequency, high rise time and high
voltage pulses, in Conf. Rec. 1994 Conf. Electrical Insulation and
Dielectric Phenomena, pp. 391399.
[5] A. von Jouanne, P. Enjeti, and W. Gray, Application issues for PWM
adjustable speed ac motor drives, IEEE Ind. Applicat. Mag., pp. 1018,
Sept./Oct. 1996.
[6] J. M. Erdman, R. J. Kerkman, D. W. Schlegel, and G. L. Skibinski,
Effect of PWM inverters on ac motor bearing currents and shaft
voltages, IEEE Trans. Ind. Applicat., vol. 32, pp. 250259, Mar./Apr.
1996.
[7] M. M. Skillings, Transient Electric Currents, 2nd ed. New York:
McGraw-Hill, 1952, pp. 262305.
[8] Motors and Generators, NEMA Standards Publication No. MG1-1993,
Revision No. 2, Apr. 1995.
[9] A. I. Zverev, Handbook of Filter Synthesis. New York: Wiley, 1967.