2014 IEEE 28-th Convention of Electrical and Electronics Engineers in Israel
Vibration of Induction Motors Operating with
Variable Frequency Drives - a Practical Experience
Mikhail Tsypkin
Vibration Specialty Corporation (VSC)
100 Geiger Road, Philadelphia, PA 19115-1090, USA
mtsypkin@vib.com
Abstract — Variable Frequency Drives (VFDs) are widely used
today in different industries due to many advantages including:
energy savings, easy speed control, soft start, low motor start up
current etc. However, VFD creates a number of problems for
normal operation of induction motors, which require special
attention. Excessive motor vibration is one of the serious problems
related with this type of drive. The aim of this presentation is a
comprehensive analysis of the origin of vibration in induction
motors operating with VFD. This presentation is based on the
author’s many years of experience in the field of electrical
machinery vibration diagnostics. Case histories from VSC’s field
service files covering assorted industries represent typical vibration
problems of induction motors operating with VFD. Among them
are: a resonance condition on the equipment at a certain operating
speed, motor bearing deterioration due to high frequency current
impulses coming through the motor shaft and bearings and voltage
and current distortion, resulting in motor casing vibration, shaft
torsional vibration and speed pulsation. Practical recommendations
to prevent excessive vibration on the motor operating with VFD are
also presented.
Keywords - induction motors; variable frequency drives;
vibration analysis; mechanical imbalance; resonance condition;
bearing faults; voltage distortions
I. INTRODUCTION
Variable Frequency Drives (VFDs) are widely used today
in different industries due to many advantages including:
energy savings, easy speed control, soft start, low motor start
up current etc. However, VFD creates a number of problems
for normal operation of power lines and induction motors,
which require special attention. An excessive motor vibration
is one of the serious problems related with this type of drive.
The aim of this presentation is a comprehensive analysis of the
origin of vibration in induction motors, operating with VFD,
based on number of case studies.
Vibration analysis of electrical machinery is comprised of
two types of information: 1) vibration condition, which is
usually evaluated with regard to special standards or
specifications; and 2) data analysis, which allows for
diagnosing of actual problems in machinery, but these are not
always related to excessive machine vibration. In the process of
vibration analysis, the first of these tasks is called fault
detection and the second one is fault diagnosis. Fault detection
is when a measurement parameter exceeds a normal operating
978-1-4799-5988-4/14/$31.00 ©2014 IEEE
range. Fault diagnosis is often associated with condition
monitoring, and focuses on specific changes and symptoms in
order to determine a cause, severity, and corrective action.
Practical recommendations for preventing excessive
vibration on the motor operating with VFD are also included in
the case histories.
II. SOURCES OF VIBRATION IN INDUCTION MOTORS
OPERATING WITH VFD
In modern industries the VFD with Pulse Width
Modulation (PWM) invertors are usually used, due to a low
voltage distortion in the power lines connected to the
applications.
It is very important to realize that vibration signals are
always a compound of forcing function effects (the source) and
transfer function effects (the structural transmission path). The
major problem of all motors operating with VFD is a
mechanical resonance on the motor and/or on the entire
structure at a certain operating speed. The resonance is very
often exited by a mechanical imbalance (sometimes very
minor) of machinery rotating parts. Another mechanical
problem in the motor operating with PWM invertors is motor
bearing damage due to undesirable motor shaft currents [1].
Electrical fluting occurs when a current is passed through the
motor bearings instead of a grounded source.
However, electromagnetic vibration due to voltage
distortion also may causes significant vibration problem on the
entire unit. There are two major sources of electromagnetic
vibration in induction motors: radial electromagnetic forces
and tangential electromagnetic forces. Tangential
electromagnetic forces may create significant torque pulsation
in an induction motor under certain conditions.
The periodic torque component is superimposed on the
constant torque component and causes torque pulsation. In
turn, torque pulsation results in undesirable speed pulsation and
torsional vibration of rotating elements; noise, and vibration in
the nonrotating parts of motors [2] – [5].
A harmonic (periodic) component of electromagnetic
torque is defined as:
T(t) = T(Ω) cos(Ωt - ψτ) (1)
where T(Ω) - The harmonic torque component amplitude;
Ω - The angular frequency;
ψτ - The phase angle.
1
 The output DC component in modern PWM invertors is
not unusual [6] and results in a torque ripple at 1X line
frequency and a torsional vibration in drive shafts [7].
III. CASE HISTORIES
All figures (spectra) in this section have their axis labels
identified as follows: The horizontal axis shows frequency in
cycles per minute (cpm) or in Hertz (Hz). The vertical axis in
the regular spectra displays root mean square (rms) vibration
amplitude (velocity) in millimeters per second (mm/s). The
vertical axis in the envelope spectra is labeled as FEGs Figure 2. This regular vibration spectrum recorded on the outboard
(Filtered Envelope G’s). motor bearing in the horizontal direction during the
operation at the VFD set point of 50 Hz displayed a low
Case History #1 peak at 1X operating speed (1500 cpm).
This was a variable speed Vacuum Furnace Fan. The fan is
mounted on the back furnace wall and is a direct drive unit
with an impeller mounted on the drive motor shaft. The motor
is a 300 Horse Power (HP), flange mounted, induction motor
operating with a VFD. The motor rated speed is 1800 rpm
(four-pole motor). However, this motor is able to operate above
the rated operating speed. The control system allows for
operating the fan in the power supply frequency range between
20 Hz (the motor operating speed of 600 rpm) and 80 Hz (the
motor operating speed of 2400 rpm). The highest vibration
Figure 3. A resonance (bump) test was performed on the motor in the
amplitude of 11.0 mm/s at 2400 cpm was found on the
horizontal direction, which revealed the presence of a
outboard motor bearing in the horizontal direction (Fig. 1) natural frequency at 2100 cpm.
during the operation at the VFD set point of 80 Hz. This
vibration amplitude was significantly above acceptable
vibration levels. Vibration amplitudes at 1X operating speed Additional motor support was designed and installed under
recorded at VFD controller set points below 70 Hz were in the the back of the motor. A resonance (bump) test was performed
acceptable range (Fig. 2). A resonance (bump) test performed on the motor again and revealed a natural frequency on the
on the non-operating motor revealed a natural frequency on the motor around 4530 cpm (Fig. 4), which is significantly above
motor around 2100 cpm on the back of the motor (Fig. 3). the highest motor operating speed. The additional motor
Analysis of the vibration data recorded while the motor was support dramatically changed the motor vibration behaviour.
operated in a wide operating range shows that the structure’s Vibration levels at 1X operating speed have decreased
natural frequency is around 2400 cpm. This difference is very dramatically. Vibration level of 0.80 mm/s at 2393 cpm was
likely a result of an additional stiffness created by the motor recorded on the motor while it was operating at VFD controller
torque component acting on the motor stator during the motor’s output frequency of 80 Hz (Fig.5).
operation.

Figure 4. A resonance (bump) test was performed on the motor after

installing an additional motor support, which revealed the
Figure 1. This regular vibration spectrum, recorded on the outboard presence of a natural frequency at 4530 cpm.
motor bearing in the horizontal direction during the
operation at the VFD set point of 80 Hz indicated a high
peak at 1X operating speed (2400 cpm).

2
Figure 5. This regular vibration spectrum, recorded on the outboard Figure 7. This vibration spectrum was recorded on the motor during
motor bearing in the horizontal direction during the the operation at the set point of 53 Hz.
operation at the VFD set point of 80 Hz after installing an
additional motor support, indicated a low peak at 1X
operating speed (2393 cpm).

Figure 8. This vibration spectrum was recorded on the motor during

the operation at the set point of 60 Hz.

Figure 6. This regular vibration spectrum recorded on the outboard

motor bearing in the horizontal direction during the
operation at the VFD set point of 50 Hz after installing an
additional motor support, indicated a low peak at 1X
operating speed (1500 cpm).
Case History #2
Vibration data was collected on an induction motor
operating in Air Handling Unit. The impeller was installed
directly on the motor shaft. The motor is a 10 HP, flange
mounted motor operating with a VFD. The motor rated speed
is 1800 rpm (four-pole motor). However, this motor is able to Figure 9. This vibration spectrum was recorded on the motor during
operate above the rated operating speed. The control system the operation at the set point of 53 Hz after fan balancing.
allows for operating the fan in the power supply frequency
range between 35 Hz and 84 Hz. The motor was tested across
all operating range and showed extremely high vibration levels
up to 62 mm/s at 1553 cpm (1X running speed) while it
operated at the VFD set point of 52 Hz ((Fig. 7). Vibration
level recorded on the motor was 7.9 mm/s at 1800 cpm while it
operated at the VFD set point of 60 Hz ((Fig. 8). Extremely
high vibration on the motor during the operation at 1553 cpm
was a result of a combination of fan imbalance and a resonance
condition on the motor structure. No option redesigning this
unit and stiffening the structure were found. Only precision Figure 10. This vibration spectrum was recorded on the motor during
balancing the fan did allow for decrease the vibration levels on the operation at the set point of 60 Hz after fan balancing.
the unit.
The vibration levels on the motor were reduced Case History #3
dramatically after installing of several grams of balance weight
on the fan impeller. The vibration level on the motor at 1X This case involved a 900 HP, 14-pole induction motor that
motor operating speed was decreased to below 3.0 mm/s at was operating a vertical pump. The motor rated speed is 505
1553 cpm during the operation at the set point of 52 Hz (Fig.9). rpm at voltage frequency of 60 Hz. The motor is controlled by
The motor showed a vibration level of 3.2 mm/s at 1785 cpm, a VFD and was tested while operating across its entire
while it was operating at the set point of 60 Hz (Fig.10). frequency range.

3
 Test 1. Motor operating speed of 200 rpm, VFD controller
output frequency of 23.4 Hz. During this test, a vibration
spectrum very clearly showed a peak of 3.37 mm/s at 23.4 Hz
(1X line frequency) and 1X motor running speed sidebands
(200 cpm or 3.3 Hz). The data is indicating the presence of a
periodic torque component at 1X line frequency and a possible
speed pulsation. Pulsating torque usually creates a torsional
vibration on the motor.
Figure 13. Vibration spectrum recorded on the motor during the
operation at the VFD set point of 57.8 Hz and at
operating speed of 495 rpm.

Case History #4
This was a 60 HP, 4-pole induction motor (belt driven fan
with two pillow block bearings) driven by a VFD. The unit
was tested during operation at 100%, 75% and 50% load and
at output frequencies of the VFD controller, respectively, at 60
Figure 11. Vibration spectrum recorded on the motor during the Hz, 48.8 Hz and 37.5 Hz.
operation at the VFD set point of 23.4 Hz and at
operating speed of 200 rpm. Test 1. 100% load, VFD output frequency of 60 Hz, the
motor operating speed was 1800 rpm. Spectra recorded on the
Test 2. Motor operating speed of 327.4 rpm, VFD motor contain a peak at 5494 cpm (3.06X running speed,
controller output frequency of 38.2 Hz. Vibration levels on the
bearing defect frequency) (Fig. 14) and multiples of bearing
motor dramatically increased at this output frequency. We
defect frequency in the high frequency range (Fig. 15).
were able to record the vibration spectrum under this
condition, which revealed extremely high peak amplitude of
90.6 mm/s at 38.2 Hz (1X line frequency) in the horizontal
direction. This vibration level is a result of a resonance
condition on the motor at this frequency.

Figure 14. A regular vibration spectrum recorded on a drive motor

bearing contains a peak at bearing defect frequency of
5494 cpm.

Figure 12. Vibration spectrum recorded on the motor during the

operation at the VFD set point of 38.2 Hz and at operating
speed of 328 rpm.
Test 3. Motor operating speed of 495 rpm, VFD controller
output frequency of 57.8 Hz. The motor showed very low
vibration levels under this condition. The peak amplitude of
0.11 mm/s at 57.8 Hz (1X line frequency) and a peak
amplitude of 1.0 mm/s at 115.6 Hz (2X line frequency) were
recorded in the horizontal direction. The motor showed a peak
amplitude of 0.05 mm/s at 8.3 Hz (495 cpm – 1X motor
running speed). All of these amplitudes are in the very good Figure 15. A regular spectrum recorded on the inboard motor bearing
range with respect to vibration severity. The vibration contains multiples of bearing defect frequency across all
spectrum content in this operating condition is typical for a frequency range indicated severe bearing deterioration,
likely due to fluting.
normally operating induction motor with very low mechanical
imbalance and with all electrical elements operating normally. An envelope spectrum (Fig. 16) measured on the inboard
motor bearing contain multiples of a bearing defect frequency
with high modulation indexes.

4

Figure 16. An envelope spectrum recorded on the drive motor
bearing displayed severe bearing deterioration.
Test 2. 75% load, VFD output frequency of 48.8 Hz, the motor
operating speed was 1465 rpm. Spectra recorded on the motor
contain a peak at 4483 cpm (3.06X running speed, bearing
defect frequency) and multiples of bearing defect frequency in
the high frequency range (Fig. 17).
Figure 17. A regular vibration spectrum recorded on a drive motor
bearing at 75% load indicated severe bearing deterioration,
likely due to fluting.
Test 3. 50% load, VFD output frequency of 37.5 Hz, the motor
operating speed was 1125 rpm. Spectra recorded on the motor
contain a peak at 3443 cpm (3.06X running speed, bearing
defect frequency) and multiples of bearing defect frequency in
the high frequency range (Fig. 18).
Figure 18. A regular vibration spectrum recorded on a drive motor
bearing at 50% load indicated severe bearing deterioration,
likely due to fluting.
Regular and envelope spectra recorded at different
operating conditions indicated severe motor bearing damage
[8], which was very likely a result of electrical fluting.
IV. CONCLUSIONS
Excessive vibration on the motors operating with VFD is
very effectively identified by vibration analysis. Fault
diagnosis allows determining a cause, severity, and corrective
action to eliminate vibration. Case histories show that
vibration on motors operating with a VFD may be decreased
significantly by changing the structural natural frequency (case
history #1), by eliminating an excitation force (case history #2)
or by skipping the operating speed at resonance condition on
the motor (case history #3). Bearing damage in the motor
operating with VFD may be prevented by installing a bearing
protection system on the motor.
Induction motor condition monitoring using vibration
analysis provides reliable detection of mechanical and
electrical problems in the motors operating with VFD.
Vibration analysis techniques combine the possibility for fault
detection (by revealing excessive machinery vibration),
diagnosis of vibration problems in the machinery, and faults in
the machinery’s electromagnetic system, including external
electromagnetic anomalies (e.g. faults in the VFD).
REFERENCES
[1] R.F. Schiferl; M.J. Melfi; J.S. Wang, “Inverter driven
induction motor bearing current solutions,” Petroleum and
Chemical Industry Conference, IEEE 2002, pp. 67-75.
[2] M. Tsypkin, “Vibration analysis of induction motors with
pulsating electromagnetic torque”, Proceedings of the 20th
Annual Meeting of the Vibration Institute, St. Louis,
Missouri, June, 1996, pp. 169-178.
[3] M. Tsypkin, “Induction Motor Condition Monitoring: Slip
Frequency and Pole Pass Frequency – a Clarification of
Definitions,” Vibration Institute Proceedings. National
Technical Training Symposium and Annual Meeting, Oak
Brook Illinois, June, 2010, pp. 75-81.
[4] M. Tsypkin, “Induction Motor Condition Monitoring:
Vibration Analysis Technique – a Practical
Implementation”, International Electric Machines and
Drives Conference (IEMDC), IEEE 2011, Niagara Falls,
Canada.
[5] M. Tsypkin, “Induction Motor Condition Monitoring:
Vibration Analysis Technique - a Twice Line Frequency
Component as a Diagnostic Tool, International Electric
Machines and Drives Conference (IEMDC), IEEE 2013,
Chicago, USA.
[6] Farag Hussein Bahri Berba, Minimization of Output DC
Current Component in Grid-connected Inverters for Solar
Power Applications. University of Newcastle upon Tyne,
2012.
[7] R.J. Kerkman; J. Theisen; K. Shah, “PWM inverters
producing torsional components in AC motors,” Petroleum
and Chemical Industry Technical Conference, IEEE 2008,
pp. 1-9.
[8] A.V. Barkov, N.A. Barkova, and J.S. Mitchel, “Condition
Assessment and Life Prediction of Rolling Element
Bearings”, Sound & Vibration, June (part1), pp.10-17,
September (part2), pp.27-31, 1995.