IEEE TRANSACTIONS ON ELECTROMAGNETIC COMPATIBILITY, VOL. 51, NO.

3, AUGUST 2009 665

Modeling of Conducted EMI
in Adjustable Speed Drives
Maxime Moreau, Nadir Idir, Member, IEEE, and Philippe Le Moigne, Member, IEEE
AbstractThis paper deals with conducted electromagnetic in-
terferences (EMIs) in adjustable-speed drive (ASD) systems. For
some years, the use of high-speed switching power devices in ASDs
induces high-voltage (dv/dt) and high-current (di/dt) variations that
excite the parasitic elements of the power circuit, inducing con-
ducted emissions. The advent of these devices has thus generated
several unexpected problems, such as premature deterioration of
motor ball bearings and high increases in the EMI levels, which
are caused by the circulation of the high-frequency currents. In
order to evaluate the level of the common-mode (CM) and the
differential-mode (DM) currents in the ASD system, it is necessary
to use a precise model of the pulse width modulation (PWM) in-
verter, power cable, and ac motor that takes into account various
phenomena, which appear when the frequency increases. First, a
PWM inverter and shielded four-wire power cable model are pre-
sented. Then, a new high-frequency modeling method of the ac
motor is proposed. Finally, the ASD system is simulated and the
obtained results are compared to the experimental measurements
in the frequency and time domains.
Index TermsElectromagnetic interference (EMI), induction
motors, modeling, parameter estimation, power cables, variable-
speed drives.
I. INTRODUCTION
I
N ADJUSTABLE-SPEED drives (ASDs), the use of high-
frequency switching power semiconductors induces fast
voltage and current variations (dv/dt and di/dt), which cause
the ow of stray currents between the inverter and motor. These
conducted disturbances use the wired connections to travel and
propagate [1][3].
In order to study the inuence of the ASD characteristics on
the level of conducted emissions, it is necessary to use a high-
frequency model of the pulse width modulation (PWM) inverter,
power cable, and ac motor [4][13].
In the following section, we propose high-frequency models
of the various parts of the ASD system, as shown in Fig. 1.
First, the PWM inverter model is proposed. To model the power
semiconductor devices of the PWM inverter, a PSPICE model,
which takes into account the high-frequency stray power and
control connection circuit elements, is used. Second, a high-
frequency model of the shielded power cable, using distributed
parameter circuits that take into account various phenomena
Manuscript received April 15, 2008; revised March 14, 2009. First published
July 10, 2009; current version published August 21, 2009.
M. Moreau and N. Idir are with the Laboratoire dElectrotechnique et Elec-
tronique de Puissance (L2EP) of University of Lille 1, Villeneuve dAscq 59655,
France (e-mail: max.moreau@yahoo.fr; nadir.idir@univ-lille1.fr).
P. Le Moigne is with the L2EP of Ecole Centrale de Lille, Villeneuve dAscq
59650, France (e-mail: philippe.lemoigne@ec-lille.fr).
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identier 10.1109/TEMC.2009.2025269
Fig. 1. Experimental setup of the ASD.
that appear when the frequency increases, is detailed. Finally, a
new approach that allows the high-frequency motor model to be
determined is presented.
The aim is to obtain high-frequency models that will be used
to estimate the conducted emissions in the ASD systems.
To validate the proposed models, an experimental setup, as
shown in Fig. 1, is used. The experimental circuit is built from
a three-phase full-integrated insulated gate bipolar transistor
(IGBT) inverter module, operated at 20 kHz switching fre-
quency, where a 2-kW asynchronous motor is fed through a
four-wire shielded power cable (5 m length). In this study, to
separate the ASD system from the power network, the experi-
mental setup is supplied through a line impedance stabilization
network (LISN), as shown in Fig. 1. In the next section, the
high-frequency PWM inverter model is presented.
II. MODELING OF THE PWM INVERTER
The typical modern ASD consists of a PWM voltage-source
inverter using IGBT switches. In this study, a PSPICE method is
used to model the power devices [14][16]. The electric diagram
of the IGBT (SKM50GB101D) model with the power forward
diode used in the leg inverter module is shown in Fig. 2.
In order to validate the proposed power device models, a buck
converter structure is used, where the transitions are similar to
those obtained with an inverter leg. To complete the converter
model, it is necessary to take into account the various stray
elements of the power and control circuit connections (Fig. 3).
The simulation of the buck converter allows the current and
voltage IGBT waveforms to be studied at the moment when the
transistor switchings occur. The turn-ON and turn-OFF transi-
tion times (measured at I
c
= 25 A, V
ce
= 300 V, and T
case
=
85

C) are compared to the experimental measured values. The

0018-9375/$26.00 2009 IEEE
666 IEEE TRANSACTIONS ON ELECTROMAGNETIC COMPATIBILITY, VOL. 51, NO. 3, AUGUST 2009
Fig. 2. Equivalent electric diagram of the IGBT with forward diode.
TABLE I
TURN-ON AND TURN-OFF IGBT TRANSITION TIMES
Fig. 3. High-frequency model of the experimental setup.
simulation results and the measurement data are presented in
Table I. These results showgood agreement between the simula-
tion and measurement transition times that characterize the elec-
tromagnetic interference (EMI) sources. The proposed IGBT
and diode models will be used in the PWM inverter to simulate
the ASD system.
Since the PWM inverter structure is symmetrical, it is only
necessary to study commutation behavior in one inverter leg.
Here, the transition of the middle leg of the bridge is studied,
as shown in Fig. 4. The output current I
ph2
will be considered
in the positive direction when owing from the inverter to the
motor. Depending on whether the transistor is switched ON or
OFF, two commutation types may be dened, as shown in Fig. 4.
The study of the commutations from S2

to S2 under positive
or negative current I
ph2
is thus sufcient to describe all other
possible commutations of the inverter. The aim is to obtain
the waveforms of the S2

voltage, the current I

ph2
, and the
common-mode (CM) current I
CM
(current in the ground wire)
Fig. 4. Commutation types for leg 2 (only phase 2 is shown).
Fig. 5. Geometrical and physical parameters of the shielded cable.
by simulation when the S2

switchings occur. There are only

two types of commutations in the PWM inverter depending
on whether the transistor is switched ON or OFF. As the load
is inductive (here, the ac motor), the commutation from D
S2

to T
S2
induces high-voltage-variation values (dv/dt) due to the
diode reverse recovery phenomenon. This results in a high level
of conducted perturbations. In the following section, the high-
frequency modeling of the four-wire shielded power cable is
presented.
III. MODELING OF THE SHIELDED CABLE
In the following section, the power cable modeling method
is presented and applied to the four-wire shielded power cable.
The cross-sectional area of each conductor is equal to 1.5 mm
2
.
These conductors are coated with polyvinyl chloride (PVC),
and a shield made from the same material as the conductors is
placed around the wires. The unit is covered with a PVC sheath,
as shown in Fig. 5.
A preliminary study proved that the use of PSPICE software
to model the transmission line does not give satisfactory results
because it does not take into account the evolution of the cable
parameters with frequency. In the following section, we present a
cable model that takes into account the variation of the resistance
with frequency (skin and proximity effects) and the variation of
the conductance with frequency (dielectric losses).
The proposed elementary cell of the shielded four-wire cable
model, as represented in Fig. 6, is formed by the following:
MOREAU et al.: MODELING OF CONDUCTED EMI IN ADJUSTABLE SPEED DRIVES 667
Fig. 6. Basic cell of the four-wire shielded cable model.
Fig. 7. Shielded cable test congurations. (a) CM conguration. (b) DM
conguration.
1) serial impedances Z
s
that represent the resistance R
s
and
the inductance L
s
of each conductor;
2) parallel impedances Z
p
that represent the capacitance C
p
and conductance G
p
between conductors;
3) conductorshield impedances Z
b
that represent the capac-
itance C
b
and the conductance G
b
between each conductor
and the shield.
The cable parameters were measured using an impedance
bridge (HP4294A), a socket HP16047E, and a high-frequency
balun, within a frequency band varying from100 kHz to 40 MHz
[4][12].
In a previous study of the shielded cable model, it was shown
that it is necessary to add a coupling coefcient K between each
pair of conductors [11], [12]. The various parameter values of the
shielded cable model (R
s
, L
s
, K, C
p
, G
p
, C
b
, G
b
) are measured
in frequency band varying from 100 kHz to 40 MHz.
In the case of the shielded cables, it is necessary to
carry out two tests: the rst in CM conguration and
the second in differential-mode (DM) conguration. For
each conguration, the cable is tested in a short circuit
(K = ON) and an open circuit (K = OFF) as shown in Fig. 7(b).
Fig. 8. Evolution of the shielded cable model parameters and the electrical
equivalent circuits. (a) Evolution of impedance Z
s
(or R
s
and L
s
). (b) Evolution
of impedance Z
p
(or R
p
and C
p
). (c) Evolution of impedance Z
b
(or R
b
and
G
b
).
The simulation of the shielded cable using the parameters
measured at low frequency (500 kHz) does not give satisfactory
results. However, it is necessary to take into account the varia-
tion of the cable parameters according to the frequency [11]. The
evolution of the shielded cable parameters is modeled using the
RL and RC ladder networks, as shown in Fig. 8. A preliminary
study showed that ve cells per meter cable length gives a sat-
isfactory compromise between simulation duration and model
accuracy. The simulation results of the 5-m-length shielded ca-
ble in open- and short-circuit congurations compared to the
experimental measurement for the two test congurations are
shown in Fig. 9.
In the following section, a high-frequency modeling method
of the ac motor is presented.
IV. HIGH-FREQUENCY AC MOTOR MODELING METHOD
Induction motor modeling can quickly become extremely
complex and unexploitable when the number of model parame-
ters increases [13], [14].
In this paper, the circuit shown in Fig. 10 is used to model
the motor windings, each of which can be decomposed into CM
and DM impedances. Stray impedances between each winding
and the frame are modeled using CM impedances (Z
cm
). Each
motor winding is represented by a DM impedance (Z
dm
). The
motor model parameters are measured with an impedance bridge
HP4294A, a socket HP16047E, and a high-frequency balun.
668 IEEE TRANSACTIONS ON ELECTROMAGNETIC COMPATIBILITY, VOL. 51, NO. 3, AUGUST 2009
Fig. 9. Shielded cable impedance in short circuit (SC) and open circuit (OC)
tests. (a) CM conguration. (b) DM conguration.
Fig. 10. Motor winding model.
The proposed ac motor model uses the well-known lumped
circuit (Fig. 10) that associates CM (Z
cm
) and DM (Z
dm
) mo-
tor impedances [15][17]. The objective of the proposed method
is to derive the motor model parameters from the mathemati-
cal resolution of the electrical circuit equations. The principle
consists of describing these impedances as follows:
Z
cm
(f) = a(f) + jb(f) (1)
Z
dm
(f) = c(f) + jd(f) (2)
where a and c are the real components, and b and d are
the imaginary components of the winding motor impedances,
which vary according to the frequency.
Fig. 11. CM test conguration. (a) Motor terminal connections. (b) Motor
equivalent impedance (Z
CM
).
Fig. 12. DM test conguration. (a) Measurement conguration. (b) Motor
equivalent impedance (Z
DM
).
In order to identify the motor impedances, two tests are nec-
essary under CM and DM congurations, as shown in Figs. 11
and 12.
This method consists of splitting up the measured CM and
DM impedances (Z
CM
and Z
DM
) into real and imaginary parts.
Then, the measured motor impedances in the CM and DM con-
gurations [Z
CM
(f) and Z
DM
(f), respectively, as shown in
Fig. 11(b) and Fig. 12(b)], may be described by the following
expressions:
Z
CM
(f) = A(f) + jB(f) (3)
Z
DM
(f) = C(f) + jD(f) (4)
where A(f) and C(f) are the real components, and B(f) and
D(f) are the imaginary components of the measured motor
impedances. The motor impedances in the two test congura-
tions may also be expressed as
Z
CM
=
2Z
3
CM
+ 6Z
2
CM
Z
DM
+ 3Z
CM
Z
2
dm
12Z
2
CM
+ 18Z
CM
Z
DM
+ 6Z
2
DM
(5)
Z
DM
=
3Z
CM
Z
DM
2Z
CM
+ Z
DM
. (6)
By substituting (1) and (2) into (5) and (6), it is possible
to write Z
CM
and Z
DM
as functions of real and imaginary
parameters
Z
CM
= g
1
(a, b, c, d) (7)
Z
DM
= g
2
(a, b, c, d). (8)
MOREAU et al.: MODELING OF CONDUCTED EMI IN ADJUSTABLE SPEED DRIVES 669
Fig. 13. Variation of a, b, c, and d parameters with frequency.
Thus, (3) and (4) combined with (7) and (8) make it possi-
ble to obtain the following systems of four equations for each
measurement point (i):

A
i
= Re(g
1
(a
i
, b
i
, c
i
, d
i
)
B
i
= Im(g
1
(a
i
, b
i
, c
i
, d
i
)
C
i
= Re(g
2
(a
i
, b
i
, c
i
, d
i
)
D
i
= Im(g
2
(a
i
, b
i
, c
i
, d
i
)
(9)
where i is the ith measured frequency value.
The obtained equations for A
i
, B
i
, C
i
, and D
i
are calculated
for each measured frequency value (200 values) using Microsoft
Excel software. For example, the parameters C
i
and D
i
are given
by the following expressions:
C
i
=
3
2
(c
i
a
i
b
i
d
i
)(c
i
+ a
i
) + (a
i
d
i
c
i
b
i
)(b
i
+ d
i
)
(c
i
+ a
i
)
2
+ (b
i
+ d
i
)
2
(10)
D
i
=
3
2
(a
i
d
i
b
i
c
i
)(c
i
+ a
i
) + (a
i
c
i
b
i
d
i
)(b
i
+ d
i
)
(c
i
+ a
i
)
2
+ (b
i
+ d
i
)
2
. (11)
From the mathematical resolution of the system of equations
(9) for each measured frequency value, the variation of the
parameters a
i
, b
i
, c
i
, and d
i
with frequency can be plotted, as
shown in Fig. 13.
From(1) and (2), the CMand DMwinding motor impedances
(Z
cm
and Z
dm
) can be reconstituted using a
i
, b
i
, c
i
, and d
i
pa-
rameters. Thus, the motor impedances are modeled with equiva-
lent circuits, as shown in Fig. 14. The circuit element values are
determined using the mathematical software package Aplac.
The measured and simulated results of the CM impedance
Z
cm
and DM impedance Z
dm
are shown in Fig. 14. They show
good agreement over the entire frequency range. Rearranging
Fig. 14. Equivalent circuits and motor winding impedance. (a) CMimpedance
Z
cm
. (b) DM impedance Z
dm
.
Fig. 15. Per phase equivalent circuit of the motor winding.
equivalent circuits of the CM and DM motor impedances (per
phase) yields the winding motor model, as shown in Fig. 15.
In order to validate the motor model in the frequency do-
main, two tests were carried out in the DM [Fig. 11(a)] and CM
[Fig. 12(a)] congurations.
The impedance variations of the motor model in DM and
CM conguration tests are represented in Fig. 16. The obtained
motor impedance shows good agreement with the experimental
curve up to 10 MHz, but beyond this frequency, the difference
increases. A more precise motor model could be obtained using
more complex electrical circuits, thus resulting in a longer simu-
lation time. The proposed motor model is validated in other CM
and DM congurations. All the obtained results present a good
670 IEEE TRANSACTIONS ON ELECTROMAGNETIC COMPATIBILITY, VOL. 51, NO. 3, AUGUST 2009
Fig. 16. Motor impedance variations. (a) CM impedance (Z
CM
). (b) DM
impedance (Z
DM
).
Fig. 17. Simulation circuit of the ASD system.
accuracy, and this makes it possible to conrm the robustness
of the proposed motor model.
V. SIMULATION OF THE ASD SYSTEM
To validate the proposed models for the ASD system, the ac
motor was fed by a three-phase voltage-source inverter through
a 5-m four-wire shielded cable. To model the low-frequency
motor winding current, three impedances are added, as shown
in Fig. 17 [18][20].
The simulation of the ASDis carried out with PSPICE. In this
study, only the turn-OFF transition of switch S2

is presented. The
simulated and the measured voltage waveforms (at the motor
input terminals V
23
) and the calculation of their fast Fourier
transform (FFT) are presented in Fig. 18.
Fig. 18. Voltage waveforms V
23
at the motor terminals and their FTT.
Fig. 19. Cable input current waveforms and their FFT.
These voltage waveforms showthe appearance of overvoltage
(V = 60 V) at the motor terminals, which reproduces, with
good accuracy, the behavior of the power cable and ac motor.
Fig. 19 shows the experimental and simulated waveform of
the current (I
ph2
) in phase 2 (at the input site) of the power
MOREAU et al.: MODELING OF CONDUCTED EMI IN ADJUSTABLE SPEED DRIVES 671
Fig. 20. Current waveforms in the ground wire (CM current) and their FFT.
cable. It may also be observed that a comparison of the current
waveform of current I
ph2
in the time and frequency domains
shows good correlation between these results. However, the
amplitudes and the frequency of the oscillation present a slight
difference.
The current waveform in the ground wire (or CM current
I
CM
) and its FFT are presented in Fig. 20. They again show
good correlation between simulation and measurement results.
However, the FFT calculation shows a difference in the ampli-
tudes between the simulation and experimental results in the
frequency band from 5 to 10 MHz.
A comparison of the simulation and the experimental results
shows good behavior of the proposed models in the time and
frequency domains.
In order to validate the proposed ASD model during the func-
tioning inverter period that corresponds to 20 ms, a simulation
was carried out. Fig. 21 shows a comparison between simulation
and experimental results of conducted EMI. These curves are
obtained by calculating the FFT of the voltage, measured with
an oscilloscope on the LISN resistor.
The PWM voltage inverter switching frequency induces dif-
ferent harmonics between 20 kHz and 5 MHz. The rst harmonic
corresponds to the inverter switching frequency (20 kHz).
These results conrm that it is possible to predict the con-
ducted EMI level with acceptable accuracy up to 20 MHz; be-
yond this frequency, the difference between simulation and the
experimental results can be justied by the high-frequency noise
due to voltage probes and the oscilloscope characteristics. It is
well known that the precision of the FFT calculation depends
on the oscilloscope acquisition data in the time domain.
Fig. 21. Measured and simulated conducted emission results (voltage on the
LISN resistor).
VI. CONCLUSION
In this paper, a high-frequency model of the various parts of
an ASD was proposed. A high-frequency model of the power
converter (PWM inverter) using a PSPICE method to model
the power devices was built and shown to be accurate. The
proposed four-wire shielded power cable model takes into ac-
count skin and proximity effects, as well as dielectric losses.
The obtained model was validated in the frequency domain. A
modeling method for the ac motor was proposed. The obtained
motor model was validated in the frequency domain, both in
CM and DM test congurations.
The ASD was simulated with PSPICE, and the CM current,
DM current, and voltage at the motor terminals is presented.
The simulation results were compared to the measurement data
and validated in the time and frequency domains. The obtained
model of the ASD can be used to study the motor overvoltages,
bearing currents, and conducted EMI, which appear in the ASD
system. In future studies, the proposed model of the ASD will
be used to design input electromagnetic compatibility lters.
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Maxime Moreau received the M.S. degree in elec-
trical engineering from the Ing. School (ESIEE),
Amiens, France, in 2006. He is currently working to-
ward the Ph.D. degree in electrical engineering at the
Laboratoire dElectrotechnique et dElectronique de
Puissance, University of Lille 1, Villeneuve dAscq,
France.
His current research interests include electromag-
netic compatibility.
Nadir Idir (M03) received the Ph.D. degree from
the University of Lille 1, Lille, France, in 1993.
He is currently a Professor with the Laboratoire
dElectrotechnique et dElectronique de Puissance,
University of Lille 1, Villeneuve dAscq, France.
His current research interests include electromagnetic
compatibility and power electronics.
Philippe Le Moigne (M93) received the Eng. degree
from the Institut Industriel du Nord, Lille, France, in
1986, and the Ph.D. degree in electrical engineering
from the University of Lille, Lille, in 1990.
He is currently a Professor with the Laboratoire
dElectrotechnique et dElectronique de Puissance,
Ecole Centrale de Lille, Villeneuve dAscq, France.
His current research interests include hard-switched
power converters and supercapacitors, with the aim
of high-power quality and high efciency.