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This is the author's version which has not been fully edited and
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Date of publication xxxx 00, 0000, date of current version xxxx 00, 0000.
Digital Object Identifier 10.1109/ACCESS.2024.0429000

EMI Simulation of Permanent Magnet Motor

Drive Systems
YERAI MORENO1 , GAIZKA ALMANDOZ1 (Member, IEEE), ARITZ EGEA1 , IMANOL EGUREN1 and
ANDER URDANGARIN2
1
Faculty of Engineering, Mondragon Unibertsitatea, 20500 Mondragón, Spain
2
ORONA EIC, 20120 Hernani, Spain
Corresponding author: Yerai Moreno (e-mail: [email protected]).
The work of Yerai Moreno was funded by the Non-Doctoral Research Staff Training Programme of the Department of Education of the
Basque Government through grant PRE-2023-2-0001.

ABSTRACT With increasing emphasis on energy efficiency and the widespread adoption of Wide-Band-
Gap (WBG) devices, understanding and mitigating EMI is crucial for the reliability and performance of
electric drives. This research focuses on high-frequency phenomena induced in electrical machines and the
integration of Finite Element Method (FEM) simulations into the drive design process. A novel approach is
introduced where a full drive model is experimentally validated using motor impedance obtained from FEM
simulations, which is then fitted to a lumped-parameter model with a basic genetic algorithm. The model
is validated across the full Electromagnetic Compatibility (EMC) range for conducted emissions, from 10
kHz to 30 MHz. The paper emphasises the importance of an EMI-focused design approach early in the
development process to minimise costs, improve reliability, and ensure compliance with EMC standards.

INDEX TERMS Electric drive, electromagnetic interference, electric machine, high frequency.

I. INTRODUCTION tives. As frequencies rise, voltage derivatives escalate, caus-

ing overvoltages at motor terminals and potentially deteriorat-
U NITED Nations’ Sustainable Development Goals aim
to end poverty, protect the planet, and ensure prosperity
by 2030, with a focus on clean energy and climate action
ing the insulation of the windings and protection mechanisms
during short circuits or contact anomalies [5]–[7].
[1]. Meanwhile, the European Commission has established Another concern is Common Mode Voltage (CMV) gen-
targets to enhance energy efficiency across various sectors, erated by modulated voltages, which can damage drive com-
emphasising the adoption of energy-efficient technologies ponents and impact other devices on the same network. For
[2]. instance, voltage in the shaft may induce bearing currents,
It is estimated that electrical drives account for over 40% resulting in their degradation [8].
of global electricity consumption, thereby highlighting their To address these challenges, strategies have been proposed
critical role in sustainability efforts [3]. Recent studies have to mitigate unwanted CMV on shafts and bearings. These
identified the potential of Wide-Band-Gap (WBG) devices, include using insulated or ceramic bearings, applying con-
such as those made of Silicon Carbide (SiC), to significantly ductive greases, and incorporating Faraday shielding or shaft
improve drive performance. These devices enhance power grounding rings [9], [10]. However, these methods primarily
density, dynamic response end thermal conductivity enabling focus on bearing-related consequences.
the design of more efficient and compact inverter and motor For broader EMI reduction in electrical machines, it is
configurations [4], [5]. recommended to use shielded cables combined with ground-
However, using WBG devices at elevated frequencies can ing to establish a low-impedance path for CMV. In addition,
lead to Electromagnetic Interference (EMI) due to increased several inverter designs and modulation strategies have been
voltage derivatives. This can compromise the durability of proposed to minimise CMV production at the source [5], [9],
electrical machines and other electronic devices, potentially [11]–[13].
leading to malfunctions. Converters provide electrical ma- Typically, incorporating filters into drive systems is actu-
chines with voltages modulated in frequency and amplitude, ally the most common way to reduce EMI, which not only
which are capable of producing significant voltage deriva- raises its cost, size, and weight, but also adds to the sys-

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content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2024.3459641

Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

tem’s complexity [14]. Moreover, they are generally added model is validated with the voltage and current spectra. Fi-
only after failing Electromagnetic Compatibility (EMC) tests, nally, in section V, the main conclusions are outlined, and the
necessitating corrective measures to meet regulatory stan- future challenges for an effective EMC-orientated design are
dards and market the product. Consequently, it is advisable highlighted.
to incorporate an EMI-focused design approach early in the
development process to minimise costs, enhance reliability, II. EXPERIMENTAL LAYOUT
reduce time to market, and secure the best possible outcome, The drive consists of the Permanent Magnet Synchronous
effectively managing EMI noise at the device level. Motor (PMSM), the power cable, the converter that generates
Despite the interest in high-frequency simulations of elec- the CMV and the filter that prevents the CM current from
trical drives for EMI analysis or other issues, few studies have reaching the grid. The specification of the system are sum-
considered these models for the design stage. In fact, most marised in Table 1.
articles are based on behavioural models obtained from exper-
TABLE 1: Parameters of analysed system.
imentally measured impedances of the motor, making them
unsuitable for the design stage, since an already manufactured Pole pairs Power Grid Voltage Torque Current Speed
motor is needed [15]–[21].
15 4.5 kW 400 V 250 Nm 9A 150 rpm
Furthermore, most of them are only valid up to 10 MHz,
which is not enough for the full EMC range established by
the regulations [22]. The experimental layout is shown in Fig. 1 (a), and the
In addition, few studies have analysed the machine with full drive schematic with the measurement points is shown in
Finite Element Method (FEM) simulations to integrate it into Fig. 1 (b). The system to be measured is on a wooden pallet
the complete drive model [23]. However, the common-mode to avoid parasitic couplings as far as possible.
current spectrum is only validated up to 1.8 MHz.
To fill the gap in the EMI simulations on electric drives for
the design stage, the following contributions are contained in
this paper:
• A full drive model is presented and experimentally val-
idated using a Si-IGBT converter. The model uses the
motor impedance obtained from FEM simulations, val-
idated with measurements of a set of 28 units of an
industrial electrical machine, making it suitable for the
drive design stage.
• The validity of this model in the full EMC range for con-
ducted emissions is demonstrated, as very good agree- (a)
Ucm-inverter Ucm-motor
ment with the experimental results is obtained in the Converter
range of 150 kHz-30 MHz. Filter
Cable
• The filter used for the compliance with the EMC stan- Grid C
dard is also modelled and validated within the model.
This makes the model suitable for sizing the filter for PMSM
each specific application to meet EMC regulations.
Icm-grid
Icm-motor
This is a continuation of previous works. In [24] the state
of the art is systematically reviewed, analysing different high- (b)
frequency phenomena induced in electrical machines, to- FIGURE 1: Analysed electrical drive. (a) Experimental Lay-
gether with the tools used to address these phenomena. Then, out; (b) Schematic.
in [25], a high accuracy and low computational load simu-
lation approach is presented to calculate the high frequency To validate the whole drive model, some measurements
impedance of electrical machines. The model is validated have been conducted and compared with the simulations. The
with the impedance measurement of 28 industrial motors. CM voltage has been measured at the converter output and at
The structure of the paper is as follows. The electric drive the motor input to consider the effect of the power cable. The
analysed is described in section II, together with the exper- current has also been measured at the motor and at the grid
imental layout. Then, in section III, the frequency domain connection point.
model is presented and validated from the FEM impedance of The voltage probes used for the measurement are PMK
the machine. Furthermore, a step-by-step modelling approach BumbleBee with a bandwidth of 400 MHz. The current has
of each component is presented in section IV, starting with the been measured with a TEKBOX TBCP2-750 RF current
converter model, then proceeding to the cable, the electrical monitoring probe whose frequency measurement range is 1
machine and finally the EMC filter. The drive’s time domain kHz to 1 GHz and the transient limiter TBFL1 with a range
2 VOLUME 11, 2023

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Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

of 9 kHz to 600 MHz. These signals have been read and saved III. FREQUENCY DOMAIN MACHINE MODEL
with a RIGOL oscilloscope model MSO5204 of 200 MHz 4 The electrical machine high-frequency impedance is obtained
channels and 8 GS/s. running FEM simulations with Altair Flux Software, as ex-
Before comparing the simulations with the measurements, plained in [25]. For the validation of the impedance results,
the accuracy of the experimental data must be carefully ver- the common-mode and differential-mode impedances of 28
ified. In fact, when measuring high-frequency signals in the electrical machines, were measured in a factory manufactur-
range of 150 kHz to 30 MHz, other devices can interfere with ing line.
these measurements. Moreover, it must be taken into account All the motors were of the same model, and so 28 different
that either the probes and the oscilloscope themselves might motors were assessed to consider the effect of the manufac-
have some noise background. turing tolerance on the measured impedance. The common
To analyse this, the oscilloscope and the voltage and current mode impedance is shown in Fig. 3, where the manufacturing
probes have been placed in the measurement position, but tolerance is indicated by the green area between the maximum
with the drive switched off. Then, voltage and current have and minimum measured impedances. The tolerance was very
been measured and their spectra obtained, as shown in Fig. 2. low, suggesting that the impedance of all machines was al-
This noise has been compared with all the next measurements most equal, regardless of the manufacturing tolerance.
to establish the limitations of each of them. The transfer
impedance of the current probe is also included in the figure, 106

Impedance [Ω]
Measurement
as it is an important element to consider when measuring and Simulation
104
post-processing the current measurements.
102

100 2
20 0 10 103 104 105 106 107
Current (dBµA)
Voltage (dBµV)

Frequency [Hz]
10 −20 100 Measurement
Simulation
Phase [°]

−40
0 0
−60
−100
−10
104 105 106 107 104 105 106 107 102 103 104 105 106 107
Frequency (Hz) Frequency (Hz) Frequency [Hz]

FIGURE 3: CM model of the machine. Experimental vs. FEM

(a) (b)
result. [25]
Transfer Impedance (dBΩ)

20
An inductive effect was observed around 10 MHz that
depended on not only the measured device but also the mea-
0 suring connections. Thus, an measurement was conducted
with different calibrations of the impedance meter, revealing
−20 that the measuring connections introduced an inductance of
approximately 3.75 µH to the measured impedance. Thus,
104 105 106 107 this inductance is added in series to the simulated impedance
Frequency (Hz) to compensate for it.
Then, the rms error of the FEM impedance compared with
(c) the measured impedance is calculated as shown in eq. (1),
FIGURE 2: Probes: (a) Voltage probe Background noise; (b) where N refers to the number of frequency points.
Current probe Background noise. (c) Current probe transfer
impedance v
u n 2
u X log(|ZMeasured (fi )|) − log(|ZFEM (fi )|)
u
There are two domains for modelling electrical drives for
u
t f=1 log(|ZMeasured (fi )|)
EMI analysis, the frequency domain and the time domain. ϵrms−FEM =
N
Although working in the frequency domain is more intuitive (1)
once the CM impedance of the motor is obtained with FEM The resulting error of 6 %, is considered accurate for the
simulations or measurements, the overvoltages and transient prediction of the high-frequency impedance of the machine.
voltages at the motor terminals cannot be predicted in this In order to validate the machine model in the frequency do-
domain. Therefore, the full drive model has been developed main, Ohm’s law has been used. To obtain the spectrum of the
in the time domain. This approach allows for the observation common-mode current, the spectrum of the voltage measured
of changes in the grid current and overvoltages at motor at the motor terminals is divided by the CM impedance of the
terminals. machine simulated by FEM [25]. Then, this calculated current
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Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

has been compared with the experimental measurement. The some points there is a small discrepancy between the cal-
diagram is shown in Fig. 4 and the common-mode voltage culated and measured currents, there is overall agreement in
spectrum measured in the motor is shown in Fig. 5. the analysed frequency range with respect to resonance points
and current value. Consequently, the current spectrum of the
Measured Ucm Ucm Spectrum
Ucm
Icm
machine model has been validated in the frequency domain.
Zcm
IV. TIME DOMAIN MODEL
Simulated or Measured Zcm Upon validation of the electric motor model in the frequency
domain, attention is now turned to the development of the
FIGURE 4: Validation process of the frequency-domain time domain model for the entire electric drive. This sec-
model of the electrical machines. tion is dedicated to the characterisation of the electric drive
components, with the aim of incorporating all common-mode
current paths present in the drive.
0 dB/dec Probe Noise Subsequently, these components are integrated into a Mat-
-20 dB/dec
60 Measurement
Voltage (dBµV)

lab Simulink model. The model is then subjected to time-

Trapezoidal wave
domain simulation to derive the common-mode voltage fre-
40 -40 dB/dec quency spectrum. As mentioned above, the drive system un-
20
der consideration is depicted in Fig. 1.

0 A. HIGH-FREQUENCY MODEL OF THE INVERTER

In the analysed drive, the grid feeds a converter. Initially,
104 105 106 107 a three-phase diode rectifier feeds an uncontrolled DC bus
Frequency (Hz) containing a capacitor. Subsequently, a three-phase converter
of IGBTs generates a PWM-modulated voltage according to
FIGURE 5: Motor Input common-mode voltage. Experimen- the voltage and frequency requested by the drive control.
tal measurement. These indications are those generated by the torque and speed
required for the motor.
Given that above 10 MHz the measured voltage is below This converter is the root cause of conducted EMI, as it is
the noise background of the probe, the validity of the voltage the generator of the CM voltage coupled to its voltage pulses.
measurement is compromised beyond this frequency. Conse- However, the scope of this paper is focused on the electrical
quently, the resulting current will be subject to comparison machine, so a behavioural model of the converter has been
only up to the 10 MHz threshold. developed.
The obtained current spectra are shown in Fig. 6. When the The behavioural model of the converter modulation is
voltage is divided by the impedance obtained with the FEM shown in Fig. 7. It produces modulated voltages through
simulation, the current spectrum shown in red is obtained. The basic PWM generation by comparing a sinusoidal wave of
yellow and dark blue currents are obtained by dividing the the desired frequency with a triangular wave at a switch-
voltage by the maximum and minimum measured impedances ing frequency of 8 kHz. The resulting rectangular pulse is
of the 28 machines, respectively. modified to a trapezoidal one using a saturated integrator, in
order to introduce rise and fall times in the switching pulses,
20 as it is crucial for the common-mode voltage spectrum. The
rise and fall times have been adjusted from the experimental
Current (dBµA)

0 characterisation of the converter.

Sinusoidal
−20 fundamental
frequency

−40 Measurement U/Zmin-measured

Rise & Fall To IGBT
Square Pulse times with PWM Voltage
U/Zmax-measured U/Zsimulated Integrator

104 105 106 107 Triangle

fswitching = 8kHz
Frequency (Hz)

FIGURE 6: Frequency domain common-mode current. Ex-

perimental vs. Simulation results. FIGURE 7: Converter modulation diagram.

It can be seen that the currents obtained with the FEM Assuming the voltage is a trapezoidal wave with amplitude
impedance and the ones obtained using the measured Vdc /2, duty cycle d, switching frequency fs and rise and fall
impedances agree with each other. Furthermore, even if at times tr , the spectrum envelope in the frequency domain is:
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Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

104 104
 
π·f ·d

Impedance (Ω)

Impedance (Ω)
|VCM (f )| ≃ Vdc · d ·| Sinc | · | Sinc (π · f · tr ) |
| {z } fs | {z }
0 dB/dec | {z } −40 dB/dec
−20 dB/dec
102
(2) 102
where Sinc(x) ≜ sin(x)/(x) [13], [26]. As it can be con- Measured Measured
cluded from the equation, and seen the red envelope in Fig. 4, RLC circuit RLC circuit
0
the switching frequency changes the second asymptotic line, 10
104 105 106 107 104 105 106 107
whereas the rise time defines the last part of the spectrum.
The model also includes the common-mode current paths Frequency (Hz) Frequency (Hz)
shown in Fig. 8. In addition, the bus capacitance has been (a) (b)
modelled as an RLC series branch to account for its high-
frequency behaviour. Note that the impedances of the differ- 104

Impedance (Ω)
ent phases of the input to ground and the output to ground are
the same, as well as those of the positive and negative DC bus
to ground.
102
Measured
RLC circuit
100 4
10 105 106 107
C

Frequency (Hz)
ZL1-g ESL ZU -g
Ω

ZDC+g
(c)
Ω

ZL2-g ZV -g
Ω

ESR
FIGURE 9: CM impedance of the converter. Experimental vs.
Simulation results. (a) ZL1−g ; (b) ZDC+−g ; (c) ZU −g .
ZL3-g ZW -g
Ω

ZDC-g
Ω

R1 L1 Rn Ln
Rg1 Cg1 Rg1 Cg1 Rgn Cgn Rgn Cgn
2 2 2 2 2 2 2 2
FIGURE 8: Converter CM current path characterisation.

CM impedances are simulated with RLC branches that FIGURE 10: High-frequency PI model for the cable.
match the measurements, as shown in Fig. 9. The RLC pa-
rameters to obtain these impedances are shown in Table 2.
The power cable has been characterised using its differen-
TABLE 2: Parameters of the parasitic paths of the converter.
tial mode and phase-to-ground impedances (Fig. 11), paying
Path Rseries (Ω) Lseries (µH) Cseries (nF) more attention to the latter, as the interest is focused on CM
ZL1−g 6.80 0.12 0.40
currents. The values of the distributed circuit parameters to
ZDC+−g 2.04 0.13 0.50 obtain those impedances are shown in Table 3.
ZU −g 2.53 0.16 0.44
TABLE 3: Parameters of the PI model of the power cable per
It must be remarked that the parasitic components of each segment.
IGBT have not been modelled for the behavioural model,
Ri Li Cgi Rgi
only the impedances mentioned above and the switching
procedure. These parasitic current paths should be enough 0.049 Ω 1.57 µH 20 pF 400 GΩ
to characterise the CM currents of the entire electric drive to
conduct EMI analysis. The cable parameters have been adjusted numerically by
comparing the model impedance with the measured one as the
B. HIGH-FREQUENCY MODEL OF THE POWER CABLE frequency dependency of R L parameters and the circuit dis-
The modelling of the power cable is another key point in tribution makes it complex to work with a analytical equation.
the drive, as it could considerably affect the common-mode However, the approximate relation of the model parameters
voltage and current spectra at the motor terminals. The well- with the impedances is shown in eq. (3). In fact, the R L
known PI model of an electric line has been used to model parameters are related to the phase impedance, whereas the
the cable, as shown in Fig. 10. In this case, 20 PI sections per Cg and Rg are related to the CM impedance. These equations
phase have been used to make it more distributed, as described are valid until approximately 10 MHz, then both modes get
in [27]. coupled and the equations are no longer valid.
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Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

 Rg1 , Cg1 , Rg2 , and Cg2 represent the parasitic couplings from
Zphase (f ) = R(f ) + j2πfL(f ) the winding to the ground.
Zphase−ground (f ) 1
= 2πfC (3)
g These circuit parameters must be defined to match the
CM and DM impedances obtained from the FEM simulation
explained in [25]. This can be done manually or using opti-
misation algorithms. In this case, the parameters have been
104
Impedance (Ω)

adjusted using a global optimisation function consisting of a

genetic algorithm. It must be remarked that priority has been
102 given to the CM impedance, since the CM currents are the
main objective of this work.
Measured When adjusting the time domain model with the FEM
100 Model impedance simulation, the impedance error has been defined
as an objective to minimise. The per unit exponent error
104 105 106 107 for each frequency point has been calculated as shown in
Frequency (Hz) eq. (4), where ZFEM (fi ) is the FEM impedance value for the ith
(a) frequency and Zmodel (fi ) is the impedance value of the model
to adjust.
Measured
Model
104
Impedance (Ω)

log(|ZFEM (fi )|) − log(|Zmodel (fi )|)

∆(fi ) = (4)
log(|ZFEM (fi )|)
102 Then, the root mean square error for each defined fre-
quency range is obtained in equation eq. (5). The number of
points for the rms value is defined as N and refers to the points
100 of the frequency range.
104 105 106 107 v
u n
Frequency (Hz) uX
u ∆(fi )2
u
t f=1
(b) errorrms = (5)
N
FIGURE 11: Impedance of the cable. Experimental vs. Sim-
ulation results: (a) Phase to ground; (b) Differential-mode. Six different error objectives have been defined to catch all
resonances. The error resulting from the optimisation of the
genetic algorithm in each frequency range is shown in Table 4.
C. TIME-DOMAIN MODEL OF THE ELECTRICAL MACHINE
In [25], a FEM simulation process had been described to ob- TABLE 4: Error of the time domain model of the motor
tain the machine’s DM and CM impedances accurately. The respect to the FEM impedance.
software used for the FEM simulation is Altair Flux. How-
ever, these impedances are frequency dependent and must be Mode < 20 kHz 20 kHz – 300 kHz > 300 kHz
modified to integrate them into the time-domain model of the DM 2.77 % 3.88 % 1.09 %
overall electric drive. For this purpose, the lumped parameter CM 0.22 % 0.91 % 0.96 %
circuit shown in Fig. 12 has been used as proposed in [27].
The impedance obtained from the FEM model in [25] has The low frequency impedance has been adjusted to con-
been used to define the circuit parameters so that the circuit sider the nominal conditions of the drive, which, in fact, will
impedance fits the impedance obtained by FEM. define the nominal current of the drive. The intermediate
frequency range has been then analysed for the resonances in
CM and DM modes, and the high frequency range has been
Rt Lt
Ct used for the last part of the impedance after the resonance.
Phase Neutral
Ld
Furthermore, it is interesting to see how the different
Rcu
Rg1 Rg2 parameters converge during the algorithm to minimise the
Re resulting error in the impedance. For instance, as shown in
Cg1 Cg2
Fig. 13, Cg1 is important in the high frequency range, while
Ground
Cg2 is crucial in the lower frequency range.
FIGURE 12: Machine’s Time-Domain Equivalent Circuit. The resulting impedances are shown in Fig. 14, which
shows no error in the CM impedance and a small error in the
The main impedance of the phase winding consists of Rcu resonance point of the DM impedance, as expected.
and Ld , while Rt , Lt and Ct refer to the high-frequency effects The circuit parameters obtained from the genetic algorithm
on the winding. Then Re accounts for the core losses. Finally, to obtain the impedances in Fig. 14 are shown in Table 5.
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Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

D. FILTER
4 4
Once the drive components are designed, it is necessary to
verify compliance with the EMC standards specified by EN-
3 3

CM Error (%)
CM Error (%)

12015 [22]. Even if the current has been measured with a cur-
rent RF probe, the regulations are defined by the emissions in
2 2
dBµV, because they are usually measured by Line Impedance
Stabilisation Networks (LISN). Therefore, to convert dBµA
1 1
to dBµV a constant impedance of 50 Ω has been used in
all frequency ranges, as it is the standard impedance for RF
0 0
2.2 2.4 2.6 2.8 3 1 2 3 measurements. As can be seen in Fig. 15, the current exceeds
Cg1 (F) ·10−10 Cg2 (F) ·10−9 the regulations at the connection point of the grid, which can
interfere with other elements connected to the grid.
(a) (b)
Measured without Filter
FIGURE 13: Circuit parameter convergence: (a) Cg1 100 Measured with Filter

Voltage (dBµV)
(300kHz<f<30MHz); (b) Cg2 (f<20kHz) Limit EN-12015

80

60
FEM impedance
105 Simulink model
40
Impedance (Ω)

106 107
103
Frequency (Hz)

FIGURE 15: Grid current with and without EMC filter. Ex-
101
perimental measurements.
102 103 104 105 106 107
Frequency (Hz) To solve this problem and comply with the regulations, the
filter shown in Fig. 16 has been introduced between the con-
(a)
verter and the grid, filtering the current emission to the grid
4
10 as shown in Fig. 17. These attenuation data are obtained by
Impedance (Ω)

measuring the S21 parameter with a vector network analyser,

103 representing the transfer function Vin /Vout where Vin is the
input voltage of the filter and Vout is the output voltage.

102 FEM impedance L1 U

Simulink model L1 L2
C1 R4 C4
102 103 104 105 106 107
Frequency (Hz) L2 V
C2 L1 L2
(b) R5 C5
FIGURE 14: Impedance of the motor. FEM model from [25] L3 W
vs simulation results. (a) CM; (b) DM. L1 L2
C3 R6 C6

TABLE 5: Calculated values for the parameters of the elec- R7 C7

trical equivalent circuit of the PMSM
Ground
Parameter Value Parameter Value
Rg1 5Ω Rt 1 kΩ FIGURE 16: Electric circuit of the EMC filter.
Cg1 0.1 nF Ct 0.1 nF
Rg2 0.1 Ω Lt 18.5 mH The filter electric parameters are shown in Table 6. As
Cg2 0.85 nF RCu 1.33 Ω mentioned before, this adds a new component, weight, vol-
Re 5 kΩ Ld 7.6 mH ume, and cost to the electric drive but does not solve the root
problem; it just mitigates the consequences.
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Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

Ucm-motor

−40
Magnitude (dB)

−60

PMSM
−80

105 106 107

Icm-motor

Frequency (Hz) FIGURE 19: Motor’s time domain model layout diagram.

FIGURE 17: Attenuation of the EMC filter.

0

Current (dBµA)
TABLE 6: Filter parameters.
Parameter Value Parameter Value −10
L1 6.3 mH L2 10 µH
C1-6 2.85 µF C7 5.7 µF −20
R4-6 200 Ω R7 680 Ω
Measured
−30 Model

The model has been calibrated with impedance measure- 105 106 107
ments of a between input terminals (L1−2−3 ) and output Frequency (Hz)
terminals (U-V-W), phase-to-ground in the input, and phase-
to-ground in the output, as has been done with the converter FIGURE 20: Electrical motor CM current. Experimental vs.
previously. The resulting impedances are shown in Fig. 18. Simulation results.

104 102
2) Validation of the Full Drive Model
Upon the independent examination of the machine, the whole
Impedance (Ω)

Impedance (Ω)

3
10 drive system undergoes a process of validation. This involves
101 measuring the CM voltage at both the converter output and
102 the motor input, which serves to verify the amplification
100 attributed to the power cable. In addition, the CM current has
Measured
Measured been measured at three different points: the motor input, the
101 RLC circuit RLC circuit
10−1 converter output, and the grid connection point. The measure-
104 105 106 107 104 105 106 107 ment layout is depicted in Fig. 21.
Frequency (Hz) Frequency (Hz)

(b) Ucm-inverter Ucm-motor

(a) Converter

FIGURE 18: Filter impedance. Experimental vs. Simulation Cable

results: (a) ZL2−g ; (b) ZU −g . Grid C

Using eq. (1) the rms error of both impedances ZL2−g and
PMSM
ZU −g is calculated for the EMC range, being respectively 1.9
Icm-inverter
% and 5.8 %. Thus the model of the filter is accurate for the Icm-grid
Icm-motor
desired aim of analysing EMI of the drive.
FIGURE 21: Full drive time domain model layout.
E. VALIDATION The grid supplies a three-phase 400 V system with pro-
1) Validation of the Motor Model tection or ground conductor. Then this voltage is rectified
Initially, the measured CM voltage at the motor terminals by an uncontrolled diode rectifier that generates a 560 V
(Fig. 5) has been introduced to the motor model to compare DC bus. Then, using modulation techniques as explained in
the measured CM current with the simulated one. In Fig. 19, section IV-A, the machine is set to its nominal speed without
the layout of the simulation is shown. load, resulting in the CM voltage spectrum plotted in Fig. 22.
As expected, the accuracy of the machines’s time domain It agrees with the measured voltage.
model is acceptable, as it can be seen in the current spectrum It can be seen that the model agrees accurately, except for
shown in Fig. 20. Therefore, the accuracy of the time domain some minimal resonances in the range of 800 kHz–1 MHz and
model of the machine is ensured, for further analysis of the around 2 MHz. As can be seen, the overall voltage spectrum
full drive. pattern agrees with the measurement, so the modulation patter
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 This article has been accepted for publication in IEEE Access. This is the author's version which has not been fully edited and
content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2024.3459641

Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

80 20
Measurement Measurement
60 Simulation Simulation
Voltage (dBµV)

Current (dBµA)
0
Background
40
Noise −20
20
0 −40

−20 −60
104 105 106 107 104 105 106 107
Frequency (Hz) Frequency (Hz)
FIGURE 22: Common mode voltage at converter output. FIGURE 24: Motor input CM current. Experimental vs. Sim-
Experimental vs. Simulation results. ulation results.

Finally, the current in the grid connection point is validated

is properly simulated. Thus, the mismatch in these points may in Fig. 25. As before, the overall spectrum agrees with the
be derived from the parasitics of the converter. measurement, despite the small resonances previously miss-
As expected, the voltage from 10 to 30 MHz is lower than ing in the motor input voltage, which are also missing in the
the measured one, due to the probe background noise men- final grid current. Moreover, the resonance at 20 MHz caused
tioned in the above sections. However, it must be remarked by the power cable parasitics is represented by the model,
that the current probe measurements are valid in the full EMC even if a bit overestimated. This higher peak value is due
frequency range, as their background noise is lower than the to the input to ground impedance (ZL1−g ) difference at that
measurements. frequency point.
In Fig. 23, the CM voltage at the motor terminals is de- It should be noted that the converter model considers the
picted. The overall tendency agrees with the measurement, parasitic impedances shown in Fig. 8, but the inner parasitics
even if the resonances at 1.5 and 3 MHz are slightly displaced. of each IGBT are not modelled, as it is not within the scope
These are the amplification of the slight differences in the of the present work.
CM voltage in the output of the converter due to the effect of
the cable. Moreover, the small peak at 5 MHz may be due to 20
Measurement
the slight underestimation of the impedance at the resonance
Simulation
Current (dBµA)

point of the CM impedance model of the cable. It should also 0

be noted that the voltage level is higher than in the converter
output because of the amplification introduced by the power −20
cable.
−40
80
Measurement
−60
60 Simulation
104 105 106 107
Voltage (dBµV)

Background Frequency (Hz)

40
Noise
20 FIGURE 25: Grid input CM current. Experimental vs. Simu-
0 lation results.

−20 This section showed that the full drive model agrees with
104 105 106 107 the overall measurement spectrum. In the next section, further
Frequency (Hz) analysis is made with the presented model in order to reduce
the CM current conducted to the grid.
FIGURE 23: Motor input CM voltage. Experimental vs. Sim- Interestingly, by analysing the CM current at the different
ulation results. points as shown in Fig. 21, the influence of each drive compo-
Then, in Fig. 24 the CM current of the motor is presented. nent can be appreciated. In Fig. 26, the different currents are
Overall, the simulation agrees with the measurement except compared. It can be seen that the output currents of the grid
for resonances from 1 to 5 MHz that had already been dis- and the converter are higher than the one at the motor input.
placed in the CM voltage analysed at motor terminals. Appar- This is due to parasitics in the power cable and the converter,
ently, this may be due to small inaccuracies in the converter which also generate current paths to the ground. For example,
and cable model because the motor model has been previously from 100 kHz to 2 MHz it looks like the mayor parasitic
precisely validated in Fig. 20. current flows from the power cable to ground due to the gap
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content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2024.3459641

Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

between the motor and the converter output current. The peak
Measurement
0

Current (dBµA)
around 20 MHz is interesting because it is not present in the Simulation
motor current but it is present in the converter output and the
grid, so it may be derived from the power cable’s parasitic −20
paths.
−40 Background
20 Noise
−60
Current (dBµA)

0 104 105 106 107

Frequency (Hz)
−20
FIGURE 28: Grid input CM current with filter. Experimental
Grid input
−40 Inverter Output
vs. Simulation Results.
Motor input
−60
104 105 106 107 in Fig. 29. It can be seen that the current without filter is
Frequency (Hz) outside the standard, which replicates the result reported by
the experimental measurements.
FIGURE 26: Measured CM current in different measuring
points. Measured without Filter Measured with Filter

100 Without Filter

Limit EN-12015
With Filter

3) Validation of the Full Drive Model with filter Voltage (dBµV)

In Fig. 27, the CM current for the motor is depicted using
the filtered drive model. Generally, the simulation results are 80
consistent with the actual measurements, with the exception
of some small resonances occurring between 1.5 to 5 MHz, 60
which are also observed in the CM current at the motor’s input
in the unfiltered model.
40
20
Measurement
106 107
Current (dBµA)

Simulation
0
Frequency (Hz)
−20
FIGURE 29: Grid input CM current comparison with or
−40 without EMC filter. Measurement vs. Simulation results.

−60 V. CONCLUSIONS
4 5 6 7
10 10 10 10 In the literature, the analysis of a full electric drive typi-
Frequency (Hz) cally involves the use of machine models that are lumped
parameter networks. These models rely on parameters fitted
FIGURE 27: Common mode currents on the Motor. Experi- from experimental measurements, not allowing for predictive
mental vs. Simulation Results. capabilities during the design stage of the machine.
In contrast, this study experimentally validates a full-drive
In Fig. 28 the CM current delivered to the grid is plotted. model utilising motor impedance data derived from FEM
Similarly to earlier observations, the complete spectrum is simulations. This data has been fitted to a lumped-parameter
consistent with the measurements, although it lacks the minor model via a basic genetic algorithm, demonstrating a signifi-
resonances that are absent in the motor input voltage and cant agreement with experimental data.
are not observed in the final grid current either. It should be The inverter and cable models employed are based on
noted that the difference between the measurement and the impedance measurements, despite the primary focus of the
simulation from 10 to 150 kHz is due to the background noise research is the electric motor. Nevertheless, the accuracy
of the current probe, as mentioned in Fig. 2b. In any case, achieved for the full simulation is deemed sufficient.
it is important to emphasise that this frequency range, as it The developed full-drive model is beneficial for examining
is below 150 kHz, is outside the frequency range defined by the high-frequency behaviour of the overall system as the
standards for conducted EMI. motor’s impedance changes. This highlights its crucial role
Finally, the current in the input of the grid is illustrated in the design process of electric drives. The model indicates
in dBµV to check the standard limit of EMC emission. The that motor impedance influences the full drive common-mode
simulation with a filter is compared to the one without it current, albeit within certain frequency ranges. In the anal-
10 VOLUME 11, 2023

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content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2024.3459641

Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

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content may change prior to final publication. Citation information: DOI 10.1109/ACCESS.2024.3459641

Y. Moreno et al.: EMI Simulation of PMSM Motor Drive Systems

YERAI MORENO was born in Irún, Spain, in

1996. He received his B.Sc. degree in electrical
engineering from the University of the Basque
Country, Spain, in 2018 and his M.S. degree in
industrial engineering from Mondragon Uniber-
stitatea, Spain, in 2020. Since 2018, he has been
with the Electronics and Computing Department,
Mondragon Unibertsitatea, where he is currently
pursuing his PhD. His current research interests
include electrical machine design and EMC opti-
misation of electrical drives.
GAIZKA ALMANDOZ (M’04) was born in
Arantza, Spain. He received the B.Sc. and PhD
degrees in electrical engineering from Mondragon
Unibertsitatea, Mondragón, Spain, in 2003 and
2008, respectively. Since 2003, he has been with
the Electronics and Computing Department, Mon-
dragon Unibertsitatea, where he is currently an
Associate Professor. His current research interests
include electrical machine design, modelling, and
control. He has participated in various research
projects in the fields of electric energy generation and electric traction
systems.
ARITZ EGEA received the degree in electrical
engineering from the University of Mondragon,
Mondragón, Spain, in 2009, and the PhD degree in
electrical engineering in 2012. He is currently an
Associate Professor at the Faculty of Engineering,
Mondragon Unibertsitatea. His current research in-
terests include electrical machine design and con-
trol and electromagnetic actuators.

IMANOL EGUREN was born in Anoeta, Basque

Country, Spain, in 1993. He received a B.S. degree
in electronics engineering and the Ph.D. degree in
applied engineering from Mondragon Unibertsi-
tatea, Mondragón, Spain, in 2015 and in 2022, re-
spectively. He is now a researcher and lecturer for
Mondragon Unibertsitatea. His current research
interests include design, control, and optimisation
of electrical machines.

ANDER URDANGARIN was born in Ordizia.

Spain, in February 1982. He received his B.Sc. de-
gree in Automatic and Industrial Electronics from
Mondragon Unibertsitatea, Mondragón, Spain, in
2009. Between 2010 and 2012, he was with the
Department of Electronics of Mondragon Unib-
ertsitatea. Since 2012, he has been a member of
ORONA. His current research interests include
power electronics design, modelling, and control.

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