Modelling, Simulation and Experimental

Analysis of Transient Terminal Overvoltage in

PWM-Inverter fed Induction Motors
B.Basavaraja ,Member,IEEE, D.V.S.S.Siva Sarma ,Member,IEEE
1

Abstract-- The PWM Inverters are widely used in electric

power system to accomplish speed control of motors in various
process industries, power station auxiliaries, etc. The usage of fast
switching devices like IGBT PWM Inverters has led to the failure
of many motors in different field of applications. This has
aroused interest to study the impact of these PWM Inverters on
the performance of induction motors. In the recent past many
authors have presented their investigations on various issues
associated with the motor failure due to over-voltage that appears
at the motor terminals due to the impedance mismatch between
the power cable and the motor as well as non-uniform
distribution of voltage in stator winding.
This paper describes the modeling of the system consist of
PWM Inverter, Cable, induction motor and their interaction.
The system is simulated in MATLAB and experimental study is
carried out for validating the modeling and simulation of the
drive system. Also frequency responses the motor is obtained to
identify the surge impedance of the motor. At the end Sensitivity
analysis is made to study the influence of system parameters Viz
cable length, motor rating and rise time on motor terminal
overvoltage. Finally simulated are compared with experimental
results and found to be in good agreement.

I. INTRODUCTION
The growing use of induction motors for high power
adjustable speed applications is essentially due to the quick
technological evolution of fast switching electronic devices,
such as the insulated gate bipolar transistors (IGBT), which
are nowadays widely adopted in medium voltage, medium
power converters, for their performances in terms of driving,
switching behavior, etc.
While the high switching speeds and advanced PWM
schemes significantly improve the performance of the PWMinverter-fed induction motors, the high rate of voltage rise
(dv/dt) of 0650 V in less than 0.1s has adverse effects on
the motor insulation. These steep rising and falling pulses lead
to an uneven distribution of voltages within the motor,
especially during switching transitions. This contributes to
insulation deterioration and subsequent failure of the motor.
In addition, the dv/dt contributes to damaging bearing

currents and electromagnetic interference (EMI). If a long

cable is employed between the inverter and the motor,
damped high frequency ringing at the motor terminals occurs
resulting in excessive over voltage, which further stresses the
motor insulation. Also, the motor impedance, which is
dominated by the winding inductance, presents an effective
open circuit at high frequencies at the end of the long cable.
This produces a reflected voltage at the end of the cable
approximately equal in magnitude and with the same sign,
resulting in twice the magnitude of the incident voltage at the
motor terminals as shown in fig 2(b).Hence the problems
associated with PWM fed A.C Drives are
1. Terminal over voltages due to PWM Inverter and cables
2. Surge propagation within winding
3. Bearing currents
4. EMI
This paper describes the modeling of the system consist
of PWM Inverter, Cable, induction motor and their
interaction. The system is simulated in MATLAB and
experimental study is carried out for validating the modeling
and simulation of the drive system. Also frequency responses
the motor is obtained to identify the surge impedance of the
motor. At the end Sensitivity analysis is made to study the
influence of system parameters Viz cable length, motor rating
and rise time on motor terminal overvoltage. Finally simulated
are compared with experimental results and found to be in
good agreement.
II. System representation

Fig. 1. PWM inverter driving an induction motor using long cable leads
Basavaraja Member,IEEE,,Research Scholar,NIT Warangal/Associate
Professor SREC,Warangal,AP,India( banakara_36@rediffmail.com )
D.V.S.S.Sivasarma Member, IEEE, Assistant Professor, EED, NITWarangal
Andhra Pradesh, India (Sivasarma@gmail.com )

1-4244-1298-6/07/$25.00 2007 IEEE.

Fig. 2. Inverter output voltage and Over voltage at motor

Fig.1.shows schematic of the PWM inverter (ASD) driving

an induction motor using long cable. An adjustable speed
drive basically consists of a rectifier and an inverter section,
which converts the dc to ac of a selected frequency.
Fig.2 shows the experimental results of inverter output
voltage and motor terminal voltage waveform.
Difference in impedances of the cable and motor leads to
voltage reflection and hence over voltage appears at motor
terminal [3].

Hence the reflected component of the current will have same

amplitude but with opposite sign, where as the incident
voltage wave will be reflected with positive coefficient
towards the sending end. The voltage at motor terminals
which is the sum of incident and reflected voltage will be
nearly double that of incident voltage. The reflected
component at the motor terminals travels towards inverter.
However, at the sending end inverter output voltage is E and
hence a traveling wave of E reflects and travel towards the
motor. This voltage is associated with a current waveform.
This second incident wave soon reaches the receiving end and
is reflected again.Fig3 (d) and (e) shows these reflected
waveforms.

III. THEORY OF OVERVOLTAGES (INVERTER-CABLEMOTOR INTERACTION)

Cause of overvoltage at the motor terminals is due to
mismatch between cable surge impedance and motor surge
impedance.
Cable Surge Impedance
L ---------1(a)
Z
o

L = inductance per unit length

C = capacitance per unit length
Zo Varies with wire gauge and cable construction
Zo Range is 80 to 180 ohms
Motor Size
< 5 HP
125 HP
500 HP

Z-load Impedance
Range
2000 5000 ohms
800 ohms
400 ohms

Difference in impedances of the cable and motor leads to

voltage reflection and hence over voltage appears at motor
terminal.Fig3 shows the Voltage Reflection Analysis due to
long motor leads. To better understand the repeated
reflections on a finite length of cable with infinite dv/dt, one
reflection of an incident wave will be considered
Fig. 3 shows the different steps involved in the voltage
reflection analysis of over voltages at the motor terminal. Fig.
3(a) shows the PWM pulse input at the sending end of the
cable. The motor terminal is considered as open circuit for
high frequencies. Fig3 (b) shows the incident voltage wave
and the associated current waves when the voltage input is
switched on. Fig (c) shows the reflected voltage pulse and
associated current pulse at the motor end of the cable. As the
motor terminals are open circuited, current must be zero.

Fig. 3. Voltage Reflection analysis

During the second reflection at the motor terminal, voltage

waveform will be reflected with negative pulse and the current
pulse be reflected with positive pulse so that the current at the
motor terminals remains zero. These second reflected current
and voltages will travel towards the inverter and the cycle
repeats.
If Zm is the motor impedance and Zc is the cable surge
impedence, reflection coefficient at the motor terminals
m=

(Zm Zc)/( Zm + Zc)------1(b)

Zc = SQRT (Lc/Cc) ----------- (2)

Where Lc and Cc are cable inductance and capacitance
per unit length.
Reflected coefficient at the inverter terminal
s=(Rs Zc)/(Rs+ Zc)------(3)
Where Rs is the source resistance.

A. Over voltage at motor terminal

At the inverter, the reflected forward-traveling wave has
the same shape as the incoming backward-traveling wave but
with corresponding points reduced by s. Due to the
dominating winding inductance, the characteristic impedance
of the motor can be ten to one hundred times that of the
characteristic impedance of the cable connecting the drive to
the motor. Therefore, the incident wave voltage will be
reflected back towards the inverter as a function of eqn.
(1)(b), and the voltage amplitude at the terminals of the motor
will approximately double [4][5], as shown in Fig. 4
simulation and experimental results

where v is the pulse velocity and is given by

v=

1
Lc Cc

--------- (5)

lc = cable length in feet

Lc = inductance per foot
Cc = capacitance per foot
tt = time for pulse to transit the length of the cable once
Forward traveling inverter output pulse will be reflected
at the motor terminals after tt time and the resulting backward
traveling wave, moving towards the inverter, will have an
magnitude of:
Et(tt) = t t E dc m
for tt < tr (6)
tr
and
Et(tt) = Edc*m for tt tr (7)
where
Edc = dc bus voltage
m = reflection coefficient at the motor (typically 0.9 for
motors less than 20hp)
tr = inverter output pulse rise time (in s)

Fig. 4(a). Simulation waveforms showing PWM Inverter output and motor
terminal voltage

Hence when tt tr equation (7) applies and no reflection

and the peak motor terminal voltage will be reached after the
pulse travels the length of the cable. Usually cable length of
15mt or less will result in tt < tr, and therefore eqn. (6) would
apply.
The backward traveling wave will then be reflected at the
inverter terminals in the same manner, however, now as a
function of the reflection coefficient of the inverter (or
source), s. From eqn. (3), it can be seen that for a typical low
impedance source, s will approach -1, and therefore, the
resulting reflected wave traveling back towards the motor will
be negative in amplitude.

Fig. 4(b). Experimental waveforms showing PWM Inverter output and motor
terminal voltage

Fig.4 (b) shows the experimental waveforms of PWM

Inverter output and motor terminal voltages for 14m cable,
200V input systems.
B. Effect of PWM Rise Time (dv/dt)
Peak voltage at the motor terminal can be determined by
using wave propagation theory and voltage reflection analysis.
The traveling time (tt in s) for the inverter output pulse to
travel from the inverter terminals to the motor terminals can
be expressed as:

tt

lc
v

------------ (4)

Therefore, after three transitions of the cable, the

increasing motor terminal voltage will be reduced by this
negative reflected wave, after it has traveled back and reached
the motor. Therefore, the peak voltage can be found by
determining the total voltage due to reflections at the
terminals of the motor, from eqns. (4-7), after three transitions
of the cable, and adding this to the incident wave voltage
magnitude, Edc, as shown in eqns. (8-9).
ELL,p = 3 lc Edc m + E for tt < tr/3 ----(8)
dc
v tr
ELL,p = Edc* m + Edc for tt tr/3---------(9)
The normalized peak motor terminal voltage for longer
pulse rise times, i.e. tr/3 > tt, can be written as a function of

rise time as:

E LL , P
E dc

3 lc m
+1 ---------- (10)
v tr

Therefore

3lc m
v tr

<< 1 --- (11)

for minimum or no overvoltage to occur.

The critical rise time can then be computed by
substituting the maximum desired voltage overshoot as shown
below,
Set

3 l c m
0.2 ----(12)
v tr
3 lc m
tr =
-------(13)
v 0.2

From equation (13), if cable length between inverter and

induction motor is small, rise time is less which leads to
insulation failure in induction motor stator winding [6].

waveform. The magnitude of fundamental component of

output voltage is proportional to MI, but MI can never be
more than unity. Thus the output voltage is controlled by
varying MI.
1. For MI<1, largest harmonic amplitudes in the output
voltage are associated with harmonics of order fc/f 1 or
2N 1, where N is the no. of pulses per half cycle. Thus by
increasing the number of pulses per half cycle, the order
dominant harmonic frequency can be raised, which can then
be filtered out easily. But higher value of N entails the higher
switching frequency. This amounts to more switching losses
and therefore an impaired inverter efficiency.
2. For MI>1, lower order harmonics appear, since for
MI>1, pulse width is no longer a sinusoidal function of the
angular position of the pulse.
For low values of frequency modulation index (MF= fc/f)
to eliminate the even harmonics, a synchronized PWM should
be used and MF should be an odd integer. More ever MF
should be a multiple of 3 to cancel out the most dominant
harmonics in the line to line voltage.
B. High Frequency Model of the Power Cable

IV. MODELING OF THE SYSTEM COMPONENTS

The total system representation consists of modeling of
PWM Inverter, cable modeling and induction motor modeling,
which are explained in this section.
A. PWM Inverter Modeling
Sine-triangle technique is adopted to model the PWM
inverter. In this, to obtain balanced three phase output
voltages, the triangular voltage wave form (carrier wave Vc,
freq fc) is compared with three sinusoidal control voltages
(reference wave Vr, freq f) that are 120 degrees out of phase.
The inter section of Vc and Vr waves determines the
switching instants and commutation of the modulated pulse
.The carrier and reference waves are mixed in a comparator.
When sinusoidal wave has magnitude higher than the
triangular wave, the comparator output is high, otherwise it is
low. The fig.5 shows the simulation circuit in MATLAB.

An adequate estimation of the power cable parameters

is needed in order to have an accurate computation of the over
voltage. Long cable lengths contribute to a damped high
frequency ringing at the motor terminals due to the distributed
nature of the power cable leakage inductance and coupling
capacitance which results in over voltages and further stress
the motor insulation. In addition, voltage reflection is a
function of inverter output pulse rise time and the length of
the motor cables, which behave as a transmission line for the
inverter output pulses. So the cable representation resembles
like lumped parameter model of the transmission line.

Fig. 6. High Frequency Model of the Power Cable

The fig.6shown above is the per phase representation

of one lumped segment of the power cable used in the
MATLAB simulation .The model conjugates low and high

Fig. 5. PWM inverter modeling:

The ratio of Vr / Vc is called the modulation index (MI)

and it controls the harmonic content of the output voltage

frequency representations of the power cable.R1,R2,C3 are

responsible to represent the low frequency and remaining for
the high frequency phenomena.

C. High Frequency Model of the Induction Motor

Another key factor for an accurate over-voltage analysis is
the high frequency representation of the ac motor input
impedance, which must be valid over a broad range of
frequency. It is not necessary to verify how voltage will
distribute inside the AC machine winding in order to calculate
the over voltage at the terminals. It is important, rather, to
know the value of the ac motor input impedance and how it
varies as a function of frequency. The fig.7shows the
schematic of the proposed model of an induction motor is
implemented in the simulation program to evaluate the overvoltage analysis. The model conjugates low and high
frequency representations of the motor. The suggested model
is a lumped-parameter representation of the motor input
impedance. The low frequency equivalent model parameters,
r1, r2, l1, l2 and lm is partly responsible for capturing the low
frequency transients, while the remaining R-L-C network is
responsible to represent the high frequency phenomena.
Winding-to-ground capacitance and winding turn-to-turn
capacitance play the major role in the high frequency
phenomena. Their relation with the leakage inductance forms
the dominant poles in the frequency response. The parameter
Cg represents the winding-to-ground capacitance. The
parameter Rg is added in the circuit to represent the
dissipative effects that are present in the motor frame
resistance. The circuit formed by the parameters Rt, Lt, and Ct
is the part of the network responsible to capture the second
resonance in the frequency response, which is related to the
winding turn-to-turn capacitance. The parameter Re is
responsible to account for the losses introduced by eddy
current inside the magnetic core [7].

Fig. 7(b). Frequency response of the Induction motor

V. SIMULATION RESULTS AND EXPERIMENTAL VERIFICATION

Using model of PWM Inverter and by using the high
frequency models [8] [9] of cable and Induction motor
(shown in fig7), a simulation program has been developed in
MATLAB to calculate the over voltages. The voltage pulse
rise times (350ns-1.2s,) driving an induction motor of power
ratings 3hp and 15hp are considered for simulation.
Experimental results for 3HP, 10mt and 14mt cable lengths
are shown in fig.9.
A. Cable Length Vs Peak Voltage
MATLAB simulation results for the 3HP motor rating and
4mt, 10mt and 14mt cable lengths are shown below in fig 8

Fig. 7(a). High Frequency Model of the Induction motor

D. Frequency Response of Induction Motor

High Frequency response of an Induction motor as shown
in fig 7(b) is useful identify the surge impedance of an
induction motor. Knowing the surge impedance of the
induction motor, we can identify whether the cable impedance
is match with the motor impedance. If the two impedances are
matches, reflection will not occur and surge voltage will not
appear at the motor terminal.

Fig. 8. Simulation results for 3HP, 4mt, 10mt and 14mt cable respectively.

time.
Fig 9 shows experimental results for different cable lengths
connected between inverter and motor

Fig. 10(a). 3-hp motor with 4mt cable

Fig. 9(a). Experimental results for 3HP, 10mt cable

Fig. 10(b). 3-hp motor with 14mt cable
TABLE II
EFFECT OF CABLE LENGTH ON PROPAGATION TIME FOR 3 HP MOTOR

Fig. 9(b). Experimental results for 3HP, 14mt cable

TABLE I
EFFECT OF CABLE LENGTH FOR 3 HP MOTOR: RISE TIME 350 NSEC AND
INVERTER OUTPUT VOLTAGE OF 400VOLTS

Cable
Length (in
meters)
10
20
30
60

Over Voltage
(in Volts)
1050
1060
1075
1100

Output
Pulse Rise
Time (s)
0.325
0.375
0.4
0.5

From the above waveforms and table.I, it can be noted that

the voltage at the motor terminals increases as the length of
the cable increases. As the rise time increases the over voltage
reduces for the same length of cable. Fast rise time causes
high dv/dt which stresses the motor insulation [12].
B. Cable length Vs Propagation time
Fig10.shows the effect of cable length on Propagation

Cable
length
(mt)

Over
Voltage
(in Volts)

Propagation
Time (in ns)

250

216

10

280

520

14

300

900

By observing the experimental waveform and table II, as

cable length increases propagation time increases and peak
voltage will shift to the higher rise time. So this will happen
up to critical cable length, for which voltage doubling occurs
as shown in table1
C. HP Rating Vs Peak Voltage at Motor terminal
The overvoltages are analysed for different HP ratings.
Simulation results show that, over voltage at the motor
terminals for 3 hp and 15hp ratings of the motor for the same
cable length and rise time.
V -T C u rv e a t 3 h p & 1 5 h p IM te rm in a l

1 2 00

- v o lta g e a t 1 5 h p IM te rm in a l

v o lta g e a t 3 h p IM
te rm in1a0l 0 0
8 00
v o llta g e -v
6 0o0lts o utp u t

o f in v er te r

4 00
2 00
0
-20 0
-40 0

6
tim e -s e c

10

9
x 10

-6

Figure.11: Line to line voltage at motor and inverter terminals for 3hp, 15hp
motor for a Cable Length 60m;rise Time 350ns;

By observing fig11 as HP rating increases peak voltage

reduces.
D. Effect of Rise Time (dv/dt)
From equation (13),critical cable length can be found by

lc =

t r v 0 .2
3 m

-----------(14)

i.e. for a 440V ac system with 594V dc bus, the allowable

peak voltage would be 1.2*594V = 712.8V. From the cable
parameters v = 160m/s is obtained and the critical rise time
(tr) for 10m of cable and m= 0.9 would be 2.566s.
Therefore, a rise time of less than 2.566s (higher dv/dt) will
result in an over-voltage at the terminals of the motor greater
than 20%.
Table III shows the minimum cable length and rise time
after which virtual voltage doubling occurs at the terminals of
the motor. The cable measurement carried by using a LCR
meter
TABLE III
MINIMUM CABLE LENGTH FOR VOLTAGE DOUBLING

Rise time (s)

0.2566
0.5
2.566
5.132
2.566
3.0
3.5
4.0
5.0

Fig. 13. dv/dt for supply voltage of 440v, 10mt cable length and different
frequencies

Cable
length(mt)
3.6
18
36
54
92.32
106.44
126
144
180

From the above table & waveforms, it is observed that

1. As the cable length increases the over voltage reduces.
2. For large HP ratings over voltage is less.
3. As the rise time increases the dv/dt reduces.
E. Effect of High dv/dt
High switching speeds and zero switching loss schemes
drastically improve the performance of the PWM inverter, but
high rate of voltage rise (dv/dt) of 0 to 400v in less than 0.1s
has adverse effects on the motor insulation and bearings and
deteriorates waveform quality. This leads to overvoltage
problems and hence reduces the motor life [10] [11].
Fig 13 shows the dv/dt for supply voltage of 440v, 10mt
cable length and different frequencies. Usually PWM
Inverters operates at higher switching frequencies and for
these values of frequencies the dv/dt is more as shown in
fig13.Hence shorter rise time will have more dv/dt.

Fig. 14. Voltage and time curve at inverter output and at motor terminal with
filter and without filter.

Over voltage can reduce by using filters at motor

terminal or at output of inverter [5] [6]. One of the filter
design method to reduce the overvoltage is RC filter at motor
terminal. In this method cable is terminated by a first order
filter consisting of a capacitor in series with the resistor to
match with the cable and provide the proper level of damping
to control the voltage overshoot.
By observing fig15 over voltages are more at motor
terminal without filter and less over voltages with filter.
Hence dv/dt can be reduced by adopting filter at motor
terminal or at output of the inverter terminal.
VI. COMPARISON OF EXPERIMENTAL AND SIMULATION
RESULTS
Experimental and simulation results are compared for 3HP
induction motor connected by different length of cable from
PWM Inverter as shown in fig. 16

VI. CONCLUSION

Fig. 16. Experimental and simulation results for 3HP induction motor with 10mt
cable length.

Observing fig 16, simulation and experimental wave forms

are verified, which shows simulation results are validated by
experimental results.

VII. CONCLUSIONS
This paper discusses the analysis of the over-voltage
phenomena in long cable PWM drives due to voltage
reflection theory. Experimental and simulation results are
compared. Effect of cable length, rise time and HP rating on
the over voltages are analysed. As the cable length is
increased over voltage magnitude increases. Also the effect of
rise time on dv/dt is presented. Shorter rise time results in
high dv/dt which stresses the motor insulation. For large HP
ratings over voltage is less. Also simulation results of
mitigating high dv/dt is explained by adopting filter.
VIII. REFERENCES
[1]
[2]

[3]
[4]
[5]

[6]

[7]

[8]
[9]

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and I.Sbonatti
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[10] A.von Jouanne and P.N. Enjeti, Design Considerations for an Inverter
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IX. BIBLIOGRAPHIES
Mr.Bsavaraja Banakar was born in 1970.He is
IEEE Member since2005. He obtained his
B.Tech(EEE) degree from Gulbarga University and
M.Tech from Karantaka Unversity, India. He worked
as a Lecturer in VEC Bellary & Associate Professor at
SSJ Engineering College Mahaboobnagar & Presently
he is pursuing a Doctoral program at National Institute
of Technology, Warangal, India & working as an
Asso.Prof. at SR EngineeringCollege Ananthasagar,
Waranagal, India. His areas of interest include power electronics and drives,
High voltage Engineering and EMTP applications.
Dr.D.V.S.S.Siva Sarma was born in 1964. He is IEEE
Member since2004. He obtained his B.Tech (EEE) and
M.Tech(Power Systems) from JNTU College of
Engineering, Anantapur in 1986 and 1988 respectively.
He obtained his Doctorate degree from Indian Institute
of Technology, Chennai in 1993. Since 1992, he is
working as Faculty member of Department of Electrical
Engineering at National Institute of Technology,
Warangal, Andhra Pradesh (Formerly Regional
Engineering College, Warangal). His areas of interest include Power System
Transients, Fault diagnostics, Protection and Condition Monitoring of Power
Apparatus, High Voltage Engineering and EMTP applications. Presently he is a
chairman of Indian EMTP User Group and counselor for IEEE student branch of
NIT Warangal.