An Approach to Eliminating High-Frequency Shaft Voltage and
Leakage Current from an Inverter-Driven Motor
Hirofumi Akagi, Fellow, IEEE, and Takafumi Doumoto
Department of Electrical and Electronic Engineering
Tokyo Institute of Technology
E-mail: akagi@ee.titech.ac.jp
Abstract– This paper proposes a small-sized passive EMI
filter for the purpose of eliminating high-frequency shaft
voltage and ground leakage current from an ac motor driven
by a voltage-source PWM inverter. The filter requires ac-
cess to the neutral point of the motor. A common-mode
inductor is connected between the inverter and the motor.
The neutral point of the motor is connected to the dc bus
mid-point via a resistor. The dc bus mid-point is created
by using two capacitors in series across the dc positive and
negative buses. This unique circuit configuration makes the
common-mode inductor effective in reducing the common-
mode voltage appearing at the motor terminals. The valid-
ity and effectiveness of the EMI filter is verified by exper-
imental results obtained from a 5-kVA laboratory system.
I. Introduction
Advances in power semiconductor technology has en-
abled the carrier frequency of PWM inverters to reach val-
ues of 10 kHz and higher. This significantly contributes to
improved controllability of voltage, current, and torque. It
also helps in the reduction of acoustic nise. However, high-
speed switching of IGBTs induces high-frequency ground
leakage current, bearing current, and shaft voltage in an
inverter-driven motor [1].
Presently, passive EMI filters for mitigating these issues
are employed at the output of voltage-source PWM invert-
ers. Various filter configurations using passive components
and/or diodes have been proposed in [2]-[14]. Other solu-
tions based on combination of passive components and ac-
tive devices such as complimentary transistors have been
described in [15] and [16]. Takahashi, et. al., have devel-
oped an active EMI filter that bypasses the zero-sequence
current from the ground wire to reduce the ground leak-
age current [15]. However, this technique does not address
shaft voltage. Ogaswara, et. al. in [16] have proposed a
circuit consisting mainly of complimentary transistors and
a common-mode transformer for achieving active cancella-
tion of common-mode voltage. Further, in [16], it was ex-
perimentally confirmed that the shaft voltage existed due
to common-mode voltage at the motor terminals. It was
conclusively shown that canceling the common-mode volt-
age eliminated the shaft voltage. However, the active cir-
cuits in [15] and [16] have limitations because complimen-
tary transistors rated at 600 V or higher are presently not
available in the market.
This paper proposes a small-sized passive EMI filter for
the purpose of eliminating high-frequency shaft voltage
and ground leakage current from an ac motor driven by a
0-7803-7883-0/03/$17.00 © 2003 IEEE
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voltage-source PWM inverter. The common-mode equiv-
alent circuit of the proposed filter consists of a common-
mode inductor, the stator windings, the ungrounded neu-
tral point of the motor, a resistor, and finally the dc bus
mid-point formed by two capacitors connected in series be-
tween the dc positive and negative buses. Unlike [11], the
common-mode circuit is independent of the ground line be-
tween the motor frame and the system ground. As a result,
the common-mode circuit suppresses the high-frequency
shaft voltage and ground leakage current very efficiently.
The overvoltage and resonance ocurring at the motor ter-
minals comes from the differential-mode voltage produced
by the inverter. It can be reduced and damped out by in-
stalling a parallel-connected differential-mode inductor and
resistor per phase between the inverter and the motor [7].
The validity and effectiveness of the proposed EMI filter
is verified experimentally on a 5-kVA laboratory system. In
addition, this paper gives a design procedure of the passive
EMI filter, thus making it easy for practical implementa-
tion.
II. System Configuration and Operating
Principle of The Passive EMI Filter
A. System Configuration
Fig. 1 shows the circuit configuration of an experimental
system consisting of a 200-V, 5-kVA voltage-source PWM
inverter with a carrier frequency of 15 kHz, a 200-V, 3.7-
kW, 4-pole induction motor, and the proposed passive EMI
filter.
The EMI filter consists mainly of a common-mode induc-
tor LC , along with two capacitors CC (to form the dc bus
mid-point) and a resistor RC . One terminal of the resis-
tor is connected to the ungrounded motor neutral point n,
while the other is to the mid-point of the capacitors. The
common-mode inductor LC has the three-phase windings
wound with the same polarity on a common magnetic core
structure. This construction provides high common-mode
impedance and nearly zero differential-mode1 impedance.
A differential-mode filter for mitigating the overvoltage
and resonance appearing at the motor terminals consists
of combination of a parallel-connected inductor LD and
resistor RD per phase.
A three-phase transformer with a voltage ratio of unity
is installed at the ac side of the diode rectifier, as shown in
1 The terminology “normal mode” is used sometimes instead of the
terminology “differential mode.”
 Voltage-Source PWM Inverter：5 kVA
Carrier Frequency：15 kHz
3φ 200 V, 50 Hz L vuo
1:1 200 V
CC
L=2 mH
LD =70 µH，RD =200 Ω
LC =28 mH，CC =0.047 µF, RC =100 Ω
o
System Ground
Fig. 1. The proposed passive EMI filter, and its experimental system configuration.
Z [Ω]
θ [deg]
frequency [Hz]
Fig. 2. Measured impedance characteristics of the tested induction
motor for common mode.
Fig. 1. The transformer is equipped with the neutral point
in the secondary windings. The neutral point is connected
to the ground terminal of the laboratory switch board, thus
resulting in a three-phase neutral-grounded system. Note
that a reference potential in the experimental system is
selected as the ground terminal that corresponds to the
ground point o in Fig. 1.
B. Operating Principle
Fig. 2 shows measured characteristics2 of the motor
common-mode impedance. From these measurements, it
was determined that the motor has a stray capacitor CC of
3.3 nF in a frequency range of 1 kHz to 100 kHz. Further, a
common-mode voltage was applied across the three-phase
stator terminals connected together and the motor neutral
point. The ensuing common-mode current and its phase
difference with respect to the applied voltage was measured
for various operating conditions. This exercise yielded the
common-mode impedance of the three-phase stator wind-
ing, which was measured to be LM =0.6 mH and RM =
83 Ω.
Fig. 3 shows the common-mode equivalent circuit of the
proposed EMI filter of Fig. 1. Two common-mode voltage
sources vCrec and vCinv exist in Fig. 3. Note that vCrec
2 A single-phase sinusoidal voltage varying from 1 kHz to 1 MHz is
applied between the three-phase stator terminals connected together
and the motor frame. A linear power amplifier rated at 75 V and
5.6 A was used as the power supply.
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200 V 3.7 kW
Induction Motor
LD LC iu
vuv
vno
n
RD
vshaf t
RC in
iG
comes from the rectifier while vCinv comes from the in-
verter. Using the superposition thoery, the circuit of Fig. 3
is represented in the following two different ways: In one
case, the forcing function is the inverter common-mode
voltage relevant in the 15-kHz range, and in the other case,
the forcing function is the rectifier common-mode voltage
containing the third-harmonic component (150 Hz).
A parallel-connected LD /3 and RD /3 per phase acts as
a single inductor LD /3 in the carrier-frequency range, and
moreover the inductance value of LD /3 is much smaller
than that of the common-mode inductor LC . Therefore,
it is reasonable to eliminate LD /3 from the vCinv -based
equivalent circuit. The same argument can be made for
L/3, and it can thus be removed from the equivalent circuit
of Fig. 3.
The impedance of the stray capacitor CS at the carrier
frequency is 3.2 kΩ, while the total series impedance of
LM ，RM ，2CC ，and RC at that frequency is 180 Ω. This
fact allows us to remove the series path of CS and RS from
the equivalent circuit. These practical approximations and
discussions lead to a simplified equivalent circuit consisting
of a series LCR circuit shown in Fig. 4. From this equiva-
lent circuit, an amplitude ratio of the motor common-mode
voltage, vCmot with respect to the inverter common-mode
voltage, vCinv is given by
VCmot ¯ RM + RC + jωLM + 1/j2ωCC ¯
= ¯ ¯
VCinv RM + RC + jω(LM + LC ) + 1/j2ωCC
= 0.05
The above equation shows that the common mode induc-
tor helps in significantly reducing the common mode volt-
age at the motor terminals. Both shaft voltage and leakage
current are reduced as a result of the reduced common-
mode voltage at the motor.
Fig. 5 shows the measured common-mode voltage pro-
duced by the diode rectifier, vCrec . It is well-known that
the most dominant frequency component is 150 Hz or triple
the line frequency. The parallel-connected LD /3 and RD /3
acts as LD /3 at 150 Hz, and moreover it is possible to dis-
card LD /3 from the vCrec -based equivalent circuit because
LD /3 is much smaller than LC . The total series impedance
of LM ，RM ，RC ，and 2CC at 150 Hz is 11 kΩ, which is
 LD /3
L/3 vCrec vCinv LC Motor

RD /3 LM vuo [V]
CS

RM RS
2CC RC n vuv [V]
Neutral Point
o
LM =0.6 mH，RM =83 Ω，CS =3.3 nF，RS =5 Ω
iu [A]
Fig. 3. Equivalent circuit of Fig. 1 for common-mode voltage and
current.
vCmot [V]
Motor (= vCinv )
LC
Neutral Point
n
LM RM vshaf t [V]

vCinv vCmot
time [ms]
2CC RC
o （a）Output frequency-based time scale

Fig. 4. Simplified equivalent circuit of Fig. 3 around 15 kHz.

vCmot [V]
(= vCinv )

vCrec [V]
vshaf t [V]

time [ms]
vno [V]
Fig. 5. Common-mode voltage of the diode rectifier

Motor iG [A]
LC

CS time [ms]
（b）Carrier frequency-based time scale
vCrec vCmot RS
Fig. 7. Experimental waveforms when the motor is directly connected
o to the inverter under in =0.

Fig. 6. Simplified equivalent circuit of Fig. 3 around 150 Hz.

time scales are different among (a), (b) and (c) in Figs. 7
to 9 and Fig. 11. The waveforms in (a) are based on the
much larger than the impedance of LC (= 26 Ω). Thus, it inverter output frequency, while those in (b) and (c) are
is reasonable to eliminate the path consisting of LM ，RM ， based on the carrier frequency.
RC ，and 2CC from the vCrec -based equivalent circuit. It is Fig. 7 shows experimental waveforms when the motor is
also possible to discard L/3. Finally, the vCrec -based equiv- directly connected to the inverter through a cable feeder.
alent circuit results in a simplified representation shown in The motor-neutral point is not connected to the dc bus
Fig. 6. This circuit suggests that the stray capacitor CS mid-point, thus resulting in i =0. Both phase voltage
n
exhibits the most dominant impedance at 150 Hz. Hence, v and line-to-line voltage v have a large amount of
uo uv
the rectifier common-mode voltage is applied across the high-frequency differential-mode and common-mode volt-
stray capacitor. As a result, a 150-Hz component due to ages caused by pulse-width modulation. In addition, the
the rectifier common-mode voltage appears in the motor waveform of v includes a 150-Hz common-mode volt-
uo
shaft voltage. However, the 150-Hz component may not age coming from the diode rectifier. Note that the motor
cause any damage to the motor bearings because of its common-mode voltage v
Cmot is identical to the inverter
low-frequency (150 Hz) charactersitic. common-mode voltage vCinv because no filter is connected
between the inverter and the motor. The motor shaft volt-
III. Experimental Results
age vshaf t , that appears between the rotor shaft and the
In the following experiments, the voltage-source PWM motor frame, is similar in waveform to the motor common-
inverter with a carrier frequency of 15 kHz was operated mode voltage vCmot . The peak value of the shaft volt-
at an output frequency of 40 Hz under the so-called “volts- age reaches 3.0 V. The waveform of vno is similar to that
per-hertz control.” The 200-V, 3.7-kW, 4-pole induction of vCmot because the lead is disconnected from the motor
motor had no load. The motor-terminal phase voltages, neutral point. The waveform of the ground leakage current
vuo , vvo and vwo ，the motor-terminal common-mode volt- iG is a differential waveform of the common-mode voltage
age vCmot , and the motor neutral voltage vno were mea- with respect to time, because iG flows through the stray
sured with respect to the ground point o. Note that the capacitor CS , and its peak value reaches 0.6 A.

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 vuo [V] vuo [V]

vuv [V] vuv [V]

iu [A] iu [A]

vCmot [V] vCmot [V]

vshaft [V] vshaf t [V]

time [ms] time [ms]

（a）Output frequency-based time scale
（a）Output frequency-based time scale

vCmot [V]
vCmot [V]

vshaf t [V]
vshaft [V]

vno [V]
vno [V]

in [A]
iG [A]

time [ms] iG [A]

（b）Carrier frequency-based time scale

Fig. 8. Experimental waveforms when only the common-mode in- time [ms]
ductor is connected under in =0. （b）Carrier frequency-based time scale

Fig. 8 shows experimental waveforms when the common-

vuo [V]
mode inductor LC is connected between the inverter and
the motor, and the motor neutral point remains open. The
inductor helps in eliminating high-frequency components vvo [V]
from vCmot , so that the peak value of the ground leakage
current iG is reduced to 60 mA.
Since the impedance of the motor stray capacitor is vvo [V]

larger than that of the common-mode inductor, almost no

change occurs in the peak value of vCmot . However, the vsum [V]
peak value of vshaf t is slightly reduced from 3.0 V to 2.0 V.
Fig. 9 shows experimental waveforms when the time [ms]
differential-mode filter consisting of the parallel connection （c）Carrier frequency-based time scale
of LD and RD per phase is eliminated from Fig. 1. This Fig. 9. Experimental waveforms when the pallalel-connected LD and
circuit configuration is characterized by a low-impedance RD per phase are eliminated from Fig. 1.
path at the carrier frequency between the motor neutral
point and the dc buses. As a result, the carrier-frequency vuo [V]
components are eliminated from vshaf t and iG , and their
peak values are 1.0 V and 20 mA, respectively. However,
vuv [V]
a 150-Hz component exists in the waveform of vshaf t , as
expected in the previous section. The motor neutral cur-
rent in is much smaller than the motor rated current. Its time [µs]
peak current is about 50 mA. This means that it is pos- Fig. 10. Close-up waveforms of phase-to-ground and line-to-line volt-
sible to use a much thinner lead wire for the motor neu- ages in Fig. 9.
tral connection, compared to the lead wire of the stator
winding. The sum of three motor-terminal phase voltages,

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 TABLE I
vuo [V] Spectrum of common-mode voltage and shaft voltage

Common-mode Shaft voltage

vuv [V] voltage vCmot [V] vshaft [V]
150 Hz 15 kHz 150 Hz 15 kHz
Fig.7 35.4 93.1 0.45 1.20
Fig.8 35.4 68.0 0.45 0.89
iu [A]
Fig.9 34.8 3.5 0.45 0.04
Fig.11 35.8 3.6 0.45 0.04

vCmot [V]
（per phase）
LD Motor
9 µH

vshaft [V]
vD
time [ms]
（a）Output frequency-based time scale

RD CS /3

vCmot [V]
3RS

vshaft [V]
Fig. 13. Equivalent circuit for differential-mode voltage and current.

vno [V]

which is defined by vsum = (vuo + vvo + vwo )/3, looks like

in [A]
a constant voltage without switching ripples because the
carrier-frequency component included in vCmot is signifi-
iG [A] cantly reduced to 3.5 V. Fig. 10 shows close-up waveforms
of vuo and vuv in Fig. 9. Non-negligible overvoltages oc-
time [ms] cur in both waveforms of vuo and vuv . The overvoltages
（b）Carrier frequency-based time scale result from series resonance between a leakage inductance
inherent in the common-mode inductor and the motor stray
capacitor. The resonant frequency is around 1.6 MHz in
vuo [V] the waveforms.

Fig. 11 shows experimental waveforms obtained from

vvo [V] Fig. 1. These waveforms are the same as those in Fig. 9
except for the waveforms of vuo and vuv . Fig. 12 shows
close-up waveforms of vuo and vuv in Fig. 11. Installation
vvo [V]
of the differential-mode filter consisting of LD and RD per
phase makes it possible to damp out the series resonance,
vsum [V] so that no overvoltage appears in the waveforms of vuo and
vuv . It was confirmed by experiment that the amount of
time [ms] power loss dissipated in the resistor RD was about 2 W per
（c）Carrier frequency-based time scale phase. This small amount of loss is acceptable because it
Fig. 11. Experimental waveforms obtaind from Fig. 1. is only 0.16% of the rated power of the induction motor.

vuo [V]
Table I summarizes measured 150-Hz and 15-kHz compo-
nents included in the motor common-mode voltage vCmot
and the motor shaft voltage vshaf t . The 150-Hz component
vuv [V] is independent of installation of the passive EMI filter, be-
cause the impedance of the motor stray capacitor at 150 Hz
is much higher than that of the common-mode inductor.
time [µs]
On the other hand, installation of the passive EMI filter
Fig. 12. Close-up waveforms of the phase-to-ground and line-to-line makes a significant contribution to eliminating the 15-kHz
voltages in Fig. 11.
component from vCmot and vshaf t . In other words, these
components are reduced to 4% of the value obtained with
no filter in the circuit.

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 （per phase）
RD 9 µH always zero in either case. The theoretical common-mode
voltage at the inverter output frequency of 0 Hz and the
vD fundamental output voltage of 0 V results in a repetitive
rectangular waveform with a duty factor of 0.5, where the
amplitude is half of the dc bus voltage, and the fundamen-
CS /3 tal frequency is equal to the carrier frequency of 15 kHz.
Therefore, it is easy to draw and analyze this rectangular
3RS waveform. Since Fig. 4 allows us to assume that the rectan-
gular voltage is applied across the common-mode inductor,
the maximum flux density of the inductor, Bmax is given
Fig. 14. Simplified equivalent circuit of Fig. 13 in a mega-hertz range. by
E
Bmax = (1)
4N Sf
where E is the amplitude of the rectangular waveform,
which is equal to half of the dc bus voltage, f is the carrier
frequency, S is the cross-section area of the core, and N is
the turn number.
A soft magnetic material having a crystalline structure in
the nano-scale range is selected as the core material. This
material often referred to as “F inemetT M ” has a satura-
tion flux density as high as Bsat = 1.2 T.
Table II summarizes a design example under the follow-
Fig. 15. A common-mode inductor (upper right), and three ing conditions; E = 140 V and f = 15 kHz. Equation (1)
differential-mode inductors (lower), compared with a 3.5-inch gives Bmax = 0.94 T that is smaller than the saturation
floppy disk.
flux density.
The common-mode filter forms a series resonant circuit
TABLE II consisting of LC , 2CC and RC , as shown in Fig. 4. The res-
Specfications of the common-mode and differential-mode onant frequency should be placed in a range of 2 to 4 kHz,
inductors used in experiment. taking into account the carrier frequency and the maxi-
mum inverter output frequency. The capacitance value of
Commom-mode Differential-mode
Inductor LC Inductor L CC is 0.047 µF under the condition of LC = 28 mH, when
Outter diameter 75 mm 42 mm the resonant frequency is designed as 3 kHz. Although the
Height 31 mm 25 mm resistor RC should be designed to provide unity damping
Cross-section area 124 mm 90 mm
factor to the resonant circuit from a theoretical point of
Mean core length 166 mm 94 mm
AL value 70 µH/N 2 0.12 µH/N 2 view, it was designed as RC = 100 Ω, so that the damping
Turn number 20 24 factor ζ is 0.17, that is, the quality factor Q is 3.0. The
Inductance value 28 mH 70 µH loss dissipated in RC was estimated as 30 mW from the
waveform of the motor neutral current in in Fig. 11.

IV. Design of the Passive EMI Filter
A. Common-mode Filter
The most important aspect in the design of the proposed
common mode filter is to avoid magnetic saturation of the
common-mode inductor LC . The common-mode voltage
waveform depends strongly on the PWM pattern of a three-
phase voltage-source inverter. The higher the fundamen-
tal output voltage, the shorter the zero-volt period in the
line-to-line voltage waveform. This typically happens at
higher output frequencies. In other words, the larger the
rms value of the common-mode voltage, the lower the out-
put frequency of a general-purpose inverter based on the
so-called “volts-per-hertz control.” Thus, the rms value
is the largest when the motor is started, or the inverter
is operated at 0 Hz. The reason is that all of the three
upper IGBTs or diodes are turned on, or all of the three
lower devices are turned on at that frequency, and therefore
three-phase instantaneous line-to-line output voltages are
B. Differential-mode Filter
Fig. 10 shows the waveforms of vuo and vuv in which se-
ries resonance occurs between the motor stray capacitance
of CS and a leakage inductance inherent in the common-
mode inductor. Note that no resonance occurs in Fig. 7
because the common-mode inductor is disconnected. The
series-resonant frequency can be estimated as 1.6 MHz3 ,
and the damping factor as 0.08 from Fig. 10. As a result,
the leakage inductance value can be calculated as 9 µH
per phase, and the equivalent resistance value RS , con-
nected in series with CS /3 (=1.1 nF), can be calculated as
3RS (=15 Ω). Thus, an equivalent circuit for differential-
mode voltage and current is shown in Fig. 13. In the
3 If a long ground line between the motor frame and the system
ground, and a long cable feeder between the inverter and the motor
were used in Fig. 1, the resonant frequencies of vuo and vuv would
not be equal [4]. Since these are equal in Fig. 10, it is possible to
neglect stray inductances of the cable feeder and the ground line. In
fact, both cable feeder and ground line are about two meters long in
this experiment.

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mega-hertz frequency range, the differential-mode inductor
behaves like an open ciruit with only RD being effective.
Further, due to the same reason, one can eliminate the mo-
tor inductance from the equivalent circuit of Fig. 13. This
leads to a simplified equivalent circuit of Fig. 14. The se-
ries resonance appearing in Fig. 14 can be damped out by
selecting a damping factor as ζ = 1. The damping factor
in Fig. 14 is given by
s 1996.
3/2 × (15 + R ) 2/3 × 1.1 × 10−9
∼ D
ζ= . (2)
2 3/2 × 9 × 10−6
The condition of ζ = 1.2 determines the resistor RD to
be 200 Ω. Considering the fact that the series-resonant
frequency is 1.6 MHz, the differential-mode filter should be
designed to have a cut-off frequency of about 400 kHz. The
following relation exists between the cut-off frequency fcut
and the differential-mode inductor LD .
RD
fcut = . (3)
2πLD
From the above equation, the value of LD is calculated to
be 70 µH, which is equal to 0.27% impedance on a 3-phase,
200-V, 50-Hz, 5-kVA base.
Fig. 15 shows a photograph of the common-mode and
differential-mode inductors used in Fig. 1. Table II sum-
marizes the specifications of the inductors. The proposed
design methodology results in small-sized common-mode
and differential-mode inductors, which may be acceptable
for use with many general-purpose inverters.
V. Conclusion
This paper has proposed a small-sized passive EMI filter
for the purpose of eliminating high-frequency shaft voltage
and leakage current from an ac motor driven by a voltage-
source PWM inverter. The proposed filter is unique from
the point of view of the common-mode circuit, which is in-
dependent of the motor ground connection. The common-
mode circuit starts from the inverter output terminals,
and ends in the dc positive and negative buses through a
common-mode inductor, the three-phase stator windings,
the motor neutral point, a resistor and the dc bus mid-
point formed by two series-connected capacitors. The via-
bility and effectiveness of the EMI filter has been verified
on a 5-kVA laboratory system.
A design example establishing the design criterion to
avoid magnetic saturation of the common-mode inductor
has also been provided.
VI. Acknowledgment
The authors would like to thank Dr. Tsuneo J. Kume
and Dr. Mahesh M. Swamy at Yaskawa Electric America
for their valuable discussions and English language editing.
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