DRIVEN ASYNCHRONOUS MOTORS
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1 STUDY OF ELECTROMAGNETIC ETIC INTERFERENCE IN INVERTER DRIVEN ASYNCHRONOUS MOTORS STUDY OF ELECTROMAGNETIC ETIC INTERFERENCE IN INVERTER DRIVEN ASYNCHRONOUS MOTORS Eng. Ioan ŢILEA PhD-student 1, Prof. Eng. Călin MUNTEANU PhD 1 1 Technical University of Cluj-Napoca, Electrical Engineering Faculty REZUMAT. Interferenţele electromagnetice e conduse din motoarele asincrone alimentate de invertoare PWM sunt o problemă actuală în sistemele de acţionare cu turaţie variabilă. Interferenţele electromagnetice conduse din aceste sisteme se datorează motorului electric şi a cablului de alimentare. Analiza A caracteristicii impedanţei motorului electric şi a cablului de alimentare sunt fundamentale pentru interpretarea emisiilor de mod comun şi diferenţial din sistemele de acţionare cu turaţie variabilă. Cuvinte cheie: supratensiuni la motor, invertor motor, interferenţe electromagnetice. ABSTRACT. Conducted electromagnetic interference (EMI) in induction motor fed from pulse width modulation (PWM) inverters is one of the most difficult current technical problems in variable speed system. The conducted EMI emissions in inverter motor system is related to the inverter load which is the induction motor and cable. The analysis of the impedance characteristic of the motor and cable is fundamental for understanding the common and differential mode of emissions. Keywords: motor overvoltage, inverter-fed motor, electromagnetic interference. 1. INTRODUCTION More than 60% of the world s energy is used to drive electric motors. Due to growing requirements of speed control, pulse width modulation inverters are used in adjustable speed drives. Rapid developments in semiconductor technology have increased the switching frequency of power electronics dramatically. Increase in the carrier frequency of pulse width modulation and the faster switching rates of the power electronics can induce serious problems in inverter fed induction motor drive system. One of the most difficult technical problems is the generation of high frequency currents flowing in all parts of the drive system due to capacitive couplings in the motor drive system. As shown in Figure 1, a modern motor drive system consists of a filter, a rectifier, a DC link capacitor, an inverter and an AC motor [2]. The EMI problems are very high in the cable, motor area because of the high frequency of the inverters output voltage. Many small capacitive couplings exist in the motor drive systems which may be neglected at low frequency analysis but the conditions are completely different at high frequencies were the influence of the parasitic capacitance is noticeably higher. When the inverter is connected to the motor through a long cable because of the cable inductance, stray capacitance distributed between the cable wires and high rise times of the PWM voltage from the inverter, overvoltages appear at the motor terminals [1], [9], [12]. Overvoltages at the motor terminal stress the motor winding insulation reducing its life and causes partial discharges that damage the insulation. Common mode voltage creates shaft voltage through electrostatic couplings between rotor and stator windings and the rotor and a frame which can cause bearing currents when the shaft voltage exceeds a breakdown voltage level of the bearing grease [3], [5]. The overvoltage and conducted EMI problems in variable speed system with high power motors and long cables can be clarified by motor impedance analysis. This paper analyzes conducted EMI generated by a PWM inverter fed induction motor drive system analyzing the overvoltages occurring at the motor terminals when the motor is connected to a PWM inverter through different cable lengths. Using a finite element analyses (Maxwell 3D software) for the extraction of the induction motor high frequency equivalent circuit and a circuit analysis (Simplorer) for the inverter fed induction motor drive system. Buletinul AGIR nr. 3/2012 iunie-august 1 695
2 WORLD WORLD ENERGY ENERGY SYSTEM SYSTEM CONFERENCE CONFERENCE WESC - WESC 2012 Fig.1. Motor drive system with capacitive couplings. 2. ASYNCHRONOUS MOTOR HIGH FREQUENCY MODEL At low frequencies, the equivalent circuit of an electric motor consists of inductances and resistances without considering the motor capacitances. At high frequencies, the electric motor can be modeled as distributed capacitors, inductors and resistors. The stray capacitance of electric motors is very important in predicting EMI problems [6-7]. Asynchronous motor winding physical construction is very complicated and detailed determination of its capacitance is difficult. Using Maxwell software a finite element analysis of the induction motor is carried out to obtain the inductance and capacitance of the motor. The numerical 3D model of the induction motor simulated in Maxwell is presented in Figure 2. For an accurate determination of the induction motor capacitance and inductance a 3D model of the motor must be analyze for the reason that it incorporates the end winding of the induction motor. To acquire the equivalent inductance of the induction motor a magnetostatic simulation must be done and for the equivalent capacitance of the motor an electrostatic simulation. Using the results from the magnetostatic and electrostatic simulations an asynchronous motor equivalent circuit can be obtained consisting of inductances and capacitances. The induction motor inductances and capacitances obtained from the Matrix solution in Maxwell are exported in Simplorer for circuit analyses. The investigated motor is three phase induction motor with an output power of 11 kw, rated voltage 400 V and a speed of 900 rpm. Fig.2. Numerical model of the induction motor. 3. OVERVOLTAGE ANALYSIS OF INVERTER FED INDUCTION MOTOR For analyzing the overvoltages at the motor terminals when the motor is connected to a PWM inverter the simulation model presented in Figure 3, is used. The model consists of an inverter, equivalent high frequency circuit of the cable and the induction motor capacitance and inductance imported from the finite element analysis
3 STUDY OF ELECTROMAGNETIC ETIC INTERFERENCE IN INVERTER DRIVEN ASYNCHRONOUS MOTORS Fig.3. Inverter fed induction motor simulated model Overvoltage in inverter fed induction motor is due to parasitic capacitance in the cable and the motor [4], [10], [11]. Based on the results from a frequency sweep of the motor it is possible to determine the resonance frequency, which is the result of the winding parasitic capacitance. Current measurements from a frequency sweep of the induction motor are presented in Figure 4. The resonance frequency of the induction motor, when the motor is connected to the inverter through a 1m long cable (Fig.4.a), is 3 khz, this is the frequency range were there is a minimum load and this voltage component is not attenuated by the motor. The resonance frequency of the inverters load is significantly affected by the motor cable (Fig.4.b) the resonance frequency with a 10 m long cable is 1 khz and with a 50 m long cable is 0.5 khz (Fig.4.c). The parasitic capacitance of the motor cable moves the resonance frequency towards the lower ranges. It is a key reason for appearance of serious overvoltage problems in inverter fed induction motor drive system with long motor cable. Identifying the resonance frequency of the inverter load (motor and cable) is helpful for avoiding serious overvoltage problems in inverter driven motor system. b) Motor connected to the inverter through a 10m cable; c) Motor connected to the inverter through a 50m cable; Fig.4. Current measurements from a frequency sweep when the inverter is connected to the motor through different cable lengths. When a PWM voltage is applied to the motor through a long cable, the parasitic capacitance and inductance of the cable generates overvoltages at the motor terminals. The moment that the PWM voltage is off because of stored energy in the cable inductance the parasitic capacitance of the cable is charging. a) Motor connected to the inverter through a 1m cable; Buletinul AGIR nr. 3/2012 iunie-august 3 697
4 WORLD ENERGY SYSTEM CONFERENCE WESC 2012 WORLD ENERGY SYSTEM CONFERENCE - WESC When the PWM voltage is on the motor is subjected to a theoretical surge of two times the amplitude of the inverter output voltage. With each cycle on and off of the PWM voltage the parasitic capacitance of the cable is being charge and discharge. a) Inverter output voltage; b) Motor terminal voltage; Fig.5. Inverter and motor terminal voltage waveforms. In Figure 5, the inverters output voltage and motor terminal voltage is presented, the overvoltage at the motor terminal is clearly visible (Fig.5.b) due to the parasitic capacitance of the motor cable, were the inverters output voltage presents no voltage spikes (Fig.5.a). The inverter output voltage has an amplitude of 500 V and a fundamental frequency of 50 Hz with a carrier frequency of 3 khz, the induction motor is connected to the inverter through a 1m cable (Fig.5). In Figure 6 the voltage at the motor terminal is presented when the motor is connected to the inverter through different cable lengths and the carrier frequency of the inverter output voltage is 1 khz. When the motor cable has a 1 m length the overvoltage at the motor terminal (Fig.6, a) is clearly visible, but the number of oscillations are fewer because the resonance frequency of the cable and motor is higher than the 1 khz carrier frequency of the inverter output voltage. If the inverter is connected to the motor through a 10 m cable, the overvoltage at the motor terminal (Fig.6, b) becomes a serious problem because the 1 khz carrier frequency of the inverter output voltage is much closer to the resonant frequency of the inverters load (cable and motor), thus the number of overvoltage oscillations are much higher. When a 50 m cable is used to supply the motor from the PWM inverter, the motor terminal voltage is severely affected by the high parasitic capacitance of the cable (Fig.6, c). The parasitic capacitance of the motor cable moves the resonance frequency towards lower frequencies, amplitude and oscillation number of the overvoltage are getting higher with cable length. a) Motor connected to the inverter through a 1m cable; 4 698
5 STUDY OF ELECTROMAGNETIC ETIC INTERFERENCE IN INVERTER DRIVEN ASYNCHRONOUS MOTORS b) Motor connected to the inverter through a 10m cable; c) Motor connected to the inverter through a 50m cable; Fig.6. Voltage waveforms measured on the motor terminal when the inverter is connected to the motor through different cable lengths. 4. CONCLUSIONS Determining the resonant frequency of the motor and cable is very helpful in predicting serious EMI problems in inverter driven motor system. Overvoltages in inverter fed induction motor system, with long motor cable can be predicted using the method presented in this paper. Finite element analysis of the motor for extracting the motors high frequency equivalent circuit is useful when the motor is still a project, before entering production. ACKNOWLEDGMENT: This paper was supported by the project "Improvement of the doctoral studies quality in engineering science for development of the knowledge based society-qdoc contract no. POSDRU/107/1.5/S/78534, project co-funded by the European Social Fund through the Sectorial Operational Program Human Resources BIBLIOGRAPHY [1] Luszcz J., Iwan K., Conducted EMI propagation in inverter fed AC motor, Electrical Power Quality and Utilisation,vol. 2, [2] Zare, F. EMI in modern AC motor drive systems, IEEE International Symposium on EMC, [3] WEG Equipamentos Eletricos S.A. Induction motors fed by PWM frequency inverters. Technical Guide, Buletinul AGIR nr. 3/2012 iunie-august 5 699
6 WORLD WORLD ENERGY ENERGY SYSTEM SYSTEM CONFERENCE CONFERENCE WESC - WESC 2012 [4] Kosei T., Kotaro W. Propagation of inverter surge and voltage distribution in motor winding, Electrical Engineering in Japan, vol. 161, 2007, pp [5] GAMBICA/REMA Working Group, Motor shaft voltages and bearing currents under PWM inverter operation, Technical Guide, [6] Arnedo L., Venkatesan K., High frequency modeling of induction motor drives for EMI and overvoltage mitigation studies, Electric Machines and Drives Conference, IEMDC'03, IEEE International. [7] Moreau M., Idir N., Modeling of Conducted EMI in Adjustable Speed Drives, Electromagnetic Compatibility, IEEE Transactions, 2009, pp [8] Bartos S., Dolezel I., Theoretical and experimental investigation of parasitic effects in induction motor drives supplied from semiconductors inverters, Acta Electrotechnica et Informatica,vol. 8, 2008, pp [9] Ogasawara S., Akagi H., Analysis and reduction of EMI conducted by a PWM inverter-fed AC motor drive system having long power cables, Okayama University Digital Information Repository, [10] Mutoh, N. Konuma T., A motor-terminal surge and induced EMI noise controlling method effective in EVs with the high density packaging structure, Vehicle Power and Propulsion Conference, VPPC '08, IEEE, pp [11] Włodek R., Roehrich J., Analysis of overvoltage on motor winding insulation fed by PWM pulses, High Voltage Engineering and Application (ICHVE), International Conference 2010, pp [12] Wang L., Ngai-Man Ho C., High-Frequency Modeling of the Long-Cable-Fed Induction Motor Drive System Using TLM Approach for Predicting Overvoltage Transients, IEEE Transaction on Power Electronics, vol. 25, no. 10, About the authors Eng. Ioan ŢILEA PhD-student. Technical University of Cluj-Napoca, Electrical Engineering Faculty, Department of Electrotechnics and Measurements, Baritiu Street 26-28, Cluj-Napoca, Romania. Ioan.TILEA@ethm.utcluj.ro Graduated at the North University of Baia Mare, Engineering Faculty, study program Electromechanic. From 2011 he is a PhD student at the Technical University of Cluj-Napoca, Department of Electrotechnics and Measurements. His research topic is electromagnetic phenomenons in electric motors powered in a harmonic polluted regime. Prof. Eng. Călin MUNTEANU PhD. Technical University of Cluj-Napoca, Electrical Engineering Faculty, Department of Electrotechnics and Measurements, Baritiu Street 26-28, Cluj-Napoca, Romania. Calin.Munteanu@ethm.utcluj.ro He received the MSc. degree in electrical engineering from Technical University of Cluj-Napoca, in 1989, and the PhD degree in electrical engineering in He joined the Electrotechnics Department from Technical University of Cluj-Napoca in Since 2003 he is Professor and the Head of the EMC Laboratory. His scientific work is related to EMC, electromagnetic fields, numerical computation, optimal design techniques
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