An Effective Method to Determine Voltage Waveform at Terminal of Induction MotorFed by PWM Inverter

Hou Yong*
Liu Dehong* Jiang Jianguo* Huang Lipei* Makoto Seto** Shinzo Tamai** *Electrical Engineering Departmemt Tsinghua University, Beijing 100084, China **Mitsubishi Electric Co. industrial Electronics & Systems Lab. Amagasaki City, Hyogo 66 1-8661, Japan Abstract-The PWM inverter drive may cause motor terminal voltage surge and ringing, which impose severe electric stress on interturn insulation of motor windings. This paper presents an effective method to determine the terminal voltage waveform of the motor fed by PWM inverter. In this method, an effective system model is established for simulation. The motor is regarded as a black box, so the analysis of inner complicated electromagnetic couplings of motor under high frequency is avoided. The parameters of motor are based
on the test results. The effects of the feeding cable are calculated with multi-conductor transmission line rheov. Examples of the PWMfid motor terminal voltage waveform calculated by this method and the comparison of simulation with experimental results are given.

the cable. The data of the inverter output voltage pulse and the cable parameters can be obtained easily. The inverter output impedance is typically considered to be zero. But the motor terminal input impedance depends on many real details, so the reflection coefficient at motor terminal is indefinite. Generally, motor terminal input impedance is much bigger than the cable characteristic impedance. Comparing with cable characteristic impedance, the motor can be regarded as a nearly open circuit, so the reflection coefficient at the motor end of cable is close to 1.0 and nearly full reflection happens at the motor terminal. To demonstrate the mechanism, literatures used equation rS=(RL-&) / (RL+R,) to calculate L reflection Coefficient, where R, and R are cable characteristic impedance and load (motor) impedance respectively. But in actual operation, the motor input impedance is not a pure resistance and the cable not a lossless line. It is not accurate to use this equation for reflection coefficient. Because there are many frequency components in the terminal voltage of the motor fed by PWM inverter and the motor input impedance varies with the frequency, it is hard to determine the exact reflection coefficient. This explanation can be merely used for approximate analysis of voltage surge and ringing. Some researchers have made great efforts to simulate the PWM fed motor by using the equivalent circuit with distributed parameters and produced several Because when fed by types of equivalent circuits PWM inverter, the motor, especially the random wound stator winding motor, has complicated electromagnetic couplings, some influencing factors were possibly neglected in the given equivalent circuits.

Key words: PWM inverter drive, cable, induction motor, voltage surge and ringing.

1. Introduction
Due to the adverse effects of terminal voltage surge and ringing on the motor fed by PWM inverter, some papers have been published to discuss this phenomenon These papers showed that the factors influencing the motor terminal voltage mainly include follows: Rise time and amplitude of the inverter output pulse 0 Length of the feeding cable 0 Parameters of the cable 0 Impedance mismatch at both ends of the cable The mechanism of the motor terminal voltage The motor terminal distortion is clearly understood voltage surge and ringing are resulted from pulse propagation in the cable and reflections at both ends of
0

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This paper describes an effective method to calculate the PWM inverter fed motor terminal voltage with the aid of measurement. The main objective of the method is to get the motor terminal voltage waveform, so the input impedance of the motor can be used as substitute of motor. The change of the inner electromagnetic couplings with the frequency is reflected
I

impedance and capacitance are enclosed within the impedance. The calculation is sirnplified evidently.

SE)
I&br

by the measured impedance frequency characteristic. In addition, according to the pattern of PWM inverter.pulse, 3-phase cable is reduced to 2-port network, and thus the calculation is simplified. Through solving a simple equivalent circuit of the PWM inverter drive system, the motor terminal waveform can be determined.

Figure 1. PWM Inverter-fed Motor Drive System

2. Approach of Analysis
Figure 2. Single Pulse Effect Equivalent Circuit

2.1 System Model

PWM inverter-fed motor drive system is basically composed of inverter, feeding cable and motor (shown in Fig. 1). The inverter output voltage is a series of pulses with different widths. There are always two parallel legs in steady state with a return third single leg that is switched on[81.For the motor, this means that the inverter output voltage always applies across the impedance formed by two-phase windings in parallel with the third phase winding in series as shown in Fig. 2. Since during every pulse, the motor terminal voltage surge and ringing are similar, it is sufficient to simulate a single voltage pulse effect. To simplify the simulation, the influence of instantaneous current in motor winding is neglected. As an example, positive switch of phase U and negative switches of phase V and W are set to on state. The equivalent circuit is shown in Fig. 2, in which terminal B and C have same potentials. Thus the circuit can be reduced to a two-port network, which impedance matrix can be deduced with multi-conductor transmission line theory. Certainly, the system is a typical three-phase circuit. Because the high frequency components of the system are abundant, the mutual inductance between windings and parasitic capacitance of coils are rather complicated. In the proposed method, the motor is treated as a single equivalent impedance, the mutual

2.2 Impedance Frequency Characteristic of Motor

Every output pulse waveform of inverter contains many frequency components. Fourier analysis technique is employed to calculate the line:-to-line voltage between phases A and B (or C). Obviously, motor input impedance is frequency depenldent. It is necessary to obtain the impedance frequency characteristic of motor for simulation. Just as mentioned above, the impedance may be calculated with distributed parameters equivalent circuit. But the complexity of inner electromagnetic couplings of motor, especially for motors with random wound stator windings, infects the accuracy of the equivalent circuit. The most effective method is to measure. Based on the single pulse: effect equivalent circuit (Fig. 2), the motor impedance should be measured in the state that one phase is series witlh the other two phases in parallel. The measurement can be accomplished by using impedance analyzer or by measuring the current response of the voltage source excite. The measured results revealed that there is a turning point of the impedance property with increase of frequency. The frequency at this point is the resonant frequency When the frequency is lower thanp, the winding inductance is predominant, whereas the

w).

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capacitance is predominant. Resonant frequency varies according to the motor rating. Impedance frequency characteristic is shown in Fig. 3 for a 2.2kW motor. The resonant frequency of this motor is about 50kHz.
7omC

equations for n-conductor bars r9*:

n

'

-d21(_z)-

Y(o)Z(w)I(z)

dzL where Z(o) = R(o) + joL(o) Y(o) = G ( o )+ joC(o)

fW)

10

XlOJ

Figure 3a. Absolute value of motor impedance vs. Frequency

EO

rl

80

20
al

Z(o)and Y(o) are impedance and admittance matrices respectively. They are all angle frequency o dependent. R(w) is a nX n resistance matrix for the losses per unit length of conductors, which depends on the skin effect and proximity effect of the conductors. L(o) is a n X n inductance matrix. Its diagonal elements are self-inductance and its off-diagonal elements are mutual inductance per unit length of corresponding conductors, which depends on the skin effect and proximity effect of conductors. G(o) is a n X n conductance matrix per unit length, which is' dependant on the dielectric imperfection and polarization losses of surrounding media. C(w) is a n X n capacitance matrix.

9
al

0
-20

44
.eo
-100

H -80

V and I are n X 1 voltage and current singlecolumn matrices for n conductors respectively. To make the equations decoupled, transfer matrixes T and W are introduced:,
J
2 4

ofr

fW)

10 x 10s

T'ZYT = y2= diag{y12, ...,y,Z ,...,y }: W'YZW = y2= diag{yI2 ,yP ,...,y ,... }: The solution to the equations is:

Figure 3b. Impedance Angle vs. Frequency

2.3 Cable Parameter Model

A. Multi-conductor Transmission Line Theory When a high frequency electromagnetic signal

= Y ,

cosh(r1) sinh(rl)Z, sinh(rl) Y cosh(r1)Z ,

][

where V(O), I(O), V(I), I(1) are voltage and current matrices at the sending and receiving ends of cable respectively.

propagates along the parallel conductors, the losses or inhomogenetiy of surrounding media will induce electromagnetic components in both travelling direction and the transverse direction. If the component in travelling direction is much smaller than that in transverse direction, TEM mode will be stimulated in these conductors, transmission lines. which form multi-conductor

r = T ~ T I Jzu ,Y,=Y r -1, =

&=Y,-I.

B. 6-Port Network of Three-phase Cable In three-phase PWM inverter drive system, the feeding cable can be analyzed with multi-conductor transmission line theory. Three cable cores plus the shield wire (ground) compose a three-conductor transmission line. The cable is replaced by the following 6-port network. (See Fig. 4.)

In frequency domain, multi-conductor transmission line equations are shown in (1). It's a group of coupling

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Figure 4.6-port Network Substitution for Threephase Cable The transfer matrix is written as follows.

Figure 5. Reduced 2-Port Network of Cable

where A,,,A,,,A,, and A,, are all square matrices of order 3, which are established according to Eq. 2. These matrices are diagonal for single-core shielded cable and non-diagonal for three-core shielded cable. vi=[v, vv V,]' V,=[V, v; VC]' - Ii=[I, 1, I,]' I,=[IA 1 IC]' ,

D. System Equivalent Circuit and Simulation Based on the impedance matrix of the reduced 2port' network, the feeding cable may be replaced with the equivalent T model, which is shown in Figure 6. Za=Z,i-Z,, Zb=Z,, Zc=Z,,-Z,, Thus, we can get the equivalent circuit of the PWM inverter drive system (Fig.6).

C. Reduction of &Port Cable Network to 2-Pori Network

According to the feature of the simulation circuit in Fig. 2, the cable network may be reduced to tko-port network, which impedance matrix can be deduced fi-om the original trahsfer matrix. This reduction simplifies the calculation evidently. When,the system is in the state shown in Fig. 2, there are following variable relationships. I,= I,= -1/2 I" vv=v, v,=vC IB=IC=-1/2 I, Thus, Eq.(3) is rewritten as Eq. (4).

Figure 6. Equivalent T Model of Cable The simulation of the motor terminal voltage waveform is mainly compleited with Fourier analysis technique. The proposed simulation tool is MATLAB program package. First, the spectrum of inverter output voltage pulse is obtained with FFT of MATLAB. Then by solving the sinusoidal equivalent circuit of Fig.8 of different frequency within the effective range, the spectrum of the motor line-to-line voltage is calculated. Finally, the motor line-t'o-line terminal voltage waveform is obtained with IFFT of its spectrum.

[ '1

= B [:i]

=:1 [I

vm

21

:12] [:i] 22 m

(4)

i.e.

[U, U, U, U, U, U,]'= B [I, -11211 -1/211 -12 11212 1/212]' Comparison between Eq.(3) and Eq.(4) yields B,,=A,,A,,-' B,,=A,, AllA2;%2 B,,=A,,-~ B,,=-A,,-lA,, The reduced 2-port network is shown in Fig. 5. ul=u,- UV uZ=uA-U, Using Eq. (4), we can get the impedance matrix of

3.Simulation and, Experimental Results

According to the proposed method, we have simulated a system formed by a HITACHI IGBT's inverter 5330, and a 2.2kW three-phase induction motor with 120m three single-core connecting cables. The amplitude and front edge risetime of inverter output voltage pulse are 585V andl 300ns respectively. The width of the pulse in simulation example is 25 s. Simulation and experimental results are shown in Fig. 7.

the 2-port network (Eq. 5).

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Figure 7. Simulation and Experimental waveforms There is one point that should be explained. The magnetic saturation condition under which the motor impedance is measured may be different from that of normal operation of motor. The measured parameters of motor may have deviation. But this will not bring evident error of simulation. In some previous literaturerio1, it had been predicated that at high frequency the iron serves as a flux barrier and almost no flux penetrates into iron core. This demonstrated that the magnetic path is in unsaturated state and the system is linear at high frequency. The deviations of measured parameters mainly exist among low frequency results, whereas the cable affects the motor terminal voltage mainly at high frequency. The comparison between simulation and experimental results shows that the simulation is in a good accordance with experimental result.

obtained by measuring the motor. This approach may avoid complicated analysis of inner electromagnetic couplings among windings of motor fed by PWM inverter. (2) Accurate cable model was established with multi-conductor transmission line theory. The model was then reduced from 6-port network to 2-port network. Combination of inverter pulse, reduced cable 2-port network and the motor equivalent impedance formed a simple simulation circuit, which can be solved easily. The simulation results by using this method can provide useful basic data for system installation, filter selection and further analysis of voltage distribution among the winding coils.

References
1.Austin H. Bonnett, Available insulation systems for PWM inverter-fed motors, IEEE Industry

Applications Magazine, pp. 15-26, Jan./Feb. 1998.

2.Paul T. Finlayson, Output filters for PWM drives with induction motors, IEEE Industry Applications Magazine, vol. 4, no. 1, pp. 46-52, Jan/Feb 1998. 3.Erik Perssion, Transient effects in application of PWM inverter to induction motors, IEEE Trans. on Industry Applications, vo1.28, no. 5, pp. 1095-1 IO 1, Sep./Oct. 1992. 4.Annette von Jouanne, Dudi A. Rendusara, Prasad N. Enjeti, Filtering techniques to minimize the effect of long motor leads on PWM inverter-fed ac motor drive system, IEEE Trans. on Industry Applications, vol. 32, no. 4, pp. 919-925, Jul./Aug., 1996. 5. Yifan Tang, Analysis of steep-fronted voltage distribution and turn insulation failure in inverter-fed form-wound ac motor, IEEE Trans. on Industry Applications, vol. 34, no. 5, pp. 1088-1096, Sep/Oct 1998. 6.G. Suresh, Hamid A. Toliyat, Dudi A. Rendusara, and Prasad N Enjeti, Predicting the transient effects of PWM voltage waveform on the stator windings of random wound induction motors, IEEE Trans. on Power Electrmics, vol. 14, no.1, pp.23-30, January 1999. 7.R. G. Rhudy, E.L.Owen, D.K. Sharma, Voltage

4. Conclusion
This paper propos,ed an effective method to determine the voltage waveform at terminals of motor fed by PWM inverter. This method had following two advantages. (1)In simulation model of system, the motor was substituted by a equivalent impedance formed by two phase windings in parallel with the third phase winding in series according to inverter pulse pattern. The frequency characteristic of this impedance can be

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distribution among the coils and turns of a form wound ac rotating machine exposed to impulse voltage, IEEE Trans. on Energy Conversion, vol. EC-1, no.2, pp. 50-57, June 1986. 8. G Skibinski, R. Kerkman, D. Leggate, J. Pankau, D.Schlege1, Reflected wave modeling techniques for PWM ac motor drives, in APEC Proceedings of the 1998 13Ih Annual Applied Power Electronics and Exposition APEC98. Part (2), Feb. 1998 v2, pp. 1021 1029. 9. J. A. Brandao Faria, Multiconductor transmission-line structure: Modal analysis technique, New York:

Wiley, 1993, pp. 15-39. 10. J. L.Guardado, K. J. Comick, A computer model for calculating steep-fronted surge distribution in machine windings, IEEE Trans. on Energy Conversion, vol. EC-4, no. 1, March 1989.

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