IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 21, NO.

1, JANUARY 2006

273

An EMC Evaluation of the Use of Unshielded Motor

Cables in AC Adjustable Speed Drive Applications
Norbert Hanigovszki, Member, IEEE, Jrn Landkildehus, Member, IEEE, Giorgio Spiazzi, Member, IEEE, and
Frede Blaabjerg, Fellow, IEEE

AbstractThe most common solution for modern adjustable

speed drives (ASD) is the use of induction motors (IM) fed by
voltage-source inverters (VSI). The inverter generates a pulsewidth
values of about 6 kV s or
modulated (PWM) voltage, with
even more. In three-leg inverters for three-phase applications the
occurrence of common-mode voltage is inherent due to asymmetrical output pulses. As a result, for electromagnetic compatibility
(EMC) reasons, in most applications shielded cables are used
between the inverter and the motor, implying high installation
costs. The present paper discusses the use of cheaper, unshielded
cables from an EMC point-of-view. A new method for measuring
electromagnetic interference (EMI) from unshielded cables is
proposed and measurement results are presented. The level of
EMI is evaluated in different situations: without an output filter,
with a classical LC output filter and with an advanced output filter
with dc link feedback. It is concluded that, from an EMC point of
view, unshielded cables can give very good performance provided
that a common-mode (CM) output filter is used.
Index TermsAdjustable speed drives (ASD), common-mode
(CM) output filter, electromagnetic compatibility (EMC), induction motors (IM), pulsewidth modulated (PWM), voltage-source
inverters (VSI).

I. INTRODUCTION

HE standard solution used in industry for ac adjustable

speed drives (ASD) remains the pulsewidth modulated
(PWM) voltage source inverter (VSI) [1] although a lot of
research has been done on alternative topologies [2][9]. The
VSI presents many advantages: high efficiency (up to 98%),
open-circuit protection, small relative size, excellent regulation
capabilities, wide speed range, constant high input power
factor, common bus regeneration, and others. To achieve high
efficiency levels, fast switching insulated gate bipolar transistors (IGBTs) are used. As a consequence, at the output of the
(6 kV s or higher) will
VSI, PWM, pulses with high
be present [10]. In a three-phase inverter, PWM also generates
common-mode (CM) voltage because of asymmetrical voltage
pulses. In Fig. 1, a switching pattern is shown where it can
be observed how the CM voltage is generated. This voltage is

Manuscript received August 5, 2004; revised April 13, 2005. Recommended

by Associate Editor P. Tenti.
N. Hanigovszki and J. Landkildehus are with Danfoss Drives A/S, Graasten
6300, Denmark (e-mail: norbert@danfoss.com).
G. Spiazzi is with the Electronic Engineering Department, University of
Padova, Padova 35131, Italy.
F. Blaabjerg is with the Department of Electrical Engineering, Aalborg University, Aalborg DK-9100, Denmark.
Digital Object Identifier 10.1109/TPEL.2005.861182

Fig. 1.

Common-mode voltage generation in a PWM inverter.

obtained by adding the three voltages resulting from the three

inverter legs
V

(1)

Having the dc-link mid-point as a reference, the voltages V ,

or V
, where V is
V , and V can either be V
the dc-link voltage. As a result, depending on the state of the
switches, the common mode voltage can take one of the values
V 2 (when all three legs are connected simultaneously to
either the positive or the negative bus rail) and V 6 (when
two legs are connected to one bus rail and the third one is connected to the opposite rail). As a consequence, a usual three-leg
inverter can not have an output CM voltage equal to zero, and
this voltage is bigger ( V 2) if the zero vector is employed
(all three legs in the same switching state) [11], [12].

0885-8993/$20.00 2006 IEEE

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TABLE I
PRICE COMPARISON BETWEEN SHIELDED AND UNSHIELDED CABLES

The CM voltage in the motor cable of a three-phase PWM

drive with a three-phase diode rectifier on the grid side will consist of the following components.

A component at 150 Hz due to the three-phase diode rectifier.

A component at the switching frequency and its subsequent harmonics.
A broadband high-frequency component due to the steep
PWM pulses.

The components due to the switching frequency and the

high-frequency noise can cause electromagnetic interference
(EMI) to neighbor equipments and installations by either
radiation from the motor cable or by cross-talk (mainly capacitive coupling) with other conductors. There are well-defined
methods for measuring radiated noise above 30 MHz which
are presented in various standards. Below 30 MHz the measurement of radiated EMI from ASD installations is rather
difficult, as the noise depends very much on the measurement
set-up, motor cable length, type and its layout. It is much easier
to use a measurement method for conducted common-mode
noise in the motor cable using a well designed set-up. Such
ameasurement method applied for unshielded motor cables is
the scope of the present work.
and high amplitude in the
The CM voltage with high
cable between the inverter and the motor is a potential source
of EMI [13][17], therefore usually shielded motor cables are
used. Such cables are expensive and increase the overall installation cost. Table I presents a price comparison between shielded
and unshielded cables. The prices are based on the catalogue of
an arbitrary European cable manufacturer. It can be observed
that unshielded cables are between 30% and 70% cheaper than
shielded cables. Unfortunately, their use is restricted by electromagnetic compatibility (EMC)-related concerns. A complete
investigation from an EMC point of view, about the use of unshielded motor cables, has not been presented in the literature
until now, although the issue of motor cables for ASD applications has been discussed in such papers as [18]. In the following,
a new method for measuring conducted CM noise on unshielded
motor cables will be proposed. This method will be further used
for evaluating the EMI in the case of an inverter without output

Fig. 2. Investigated output filter topologies: (a) no filter, (b) LC filter, and (c)
filter with dc link feedback.

filter [see Fig. 2(a)] and the effect of two different output filter
filter [see Fig. 2(b)] and a more adtopologies: a classical
vanced filter with dc link feedback [see Fig. 2(c)]. These filters
are often encountered in industrial applications and their priand
mary use is to mitigate the secondary effects of high
PWM modulation pattern: motor terminal overvoltages and insulation stress, bearing currents, acoustic switching noise, etc.
Besides this, output filters are sometimes also used to enable the
installation of unshielded cables.
II. CONDUCTED CM NOISE MEASUREMENT
ON UNSHIELDED MOTOR CABLES
The measurement of conducted CM noise in the cable between the inverter and the motor is not an easy task, especially
because of the high levels of CM voltage at the switching frequency (practically the peak-to-peak value of the CM voltage is
V ) and the steep voltage pulses. The use of a line impedance
stabilization network (LISN) on the output of the inverter isobviously excluded because of the above-stated reasons. Consequently, a nonintrusive method has to be used. Previous work
[19] confirmed the possibility of using a set-up from the CISPR
22/EN55022 [20] standard for measuring conducted CM noise
on shielded motor cables. Even if CISPR 22 is not a standard
for electric drives, but for IT equipment, the in situ CDN/ISN
configuration was proved to be usable for measuring CM noise
produced by an ASD when a shielded cable is used.
Based on previous experience with shielded cables, the configuration C.1.3. from the CISPR 22 standard [20] was used for
CM noise measurements on unshielded cables. This set-up is a

HANIGOVSZKI et al.: EMC EVALUATION

275

Fig. 3. Set-up C.1.3. for measuring CM noise on unshielded cables, described

in CISPR 22 [20].

Fig. 5. Measurement circuit with the capacitive voltage probe.

Fig. 4. Construction of the capacitive voltage probe [25].

combination of current probe and capacitive voltage probe (see

Fig. 3) for measurements on unshielded cables. EUT represents
the ASD and AE is the induction motor. The acceptance criteria
is to comply with both the current and voltage limits. This requirement is because of the unknown CM impedance of the auxiliary equipment. The particularity of this measuring method is
the lack of a well defined CM impedance, unlike other set-ups
that require a 150- CM impedance. (The high CM voltage
levels due to the three-phase PWM pulse pattern and high
make the use of a well-defined CM impedance impractical.)
A first attempt to build the capacitive voltage probe was to
wrap an aluminum foil around the unshielded cable, on the
length of 55 cm. (The standard requires a minimum length of
50 cm.) The aluminum foil was fixed with copper tape, and a
tap was made at the middle of the clamp, also using copper
tape. An insulator keeps the cable at a constant distance from
the ground plane (10 cm). The cable length used was 5 m for
practical reasons, in order to keep the cable straight over the
ground-plane. The whole set-up was installed in a shielded
room, to avoid interference from external fields.
The CM voltage was picked up between the tap and the
ground plane. For visualizing the voltage a high-impedance
probe (10 M ) and a digital oscilloscope were used. The digital
oscilloscope was also used for data acquisition for further
processing [fast Fourier transform (FFT) analysis].
For noise measurements a spectrum analyzer was connected
to the capacitive clamp with a standard voltage probe, as
described in CISPR 16 [21]. However, because of the low
impedance of the voltage probe (1500 ), this probe could
be used only for measurements above 1 MHz, where the
impedance of the capacitive voltage clamp becomes lower
than the impedance of the voltage probe. For frequencies
below 1 MHz the only way of observing the spectrum of the

CM voltage noise is to perform a FFT analysis of the voltage

acquired with the digital oscilloscope.
The method used for building the capacitive clamp presented
above has several drawbacks: low immunity to external fields,
the capacitance of the probe is not well defined since both the
length of the probe and the diameter of the cable can vary from
one test to another. Several papers [22], [23] as well as work
within standardization groups suggest the use of a more advanced voltage probe which is also commercially available and
mentioned in the latest edition of the CISPR 16 standard [24].
This high-impedance voltage probe consists of two electrodes,
one inner electrode for picking up the signal from the cable and
the other one for shielding the first electrode from external electric fields.
The signal from the capacitive clamp is applied to a transimpedance amplifier, situated in the immediate vicinity of the
clamp. The mechanical construction of such a capacitive voltage
probe is shown in Fig. 4 [25]. The voltage division depends on
the type of cable and it still requires separate calibration for
each cable type. Fig. 5 shows the equivalent measurement circuit of the capacitive voltage clamp. The common-mode voltage
is symbolized V and it is capacitively coupled to the inner
electrode of the voltage clamp by means of the capacitances
between the cable conductors and the inner electrode. This
voltage is applied to a trans-impedance amplifier characterized
, an internal capacitance
and an internal resisby a gain
represents the capacitance between the inner electance .
trode and the outer electrode (electrostatic shield) which is connected to ground. At the output of the trans-impedance amplifier
the voltage is measured by means of an EMI receiveror spectrum analyzer. From the equivalent circuit the following voltage
division factor can be derived
V

(2)

Unfortunately the commercially available capacitive voltage

probe can not measure voltage levels as high as the

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Fig. 6. Voltage on the capacitive clamp: (a) no filter, (b) LC filter, and (c) filter with dc link feedback.

common-mode voltage produced by a PWM inverter, therefore this probe has been used only when experimenting with
common-mode output filters.
With the capacitive voltage probe tests were also made with
a 100-m unshielded motor cable. The cable was coiled for practical reasons and the tests were done in different situations: cable
at different heights over the ground plane, cable coil on the
ground plane and cable coil on the ground plane wrapped in
aluminum.
For the current measurement, a standard high frequency current probe was used. The measurement of the CM current does
not pose any special problems, as the value of the CM current
is relatively low.
III. MEASUREMENT RESULTS
Two sets of experiments were conducted. A first set of experiments aimed to evaluate CM noise on the motor cable when no
output filter is used and when the investigated output filters are
used. For this purpose, the CM voltage was measured with the

first method (the aluminum foil wrapped around the unshielded

cable). The second set of experiments focused on the use of the
filter with dc link feedback which is very effective both in DM
and CM. The aim of this second set of tests was to evaluate, as
accurately as possible, whether unshielded motor cables can be
used without causing unacceptable EMI levels. A commercial
capacitive voltage probe was used for these experiments.
For the tests a 3-kW induction motor at 400 V was fed by
a 3-kW commercial ASD, running with 13-kHz switching frequency and 5-Hz fundamental output frequency. A low output
frequency, and consequently a low output voltage, was used because it is considered a worst-case situation for the CM voltage
generation. In this situation the zero switching vector that produces the highest CM voltage occurs for a longer period than at
higher output frequencies.
A. Experimental Results With a Short Motor Cable
The first set of experiments was conducted using a 5-m unshielded motor cable. The CM voltage was measured using a

HANIGOVSZKI et al.: EMC EVALUATION

Fig. 7.

277

FFT of the voltage on the capacitive clamp: (a) no filter, (b) LC filter, and (c) filter with dc link feedback.

capacitive clamp built using aluminum foil wrapped around the

unshielded cable. Fig. 6(a) shows the CM voltage measured on
the capacitive clamp. The peak-to-peak voltage is very high,
over 400 V. The FFT of this voltage (up to 1 MHz) in Fig. 7(a)
shows a very noisy spectrum, with high-amplitude harmonics
of the switching frequency. Between 1 MHz and 30 MHz, measured with the spectrum analyzer having a resolution bandwidth
(RBW) of 1 kHz and peak detector, the CM voltage is still very
noisy. This is shown in Fig. 8(a). In many applications these
levels would be prohibitively high.
Two different output filters have been fitted at the inverter
output (see Fig. 2) to reduce the noise level. The first one,
shown in Fig. 2(b), is a classical
filter. It consists of
differential-mode (DM) inductors and DM capacitors (also
known as X-caps). The filter has a cut-off frequency below
the switching frequency providing a sinusoidal phase-to-phase
voltage at the motor terminals. The filter used in the experiments has a 3.8-mH DM inductor and 1.5- F capacitors. The
second filter shown in Fig. 2(c) consists of a classical DM filter

followed by a CM inductor and CM capacitors (also known as

Y-caps) connected to the dc link and rails. The values
of the DM components are the same as the ones of the previous
filter (3.8-mH DM inductor and 1.5- F DM capacitors). The
CM inductor has 8.3 mH and the CM capacitors are 220 nF
each. Both filters were commercial products and a comparison
was needed because of reported claims that the LC filter would
improve EMI performance and allow the use of unshielded
cables.
With the LC filter installed the CM voltage [see Fig. 6(b)] has
the same high peak-to-peak value of over 400 V, as in the situation without a filter. In the FFT analysis of the CM voltage
[see Fig. 7(b)] no significant improvement can be observed. In
the 1 MHz30 MHz range the noise is reduced, but it still has a
very high level [see Fig. 8(b)]. The filter with dc link feedback,
due to its CM attenuation, drastically reduces the CM voltage
measured with the capacitive clamp, as shown in Fig. 6(c). The
FFT of this voltage waveform also shows a major reduction in
the noise, as seen in Fig. 7(c). The level of the noise in the

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Fig. 8.

IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 21, NO. 1, JANUARY 2006

CM conducted voltage noise in the 1 MHz30 MHz range: (a) no filter, (b) LC filter, and (c) filter with dc link feedback.

1 MHz30 MHz range shown in Fig. 8(c) is reduced very much.

Just for the sake of comparison, if the CM voltage noise level in
the 1 MHz30 MHz range is compared with the voltage limits
from CISPR 22 (which is a standard for telecommunication
ports of IT equipments) it would comply with the class A limit
(for industrial environments, 87 db V QP in the 0.530 MHz
range).
The current measurements show relatively low noise levels
therefore they are not shown for the tests with the 5 m cable.
As in the case of CM voltage measurements, there is only little
difference between the situation without a filter and the situation with the
filter, especially in the lower frequency range
(below 150 kHz). There is a major improvement when using
the filter with dc link connection. Again, just for comparison
with the limits from CISPR 22, the current measurements would
match class B (for home and office environment).
B. Experimental Results With a Long Motor Cable and
Output Filter With dc Link Feedback
A second set of experiments was made with a 100 m cable
using the output filter with dc link feedback which operates both

in CM and DM. Because of this length the cable had to be coiled.

Tests were performed in different situations varying the coupling between the cable and the ground plane and observing the
behavior of the noise. The cable coil was placed at a 20 cm distance over the ground plane, after that it was directly placed on
the ground plane. We also tried to wrap the cable coil in aluminum foil and ground it. These experiments were necessary because in reality the arrangement of the cable can vary from one
installation to another. If the cable is placed in a metallic conduit
or in a cable tray there is a higher capacitance to ground while
a cable feeding a trolley on a gantry crane has a bigger distance
from the metallic structure and consequently there is a lower capacitance to ground. The experiments were made with the motor
both connected to the ground plane and insulated from it. Several measurements were made and the results were compared
against the limits specified in CISPR 22, only as a reference.
The CM voltage measurements were made with the commercial capacitive voltage probe that was calibrated for the cable
type used in the experiments. The choice of this voltage probe
has two main reasons: a more accurate measurement compared
to the set-up using aluminum foil and a better shielding from

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279

Fig. 9. CM conducted voltage noise in the 150 kHz30 MHz range, 100-m cable: (a) motor and cable on GP, (b) motor insulated, cable on GP, and (c) motor and
cable insulated.

external electric fields, especially cross-coupling from the big

cable coil situated in the proximity of the voltage measurement
point.
Fig. 9 shows the measured CM voltage in three situations:
both motor and cable on ground plane in Fig. 9(a), cable on
ground plane and motor insulated in Fig. 9(b) and both motor
and cable insulated from ground plane in Fig. 9(c). It can be
observed that when the cable is placed on the ground plane the
noise level closely complies with CISPR 22 class A limits (industrial environment). Only in the 150200 kHz region the average limit is slightly trespassed. The situation changes when
both the motor and the cable are insulated from the ground
plane. A resonance occurs at approximately 2.8 MHz, slightly
trespassing the limit. Experiments show a dependance of this
peak on the layout of the set-up. Therefore it is preferable to
place unshielded cables in grounded cable trays and conducts.

The CM current measurements show relatively low levels,

similar to the experiments with the short cable. Fig. 10 shows
current measurements with the motor situated on the ground
plane [see Fig. 10(a)] and insulated Fig. 10(b). It can be observed that the CM current meets the more strict class B limits
(home and office environment).
IV. CONCLUSION
In an ASD application using a PWM VSI, without any filtering at the output of the inverter, the CM conducted EMI levels
in an unshielded motor cable are quite high, therefore in some
applications the unshielded cable can not be used, due to EMC
filter does not significantly improve
concerns. A classical
this situation. The tested output filter topology with dc link feedback which works both in CM and DM, reduces the conducted

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Fig. 10. CM conducted current noise in the 150 kHz30 MHz range, 100 m cable. (a) Motor and cable on GP. (b) Motor insulated, cable on GP.

EMI to acceptable levels even when long motor cables are used.
When such a filter is used, at least in a Class A (industrial)
environment, unshielded cables can be used in most situations
without fearing EMC problems.

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HANIGOVSZKI et al.: EMC EVALUATION

Norbert Hanigovszki (S02M06) was born in

Timisoara, Romania, in 1977. He received the M.S.
degree in electrical engineering from the University
Politehnica, Timisoara, in 2000 and the Ph.D. degree
from Aalborg University, Aalborg, Denmark, in
2005.
During his study he spent three months as a Ph.D.
Guest Student at the University of Padova, Padova,
Italy, where his main focus was the research of output
filters for ac drives with unshielded motor cables.
Since 2002, he has been with Danfoss Drives A/S,
Graasten, Denmark, where he works as an EMC Engineer. His main interests
are power electronics, industrial drives, and electromagnetic compatibility.
Dr. Hanigovszki is a member of the IEEE Power Electronics, IEEE Electromagnetic Compatibility, and IEEE Industry Applications societies.

Jrn Landkildehus (M02) was born in Denmark in

1969. He received the M.Sc.E.E. degree in electrical
engineering from Aalborg University, Aalborg East,
Denmark, in 1995.
Since 1995, he has been with the Research and
Product Development Department, Danfoss Drives
A/S, Graasten, Denmark, and since 2004 has been
Manager of the EMC, Reliability and Approvals
Department. His main research areas are power
electronics, power converters and electrical drive
systems, including modeling, simulation, and design
with focus on EMC.
Mr. Landkildehus is a member of the IEEE Electromagnetic Compatibility
Society.

Giorgio Spiazzi (M93) was born in Legnago, Italy,

in 1962. He received the M.S. (with honors) and
Ph.D. degrees in electronic engineering from the
University of Padova, Padova, Italy, in 1988 and
1992, respectively.
In 1992, he spent six months at the Virginia Power
Electronics Center, Virginia Polytechnic Institute
and State University, Blacksburg. In 1993, he became
a Researcher in applied electronics. In 1997, he was
a Visiting Professor at the University of Campina,
Brazil, doing research in the field of line-frequency
commutated power factor correctors. He is also co-author of the tutorial
Electromagnetic Compatibility in Power Electronics, Aalborg University,
Aalborg, Denmark, for the Danfoss Professor Programme in Power Electronics
and Drives. The same tutorial was also given in 2001 at different Indian IEEE
Chapters within the Distinguished Lecturer Program. He has published more
than 60 papers in international conferences and IEEE TRANSACTIONS. His main
activities are in the field of power electronics and particularly on advanced
control techniques for dc/dc converters, single-phase and three-phase power
factor correctors, soft-switching converters, and electromagnetic compatibility
issues in power electronics.

281

Frede Blaabjerg (S86M88SM97F03) was

born in Erslev, Denmark, on May 6, 1963. He
received the M.Sc.EE. and Ph.D. degrees from
Aalborg University, Aalborg, Denmark, in 1987 and
1995, respectively.
He was with ABB-Scandia, Randers, Denmark,
from 1987 to 1988. He became an Assistant Professor at Aalborg University in 1992, Associate
Professor in 1996, and a Full Professor in power
electronics and drives in 1998. In 2000, he was a
Visiting Professor with the University of Padova,
Padova, Italy, as well as part-time Programme Research Leader in wind turbines
at Research Center Risoe, Risoe, Italy. In 2002, he was a Visiting Professor at
the Curtin University of Technology, Perth, Australia. He is involved in more
than 15 research projects within the industry including the Danfoss Professor
Programme in Power Electronics and Drives. He is the author or co-author of
more than 350 publications in his research fields including the book Control
in Power Electronics (New York: Academic, 2002). He is an Associate Editor
for the Journal of Power Electronics and for Elteknik. His research areas are
in power electronics, static power converters, ac drives, switched reluctance
drives, modeling, characterization of power semiconductor devices and simulation, power quality, wind turbines, and green power inverters.
Dr. Blaabjerg received the 1995 Angelos Award for his contribution in
modulation technique and control of electric drives, the Annual Teacher Prize
from Aalborg University in 1995, the Outstanding Young Power Electronics
Engineer Award from the IEEE Power Electronics Society in 1998, five IEEE
Prize Paper Awards during the last six years, the C.Y. OConnor Fellowship
from Perth, Australia in 2002, the Statoil-Prize for his contributions in Power
Electronics in 2003, and the Grundfos Prize in acknowledgment of his international scientific research in power electronics in 2004. He has been an
Associate Editor of the IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS and
of the IEEE TRANSACTIONS ON POWER ELECTRONICS. He is a member of the
European Power Electronics and Drives Association, the IEEE Industry Applications Society Industrial Drives Committee, the Industry Power Converter
Committee and the Power Electronics Devices and Components Committee,
IEEE Industry Application Society. He has served as member of the Danish
Technical Research Council in Denmark from 1997 to 2003 and from 2001
to 2003 he was Chairman. He has also been Chairman of the Danish Small
Satellite Programme and the Center Contract Committee. He became a member
of the Danish Academy of Technical Science in 2001 and in 2003 he became
a member of the Academic Council. From 2002 to 2003, he was a member of
the Board of the Danish Research Councils. In 2004, he became Chairman of
the Programme Committee on Energy and Environment.