Common-Mode Voltage Reduction for Regenerative AC Drives

Rangarajan M. Tallam#, Carlos D. Rodríguez Valdez*, Russel J. Kerkman#, Gary L. Skibinski# and Richard A. Lukaszewski#
#
Rockwell Automation, Drives Business, 6400 W. Enterprise Drive, Mequon WI 53092
Ph: 262-512-8314, Fax: 262-512-8300, Email: [email protected]
*
Radyne, 211 W. Boden Street, Milwaukee WI 53207
Ph: 414-481-8360, Fax: 414-481-8303, Email: [email protected]

Abstract— When the conventional space vector PWM the DC bus to ground voltages may be very high and can
(SVPWM) schemes are applied to regenerative AC drives, cause insulation failure of various components within the
very high neutral to ground voltages are generated at the drive, such as insulation of transformers in switched-mode
motor. This can result in premature failure of the motor power supplies and printed circuit boards.
bearings and stator winding insulation to ground. The DC bus A common solution to mitigate common-mode, reflected
to ground voltage may also be elevated to very high levels, wave and associated issues is to add filters at the output of the
resulting in failure of various components within the drive. drive. There are several types of filters used – L-R filters, sine-
Popular methods to mitigate these issues include wave filters, and common-mode filters with output neutral
synchronization of the carrier wave between the rectifier and connected to the mid-point of the DC link [2-5]. Snubbers may
inverter and filters at the output of the drive. While be added to reduce the peak DC bus to ground voltage. Filters
synchronization cannot be achieved in all applications and are bulky, large in size and generally not used unless the
presents significant design trade-offs, filters are bulky, motor cables are very long.
expensive and may not address all issues. In this paper, CMV and CMC reduction PWM schemes [6-
In this paper, common-mode voltage (CMV) and common- 10] are investigated for their application to fully regenerative
mode current (CMC) reduction PWM schemes are AC drives. It is shown that the CMV can be significantly
investigated for their application to regenerative AC drives. It reduced without affecting the performance of the drive, and
is shown that the CMV can be significantly reduced without without the need for PWM synchronization. These results are
PWM carrier synchronization, and without affecting the demonstrated with experimental tests.
performance of the drive.

Keywords— PWM, regenerative AC drives, common-mode voltage,

common-mode current, carrier synchronization

I. INTRODUCTION
The schematic of a fully regenerative PWM AC drive is
shown in Fig. 1. Both rectifier and inverter devices are Fig. 1. Schematic of a regenerative AC motor drive.
switched using conventional SVPWM methods. The CMV
generated by various combinations of rectifier and inverter
switching states is shown in Table I. The peak CMV at the Table I. CMV generated by a regenerative AC drive, normalized to
motor terminals equals the DC bus voltage and occurs when DC bus voltage.
the rectifier and inverter are in complimentary zero states.
This is twice the CMV generated by a non-regenerative drive 1,3,5 2,4,6 7 8
and causes significant stress on the stator winding insulation to 1,3,5 0 0.33 0.67 -0.33
ground and the motor bearings. 2,4,6 -0.33 0 0.33 -0.67
With PWM synchronization between the rectifier and 7 -0.67 -0.33 0 -1
inverter [1], the peak CMV drops to 67% of the DC bus 8 0.33 0.67 1 0
voltage. To reduce the size of the AC line filter, the rectifier
must be switched at high PWM frequency. It is preferred to II. COMMON-MODE VOLTAGE AND COMMON-MODE CURRENT
switch the inverter at low PWM frequency to avoid de-rating REDUCTION PWM SCHEMES
at low modulation index. Hence, the need for synchronization
presents a design trade-off between size and drive rating. In Of the eight switching states of a two-level converter shown
applications where several inverters are fed from a common in Fig. 2, the six active states generate CMV equal to 16% of
DC bus, synchronization of PWM may not be possible to the DC bus voltage, while the zero states generate CMV equal
implement. to 50% of the DC bus voltage. In conventional SVPWM, the
In a non-regenerative AC drive, capacitors are added from commanded voltage vector is synthesized using two active
DC bus to ground for compliance to electro-magnetic vectors and the zero vectors.
compatibility (EMC) standards, which also help to prevent In CMV reduction PWM schemes [6-8], the zero vectors are
oscillations in the DC bus to ground voltage. On regenerative not used. Thus, the peak CMV is limited to 16% of the DC bus
drives, these capacitors cannot be installed as it causes a large voltage. In the CMV reduction continuous PWM scheme
ground current on an AC feed with grounded neutral. Hence, (CMVR CPWM) [6, 8], two oppositely directed active vectors
are used to generate the zero vector. At low modulation index,

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 this scheme results in increased high frequency ripple in the A. Implementation of CMVR DPWM
motor currents and the DC link capacitor current. Moreover, to The implementation of CMVR DPWM reported by Un [7]
prevent the double pulsing phenomenon that would result in used two triangular carrier waves to generate the switching
high peak transient overvoltage at the motor terminals, the signals. By using the AH and AL switching logic, CMVR
pulse pattern must be compensated, particularly at low DPWM can be implemented using a single carrier wave. The
modulation index, which further increases the line-line voltage switching logic is shown in Fig. 4 for one arbitrary sector in
distortion at sub-harmonics of the carrier frequency [8]. The which the duty cycle of phase u is clamped to 1.
logic to generate the switching signals for one implementation In every sector, one of the phase duty cycles is clamped
of the method, which uses a single carrier wave, is shown in alternately to the maximum value of 1 or the minimum value
Fig. 3 [8]. Here, active high (AH) refers to the switching logic of 0, similar to conventional DPWM. The switching signals
in which the upper switch in a phase leg is turned on when the for the phases with the two highest duty cycles are not
modulating wave is greater in amplitude than the carrier wave. modified from conventional DPWM. The modulating wave
3 2 with minimum duty cycle is modified (w in Fig. 4 is modified
010 110 to create 1-w) and AL switching logic is applied to that phase.

7
4 111 1
011 100
000
8

001 101
5 6

Fig. 2. Switching states of a 2-level converter.

In the CMV reduction discontinuous PWM scheme (CMVR

DPWM) [7], three adjacent active vectors are used to
synthesize the commanded voltage vector. The minimum
modulation index for this method is 0.61 (modulation index of
1 corresponds to square wave mode). When applied to
inverters, this scheme is suitable for operation at high
modulation index, where the traditional DPWM schemes [11]
that use the zero vectors would otherwise be used.

Fig. 4. Generation of switching signals for CMVR DPWM

scheme using a single triangular carrier wave.

When the modulation index is below 0.61, the switching

signals become identical to conventional DPWM.
It is also important to note that the use of AL switching logic
requires a modification to the dead time compensation
scheme. Typically dead time compensation is implemented on
a pulse by pulse basis; based on AL or AH switching logic, the
polarity of the compensating term must be adjusted as follows,
where Td is the dead time, TPWM is the PWM carrier period,
and x = u, v or w represents the modulating wave.

Td
x ' = x − sgn(ix ) AL switching
TPWM
(1)
' T
x = x + sgn(ix ) d AH switching
Fig. 3. Generation of switching signals for CMVR CPWM TPWM
scheme [8] (AH = active high, AL = active low).

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 The adjustment for volt-second error due to the dead time C. PWM schemes for regenerative AC drives
effect is shown in Fig. 5. In a regenerative AC drive, both the rectifier and inverter
are typically switched using conventional SVPWM. As shown
in Table I, this can generate CMV equal to twice the value of a
non-regenerative drive, which can cause premature failure of
motor bearings and stator insulation to ground. A commonly
used technique to lower CMV is to synchronize the rectifier
and inverter PWM. This prevents the switching of opposite
zero vectors in the rectifier and inverter, thus reducing the
peak CMV to 67% of DC bus voltage. In a modified method
presented by Lee [14], certain switching instants in the
rectifier and inverter are also aligned to further reduce CMV
and the number of switching transitions; however, spikes in
the CMV will occur at switching transitions considering dead
time effects.
It is beneficial to switch the rectifier at high PWM carrier
frequency, to reduce the size of the AC line filter. The line
filters are required for the AC drive to be in compliance with
harmonics standards such as IEEE 519-1992 [12]. DPWM is
recommended to reduce the switching power losses of the
rectifier. Typically, the rectifier operates from a fixed voltage
source; hence, the modulation index is high and nearly
Fig. 5. Single-edge dead-time compensation with active low (AL) constant. Therefore, the CMVR DPWM scheme can be used
switching logic. for the rectifier.
On the other hand, it is desirable to run the inverter at low
PWM carrier frequency, particularly at low modulation index
B. Common-mode current reduction PWM scheme [13]. This helps to reduce the peak inverter power device
The CMC reduction PWM scheme (CMCR CPWM) [9] is temperature. Operation at high PWM carrier frequency and
a modification to the conventional SVPWM scheme at low low modulation index not only requires a reduction in the
modulation index to prevent near simultaneous switching on rating of the drive but also reduces the life time of the power
all three phases, as shown in Fig. 6. This is achieved by modules due to significant power cycling.
enforcing a certain minimum dwell time on the active states Hence, if the PWM carrier waves of the rectifier and
in each PWM period, and the resulting duty cycle error is inverter are synchronized, it presents a design trade-off
compensated in subsequent PWM periods. With the between rating and size of the AC drive.
switching instants spaced out, the CMC pulses are not If the rectifier is switched using CMVR DPWM and the
reinforced, thus reducing the peak CMC and associated inverter is switched using conventional SVPWM, the total
issues, such as peak DC link to ground voltage and pump-up CMV is reduced to 67% of the DC bus voltage, even without
of DC bus voltage at very low modulation index [9]. PWM synchronization. If CMVR PWM is applied to the
However, the peak CMV is the same as conventional inverter as well, then the total CMV can be reduced to 33% of
SVPWM and equal to 50% of the DC bus voltage. DC bus voltage, which is even lower than the CMV of a non-
regenerative drive.
Carrier At very low modulation index, the CMVR CPWM scheme
cannot be applied to the inverter due to the distortion created
max in the line-line voltages and line currents. However, the
mid CMCR PWM scheme can be used to reduce peak CMC in this
min
Modulating region. At higher modulation index (less than 0.61), CMVR
Signals CPWM scheme can be applied, and then, for modulation index
exceeding 0.61, the CMVR DPWM scheme can be applied.
This would be the recommended PWM scheme for the
regenerative AC drive to optimize drive cost, size and
performance.
A summary of the CMV generated by the combination of
the various PWM schemes, and their advantages and
VCM_Inv limitations is provided in Table II below.
In the following sections, simulation and experimental
CM dwell time results are presented to demonstrate the advantages of CMV
reduction methods for regenerative AC drives, while also
showing that there is no deterioration in drive performance.
Fig. 6. CMCR PWM scheme with minimum dwell time enforced [9].

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 Table II. Peak CMV generated by a regenerative AC drive. 60
40
20

CMC (A)
Peak CMV at motor 0
Drive Rectifier PWM Inverter PWM
normalized to DC bus -20
-40
SVPWM 0.5
Non-regenerative 6-pulse -60
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.15
CMV reduction 0.16
1 (without sync) 60
SVPWM SVPWM
0.67 (with sync) 40
Regenerative 20
CMV reduction SVPWM 0.67

CMC (A)
0
CMV reduction CMV reduction 0.33 -20
-40

III. SIMULATION RESULTS -60

0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.15

A simulation model of a 480V, 100 hp regenerative AC 60

40
drive was constructed to demonstrate the CMV reduction 20

CMC (A)
PWM schemes. Models for the different PWM schemes were 0
-20
developed and include reflected wave compensation, dead- -40

time compensation and duty cycle error compensation for the -60
0.1 0.105 0.11 0.115 0.12 0.125
Time (s)
0.13 0.135 0.14 0.145 0.15

CMV reduction methods. A high-frequency motor model was

developed from the measured DM and CM impedance of a
Fig. 8. Simulation results: CMC at the drive output for very low
460V, 100hp motor [15]. A transmission line model was used inverter modulation index.
for the cable (1AWG, 200 feet, shielded cable). The rectifier
(Top: SVPWM for rectifier and inverter, Middle: CMVR DPWM for
and inverter PWM carrier frequencies were set to 4kHz and rectifier, CMCR CPWM for inverter, Bottom: CMVR DPWM for rectifier and
2kHz respectively. CMVR CPWM for inverter)
The following combinations of PWM schemes were
simulated – (a) SVPWM without synchronization for both Waveforms of the rectifier line current are shown in Fig. 9
rectifier and inverter, (b) CMVR DPWM for rectifier and for the SVPWM and CMVR DPWM schemes. A typical LCL
CMCR CPWM for inverter, and (c) CMVR DPWM for type line filter was used in the simulations. Both waveforms
rectifier and CMVR CPWM for inverter. have nearly identical harmonic content and THD.
The CMV at the motor terminals is shown in Fig. 7 for the 3
combinations of PWM schemes. The reduction in CMV with 200

the CMVR PWM schemes is evident.

The CMC at the drive output is shown in Fig. 8 for very low 100
Line current (A)

inverter modulation index. Again, the reduction in peak CMC 0

is obvious for the CMVR PWM schemes because of the

inherent spacing between switching transitions, required to -100

control transient motor overvoltage due to reflected waves [8], -200

0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
which prevents reinforcement of the CMC pulses. This is also
the case for CMCR CPWM, where the switching transitions
200
are spaced [9].
100
Line current (A)

2000

0
Motor CMV (V)

1000

0
-100
-1000

-2000 -200
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.1 5 0.2 0.205 0.21 0.215 0.22 0.225 0.23 0.235 0.24 0.245 0.25
Time (s)

2000
Motor CMV (V)

1000
Fig. 9. Simulation results: Drive input line current at rated output
0
power.
-1000

-2000
(Top: SVPWM for rectifier and inverter, Bottom: CMVR DPWM for rectifier
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.1 5 and CMVR CPWM for inverter)
2000

The DC bus to ground voltage for the different

Motor CMV (V)

1000

0 combinations of PWM schemes, at very low modulation index

-1000 for the inverter, is shown in Fig. 10. A significant reduction is
-2000
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.1 5 achieved by the use of CMVR and CMCR PWM schemes.
Time (s)

Fig. 7. Simulation results: CMV at the motor terminals.

(Top: SVPWM for rectifier and inverter, Middle: CMVR DPWM for rectifier,
CMCR CPWM for inverter, Bottom: CMVR DPWM for rectifier and CMVR
CPWM for inverter)

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 with lesser damping than the one used for the tests, the
DC bus to GND voltage (V)

1000

500 differences will be significant.

0

-500
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.15
DC bus to GND voltage (V)

1000

500

-500
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.15
DC bus to GND voltage (V)

1000

500

-500
0.1 0.105 0.11 0.115 0.12 0.125 0.13 0.135 0.14 0.145 0.15
Time (s)

Fig. 10. Simulation results: DC bus to ground voltage at very low

inverter modulation index.
(Top: SVPWM for rectifier and inverter, Middle: CMVR DPWM for rectifier,
CMCR CPWM for inverter, Bottom: CMVR DPWM for rectifier and CMVR
CPWM for inverter)

IV. EXPERIMENTAL RESULTS

Experimental tests were conducted on a 480VAC, 5.5kW,
10A regenerative AC drive running a 5.5kW motor with 100
feet of 10AWG shielded cable. Only an inductor was used for
the AC line filter. The DC bus voltage is regulated by the
active rectifier to be 715VDC.
The following combinations of PWM schemes were tested –
(a) SVPWM without synchronization for both rectifier and
inverter, (b) CMVR DPWM for rectifier and SVPWM for
inverter, (c) CMVR DPWM for rectifier and CMCR CPWM
for inverter, and (d) CMVR DPWM for rectifier and CMVR Fig. 11. Experimental results: CMV generated by regenerative drive
CPWM for inverter. In all instances, the rectifier and inverter (350V/div, 10ms/div)
PWM carrier frequencies were set to be 4kHz and 2kHz (From the top: (a) SVPWM for rectifier and inverter, (b) CMVR DPWM for
respectively. rectifier, SVPWM for inverter, (c) CMVR DPWM for rectifier, CMCR
The total CMV generated by the AC drive was measured CPWM for inverter, (d) CMVR DPWM for rectifier and CMVR CPWM for
between two virtual neutral points – one at the output of the inverter)
inverter bridge and the other at the input to the rectifier bridge
– created using resistor networks. The waveforms for the
CMV of the four different schemes above are shown in Fig.
11. Clearly, method (d) has 33% of the CMV of method (a),
while method (b) has the same CMV as SVPWM with carrier
synchronization.
The PWM line-line voltage at the rectifier input terminals is
shown in Fig. 12 for SVPWM and CMVR DPWM. The
increased distortion in the line-line voltage is evident.
However, the distortion is at high frequency and related to the
PWM carrier frequency. It does not create low frequency
distortion and does not affect the quality of the rectifier line
currents or rectifier performance.
Waveforms of CMC at the drive output with the different
PWM schemes are shown in Fig. 13, for the inverter running
at 0Hz. The peak and RMS values of CMC are listed in Table
III. The reduction in CMC with the CMVR and CMCR PWM Fig. 12. Experimental results: Rectifier line-line voltage waveforms.
schemes is appreciable. For larger drive systems and cables (350V/div, 10ms/div)
(Top: SVPWM, Bottom: CMVR DPWM)

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 tests. This is not a characteristic of the CMVR PWM scheme,
as is clear from the simulation results of Fig. 9.
However, there is a slight increase in line current distortion
at PWM carrier frequency with CMVR PWM. For a typical
regenerative drive, the high frequency components would be
filtered by a LCL type filter and would not be observed on the
AC line. The design of the line filter should take into account
any increase in distortion at high frequency caused by the
CMVR PWM scheme.

Fig. 13. Experimental Results: CMC waveforms measured at the

output of the inverter (5A/div, 10ms/div).

(Top: (a) SVPWM for rectifier and inverter, Middle: (b) CMVR DPWM
for rectifier, CMCR CPWM for inverter, Bottom: (c) CMVR DPWM for
rectifier and CMVR CPWM for inverter)

Table III. Peak and RMS values of drive output CMC at 0Hz inverter
output frequency.

Common-Mode Current (A)

Rectifier PWM Inverter PWM
Peak RMS
SVPWM SVPWM 9.4 1.75
CMVR DPWM SVPWM 6.9 1.45
CMVR DPWM CMCR CPWM 7.2 1.16
CMVR DPWM CMVR CPWM 6.1 1.27

The DC bus to ground voltage for the different PWM

schemes is shown in Fig. 14. These waveforms were obtained
for 0Hz inverter output frequency, as this represents the worst
case [9]. It can be seen that a very significant reduction is Fig. 14. Experimental Results: DC bus to ground voltage at 0Hz
possible with the recommended PWM scheme i.e. CMVR inverter output frequency (500V/div, 10ms/div).
DPWM for the rectifier and CMCR CPWM for the inverter. (From the top: (a) SVPWM for rectifier and inverter, (b) CMVR DPWM for
The rectifier line current waveforms for SVPWM and rectifier, SVPWM for inverter, (c) CMVR DPWM for rectifier, CMCR
CMVR DPWM schemes are shown in Fig. 15. Their CPWM for inverter, (d) CMVR DPWM for rectifier and CMVR CPWM for
inverter)
frequency spectra are shown in Fig. 16. The inverter PWM
scheme has negligible influence on the line current waveform.
It has been thoroughly established in previous work [8] that
It can be observed that the CMVR PWM scheme does not
the CMVR CPWM scheme does not affect the quality of
cause any low frequency distortion that would affect the
motor control in the mid-to-high modulation index range. At
performance of the regenerative AC drive.
very low modulation index, CMCR CPWM [9] can be applied,
It must be noted that the distortion seen in the line current
with very little distortion in the output line-line voltages and
waveform of Fig. 15 with CMVR PWM is due only to the
line currents.
limitations in the implementation of AH and AL switching
In the simulation and experimental results presented here, it
logic, in the PWM waveform generation hardware used for the
has been shown that the CMVR DPWM scheme can be

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 applied to the rectifier with negligible impact on the quality of A commonly used method to reduce CMV is
the line currents and performance of the rectifier. synchronization of the carrier frequencies between the rectifier
Thus, the CMVR and CMCR PWM schemes can be applied and inverter; however, this presents design trade-offs between
to a regenerative AC drive, without the need for PWM drive size, cost and rating. Moreover, when several drives are
synchronization, and with significant reduction of total CMV, fed from a common DC bus supply created by a regenerative
drive output CMC and DC bus to ground voltage. rectifier, synchronization may not be possible. Drive output
filters to mitigate these issues are generally bulky, expensive
and may not adequately mitigate all issues.
15

In this paper, the applicability of CMVR and CMCR PWM

10

schemes to regenerative AC drives has been investigated. It

5

-5
has been shown through simulation analysis and experimental
-10
testing that the CMV of regenerative AC drives can be
-15
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05
reduced without PWM synchronization. In addition, peak
CMC and DC bus to ground voltage can be significantly
15
reduced as well. Furthermore, there is negligible impact on the
10
quality of motor control and on the AC line current
5 waveforms.
0 The recommended PWM scheme for the rectifier is CMVR
-5 DPWM, so that a high carrier frequency can be used to reduce
-10
the size of the line filter while also minimizing switching
-15
0 0.005 0.01 0.015 0.02
Ti
0.025
( )
0.03 0.035 0.04 0.045 0.05 losses. For the inverter, the CMCR CPWM scheme is
preferred at very low modulation index to minimize output
Fig. 15. Experimental Results: Drive input line current at rated output voltage and current distortion. At mid-to-high modulation
power (5A/div, 5ms/div). index, CMVR CPWM scheme should be used, while the
CMVR DPWM scheme may be used at high modulation index
(Top: SVPWM for rectifier and inverter, Bottom: CMVR DPWM for rectifier
and CMVR CPWM for inverter) to lower switching losses.
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