Simplified High-Frequency Model for AC Drives
Eugenio Gubia-Villabona, Pablo Sanchis-Cidrpide, Oscar Alonso-Skdaba, Antonio Lumbreras-Azanza,
Luis Marroyo-Palomo
Department of Electrical and Electronic Engineering
Universidad Publica de Navarra
Paniplona 31006. S P A N
uge@unavarra.es
Abslracf - The development of simulation models that describe
the high-frequency behaviour of all the componenls in an
electrical drive, c m be considered as a very useful tool. The
usefulness of these models exceeds the description of the
disturbances caused by the drive elements (overvoltages,
bearing currents, EMI, etc.). From these models, the influence
of the system elements on the disturbances can be evaluated.
This paper proposes a complete model consisting of simple
structures representing every drive element: motor supply
cable, ground system, electrical machine, electronic converter
and power line. A complete system model allows the
development of mitigation techniques that take into account all
the perturbations. I n addition, the proposed methodo1og:y allows
calculating values for the different system parameters derived
from tests carried out with the converter. The results sbow that
the model is accurate enough to describe the high-frequency
drive behaviour.
Index terms - High frequency models, motor drives, lransient
overvoltages, EMI.
I. INTRODUCTION
IGBT power converters have been broadly used in the last
years for low and medium power drives up to IMlN. New
IGBT generations are characterised by their low switching
times, lower than 100ns. This fact has led to a pro,gressive
increase in the switching frequency (>2OkHz). Main
advantages of these operating frequencies are the lack of
audible noise and the dynamic performance improvement.
However, the high rate of voltage rise due to the small
switching times excites distributed elements of the drive
components. This fact increases the influence of the
distributed elements on the system: overvoltages on the
motor terminal blocks, bearing currents and EM1 generation
Ill PI.
In the last years, a big research effort is being doing on the
analysis of these phenomena and on the development of new
mitigation techniques. The distributed nature of the elements
leads to very complex models that require high calculation
times. Because of it, mitigation techniques have been
traditionally proposed for each single phenomenon [3].
However, all these phenomena are related, being therefore
interesting their global analysis with the aim of aohieving
global solutions. A model is thus required that includes every
system component: utility grid, converter, cables, e'iectrical
machine, and ground system. The exact analysis of the whole
system requires the use of distributed parameter models.
Simplifying these models leads to less accurate results. In
spite of it, the use of simplification models can be an
interesting choice to make easier the design of efficierit filters
0-7803-7474-61021517.00 02002 IEEE
for the whole system. This paper proposes a complete system
model based on lumped parameter structures (Fig. I). It is
shown that from this simple model, the system behaviour can
be reproduced accurately enough. In addition, it is proposed a
parameter calculation methodology based on tests made
under similar conditions as those produced in rated
conditions. This methodology is applied to a driver that
consists of a 4kW commercial converter, a 60m-long 14
AWG three-wired cable, and a 3kW AC machine.
11. CABLE MODEL
Cable parasitic elements cause transient overvoltages in
the machine terminals. The magnitude of these overvoltages
depends on both the cable length and the rising time (t,) of
the inverter output wave voltage pulses. Current IGBTs show
small rising times that can make the machine terminal blocks
voltages double even for cable lengths lower than Ism. The
non-uniform distribution of the overvoltages across the
winding turns due to their parasitic capacities can cause a
premature wear of the insulation 141. Besides, these
overvoltages amplify system parasitic currents, and therefore
contribute to EM1 increase.
The cables used in the three-phase electrical drives usually
include either three or four wires (the fourth used for the
ground connection). These cables can also be shielded or
armoured. In some facilities, the induction machine is
directly connected to a close ground, being thus not
necessary to include the fourth wire. In case of using a
shielded cable, the shield will be connected to the ground.
Therefore, this shield will be considered as a part of the
ground system that could even be the sole ground
connection.
A . Theoretical descriplion ofthe cable
The precise description of a cable is made by means of the
wave transmission theory. From this theory, a cable model
that consists of an infinite series of RLC networks is used
(Fig. 2). When applying to the cable a voltage pulse, it
travels at a speed that is defined by the values per meter of
the inductance and capacity (L' and C', respectively). The
wave reaches the motor terminal blocks after the so-called
propagation time (Ip), which depends on the cable length (IJ:
1144
 ' POWERUNE
..................................................

.................. ............................
iDB Irmk It i_
............................. s ................................... ............................ ....
Rpp= 2.6 Q R p p i2 kR CbR=10.3nF Ri. 4.6 R Rig= 13.2 R C,= 270 pF RDm=2964 R~
Lg8= 2 pH Lp,rlOOllH C,,h 108pF LF9.73pH LjS=33.3pH CnZ=2.56nF R=
., 1.1 R
R,p0.03 R Cp,r 3.2nF CIF 1.38 nF CIF 347 pF =
C
,, 162 pF L,= 4.94 mH
Fig. 1. Complete system model

Due to the different impedance of the motor in

comparison with the characteristic impedance of the cable, (4)
the wave is reflected when it reaches the machine. For
values of 1, lower than 2$, the voltage across the motor The cable series resistance RI contributes to damp the
terminals is provided by the following expression: oscillations. Due to the fact that the frequencies of these
oscillations are usually above lOOkHz, the value of the
41 = vbus (i+r) 1 (2) cable resistance is increased by both the skin and
where r is the reflection coefficient whose value depends proximity effects. The influence of the parallel resistance
on the ratio between the cable characteristic impedance (Rg=I/Yp)is often much lower than the one of the series
and the motor impedance. This value is close to the unity resistance, and therefore can be neglected.
in most of the motors. When the reflected wave reaches the The addition of this cable model to the rest of the system
inverter, it is reflected back to the motor with a reflection leads to an important increase in complexity. Because of it,
coefficient of -1, because the impedance of the inverter is more simple schemes have been proposed based on a
almost cero. These multiple reflections produce voltage lower number of RLC networks [ 5 ] . This number
oscillations whose period is four times the value of fp. The determines the model accuracy in respect to the wave rise
angular frequency is given by: time across the motor terminals. However, the accuracy is
hardly influenced by other aspects such as oscillation
(3) amplitude, frequency and damping. Due to this fact, a
single RLC cable model is proposed (Fig. I). The main
Voltage and current in the cable are related by the cable constraint of this structure is that it does not allow to
characteristic impedance Zo. analyse the voltage distribution across the motor turns
during the rise time of the incident wave.
This model is characterised by the values per unit length
of the inductance L'<, capacitance C'< and resistance RXc
Due to the low values of the cable damping coefficient 8,
the model step response can be given by:
rk
4 c
Fig. 2. Differential model for thc cable

1 I45
 This angular frequency is to he matched with the one
given by the wave transmission theory, and therefore:
The value for the model impedance (when 6=0) is:
(7)
As the impedance of the distributed model and the one
ol'the lumped model are to be matched:
In order to achieve the same value of the damping
coefficient (S), the resistance has to be also scaled:
K , = Z R *d c ' K p ' K r ' (9)
where Kp and K, are the proximity and skin coefficients,
respectively, and R 'd, is the DC value of R:.
The previous expressions can he used to calculate the
model parameters from the values per unit length 'of the
cable (L:C',R').
B. Experimental test to calculate the cable model
When the characteristic values of the cable are
unknown, they can be obtained from testing. In order to do
it, the une side of the cable is connected to the inverter and
the other side is left in an open-circuit condition, as r;hown
in Fig. 3a. The tuning of parameters is made by means of
both the voltage VI,and current il waveforms (Fig. 2.a):
I ) Damping coefficient (4: This coefficient is defined
by the decreasing voltage:
where n refers to the considered pulse, and Mu,is the peak
value of this pulse (Fig. 4). It is not recommended to
consider the first voltage pulse due to its high distortion.
2) Total capacitance (C): It is determined from the ratio
between a voltage peak (Mu") and the next peak cif the
current (Iin):
c=
<v4 'in (11)
mn Mun-vDC
3) Total inductance (Lj: This inductance is calculated
from the oscillation angular frequency md:
I I46
a. Cable test b. Ground system test
Fig. 3. Ground system and cable test
4) Total resistance (R): It is obtained by means of the
damping coefficient and the cable characteristic impedance
In every converter switching, the current flows through
a line and returns to the converter through the other two.
Therefore, the parameters for each conductor are:
Cll = 0.5.C. LI = 2 / 3 L , RI = 2/3-R
The waveforms given in Fig. 4.h have been obtained by
testing the 60m cable. The calculated values for the
parameters were shown in Fig.1. Simulation results with
this model are outlined in Fig. 4.a. As it can be observed in
these figures, the oscillation amplitude, damping and
frequency, are accurately achieved. However, as it was
pointed out before, the rise slope is worse estimated.
C. Ground system parameters
Both the direct method of section A and the test
described previously can he easily applied to a cable that
includes the ground line. For a different ground
connection, for instance with shielded wiring, the
parameters can be obtained from a common-mode test. As
it is shown in Fig. 3.b, one branch ,of the inverter is
connected to the three phase conductors and another one to
the ground. The values of L, C and R a r e calculated in the
same way as used in the previous section.
The total inductance seen by the inverter is the addition
of the ground line inductance and one third of the phase
line inductance:
I
L = -.Li
3
+ Ls (14)
The total capacitance is three times the capacitance
between each phase line and ground.
a. Simulated b. Experimental
Fig. 4. Cable voltage and current: 5 Aidiv and 250 Vidiv
c = 3..C,#

the phase line resistance:

I
R=-RI+Rg
3
(15)
The total resistance is, similarly to the total inductance,
the addition of the ground line resistance and one third of

(16)
-
ci
"..

111. MOTOR MODEL a. Experimental set-up b. Equivalent circuit

Fig. 5. Motor test and common-mode model
Each motor phase consists of a set of series-connected
turns, which form coils that are placed in slots. This layout
with C = Cng + C, (18)
originates distributed parasitic elements: capacitances,
inductances and resistances. The precise modelling of each The last expression can be shortly written as follows:
phase requires thus a distributed parameter model.
Different models are proposed that often consist of several Uc --U P .e-S.m.-' .sen(od . I + w) (19)
staged RLC tank circuits or even a single tank circuit [ 6 ] .
From the tests that have been carried out, it has been Once Ci has been calculated, the other parameters can he
found that a non-symmetric x circuit can accurate model estimated with help of the last expression as it is shown
each phase of the motor (Fig. I). The corresponding through the next steps.
common-mode model is shown in Fig. 5.b. The common- B. Calculation Procedure
mode capacity across the motor terminals C (), models the I) C
, and C:, Firstly, C , can be obtained by means of
distributed capacity of the first turns that are excited during the wave shape of both current (imK)and voltage (V,). C, is
t,. Because of it, its value is lower than the capacity calculated from the voltages across both capacities.
between the neutral and ground, which models the
distributed capacities of the rest of turns. The parameters 2) Oscillation period and yl angle: Both are calculated
of this model can he obtained by means of the test using the zero crossings of the voltage V,:
described here below. 2n
T = 2 ( f 2- I , ) Od =- (20)
A . Test Description T
The inverter is common-mode supplied by means of
connecting one of the inverter branches to the three stator yf="-od=
f 2- a d / ' (21)
phases and another one to the motor frame (Fig. 5.a). Fig 3) Peak value,U,: From the initial condition:
6.d shows the ground current waveform (img),the voltage
between the neutral and the frame (V,), and the voltage
between the stator terminals and the neutral ( V J Fig. 6.h
presents the evolution of variables in Fig 6.d at the
4) Naturalfrequency onand damping coefficient S. The
beginning of the pulse (time expanded). The initial current
peak is due to the charge of the distributed capacity of the value of the product 6.w. can he estimated from any non-
first turns, which corresponds to the capacity C1=3.C, in
the proposed model. The integration of the current peak
gives the amount of charge in the capacity C,, from which
........................
this capacity can be evaluated.
~. ~. ~~ ~~~~ ~~

After this first transient, C, has no influence in the motor . .

current and voltage wave. The step response of the rest of . ,
: ,
the circuit is as follows: . .

a) I Ndiv. 125 V/div b) I Ndiv, 125 V/div

where
" d = 0" .m
&I:. ..... I

1147
zero point of the voltage V, given by (19). In particular, if
the chosen point is the one at the minimum voltage (Imior
Urn,"),the following expressions are obtained:
6 . 0 . =---.In
"j :, "p
1
[ .43,mj" +VI)
(23)
02 =o: +(6.0,)2 (24)
5) L: From (1 7), and neglecting R, in comparison with
Rd:
1 branch where the semiconductor is installed and the
L=- (25)
c.0:
6) R,: This parameter is obtained by directly measuring
the winding resistance. If necessary, the proximity and skin
coefficients will be used.
7) Rd: From (17), it can be derived:
Rd = 1 (26)
[
C. 2 . 6 . 0
3
--
C. Results
The values calculated as described above for the 3kW
motor, where given in Fig. I . On the other hand, Fig. 6
showed the simulated and experimental results. As it can
be observed, both the first transient peak value of the
current (Fig. 6.a and 6.b) and the rest of this wave :shape
(Fig. 6.c and 6.d) are modelled with good accuracy.
IV. INVERTER MODEL
. One of the main aspects concerning the overvoltages is
the rise time 1,. Therefore, the model has to be atile to
reproduce it as accurate as possible.
Besides, the inverter has several parasitic common-
mode capacities that influence the system EMI. One of
them is the parasitic capacity between the heat sink and the
DC: bus (Cbz).This capacity appears in parallel with the
mains common-mode impedance, modifying thus the
system common-mode impedance. The other capacity is
the parasitic capacity between the semiconductor and the
heat sink (C-). This capacity is charged and discharged in
every semiconductor switching, sourcing a common-mode
current that flows through the return path given b y the
parallel connection between the mains and the capacity
cbr
All these points are included in the proposed model of
Fig. I . Time I, can be modelled by means of an ideal
switch with a low on-resistance and a high off-resistance,
in parallel with a capacitor. The capacity ,C , is usually
given by the manufacturer in the data sheets.
The value of Cb8 can he determined by means of the
following test. The inverter is connected to the grid ground
and is operated in an open-circuit condition (Fig. 7.2). In
each semiconductor switching, the voltage between the
1148
t I
a. Connection b. Experimental results
Fig. 7. Inverter test
medium point changes in a magnitude of Vlx. This voltage
step is applied to the series circuit formed by, ,C and the
parallel of Cbgwith two Csw As ,C , is much lower than
CbE, C, can be neglected in the parallel circuit. The
relation between both capacities can be calculated from
their voltage steps:
Fig. 7.b gives the waveform obtained in this test.
Changes in voltage vbg due to the switching of one of the
three phases can be noted. Voltage V,, shows the less
significant influence of the other two phases switching.
V. POWER LINE MODEL
A generic power line model has to consider the high and
low frequency behaviour of the transformer, and both the
phase and ground cables to the connection point.
Differential-mode high-frequency disturbances generated
by the inverter are filtered by the DC bus capacitor.
Therefore, in order to model the high-frequency behaviour,
it is enough to take into account the common mode circuit
model. The common-mode capacity lies mainly in the
transformer. On the other hand, the transformer neutral is
ground-connected. A simple model can therefore be used
for the power line consisting of three tank RLC circuits
with the electromotive force in series (Fig. 1).
The values of the model components depend on the
connection point. Due to the inaccessibility of the model
points as well as other factors such as the dependence on
other connected loads, these values are not easy to he
obtained. In spite of this, some tests can be made to
estimate them.
The values for the inductance (LPJ and the resistance
(R,,) can be obtained from resonance test using known
capacitors connected in differential-mode to the power line
leads. Next, the common-mode connection of these
capacitors allows Lm and Rpgto be estimated. The resonant
frequencies of these tests clearly have to be low enough to
neglect the influence of Cpi. Finally, Cp, and Rpi are
obtained by means of a high-frequency test. The inverter is
connected to the power line, including ground, and is
operated in an open-circuit condition. Now, Lpiand R,, can
be neglected in comparison with C,, y Rpl. From the
resonant frequency and the current damping, the values of
C,, and Rplcan be estimated.
VI. RESULTS USING COMPLETE MODEL
In order to verify the performance of the complete
model, the system has been simulated. In this simulation, a
2kHz switching frequency and a 50Hz voltage
fundamental component have been used.
Fig. 8 shows both the simulated (Fig. 8.a) and
experimental (Fig. 8.h) waveforms for the converter output
current (i,) and the motor line voltage (VI,). In spite of the
simplicity of the models, amplitudes and frequencies of
both voltages and currents coincide to a high exempt. Main
discrepancy can be found in the slopes of the current and
voltage pulses, as well as in the delay of the actual voltage
waveform when it travels through the cable. Both effects
were already foreseen when the cable model was defined
by means of a single RLC network. These discrepancies
can be observed in Fig. 9, which shows in detail these
variables during a switching.
Fig. 10 shows the experimental and simulated common-
mode current waveforms in different points: current
flowing through the motor ground (i,J, current flowing to
the inverter ground (isrnk),and current flowing through the
power line ground (U.Simulation results are again quite
close to the experimental ones.
VII. CONCLUSSIONS
This paper proposes a complete high-frequency model
for an electrical drive, together with a methodology to
calculate the model parameters. Very simple structures
have been used to model the different components of the
,.*m*
111s1.
, ~ , ~ ~
*l.ro,
~~~~~~~~~
mm 111"
a. Simulated b. Experimental
Fig. 8. Current (5 Ndiv) and line voltage (SOOV/div)
m 1111" r* 111."
a. Simulated b. ExDerimental
Fig. 9. Current ( 5 Aidiv) and line voliage (250Vidiv)
.. .. . .. . .. . .~..
.._
,--.__-,
.. ... ... ... :. .: :. .. .. . .
t I
m
m". n
r*,
I"
a. Simulated b. Experimental
Fig. 10. Ground currents. 1 Aidiv.
drive. Because of it, the simulation times are highly
reduced. Comparison of the simulation waveforms with
those obtained experimentally, validates the used
approach. With this scheme, the different disturbances can
be together analysed, and the performance of the
mitigation techniques can be evaluated.
VIII. REFERENCES
[I] R. J. KerKman, D. Leggate and G. L. Skibinski,
"Interaction of drive modulation and cable
paramenters on AC motor transients," IEEE Trans. on
Industrial Applicalionss, vol. 33, no. 3, M a y h n e .
1997, pp. 722-731.
[2] J. M. Erdman, R. J. KerKman, D.W. Schlegel and G.
L. Skibinski, "Effect of PWM inverters on AC motor
bearings currents and shaft voltages, " IEEE Trans. on
Industrial Applicationss, vol. 32, no. 2, MarcWApril.
1996, pp. 250-259.
[3] A. Von Jouanne and P. N. Enjeti, "Design
considerations for an inverter output filter to mitigate
I
the effects of long motor leads inASD Applications,"
IEEE Trans. on Industrial Applicationss, vol. 33, no.
5 , SepUOct. 1997, pp. 1138-1 145.
[4] A. H. Bonnett, "Analysis ofthe impact of pulse-width
modulated inverter voltage waveforms on ac
induccion motors, " IEEE Trans. on Industrial
Applicationss, vol. 32, no. 2, SepriOct. 1996, pp. 386-
392.
[SI A.F. Moreira, T. A. Lipo, CVenkataramanan and S .
Bemet, "High frequency modeling for cable and
induction motor over-voltage studies in log cable
drives," IAS'2001: IEEE Idustry Applicatiom
Conference, vol 3, pp. 1787-1794.
[ 6 ] Hwan-Kyun Yun, Yuen-Chung. Kim, Chung-Yuen
Won, Young-Ryul Kim. Kim, Young-Seok Kim and
Se-Wna Choi, "A study on inverter and motor
winding for conducted EM1 prediction," ISIE'2001:
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2, , pp. 752-758.
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