New circuital models of grounding systems and PDS

for EMI analysis during a lightning strike

Vittorio Cecconi Antonino Matranga Antonella Ragusa

Full Professor at the Department of External collaborator of the Department of PhD Student at the Department of
Electrical, Electronic and Electrical, Electronic and Electrical, Electronic and
Telecommunication Engineering Telecommunication Engineering Telecommunication Engineering
University of Palermo University of Palermo University of Palermo
Viale delle Scienze Viale delle Scienze Viale delle Scienze
Palermo, 90128, ITALY Palermo, 90128, ITALY Palermo, 90128, ITALY
[email protected] [email protected] [email protected]

Abstract - In this paper circuital models of a Power Drive voltage distribution in a long horizontal grounding electrode
System (PDS) and of grounding systems are proposed in and in a grounding grid when a lightning strike occurs.
order to analyse Electromagnetic Interferences (EMI) The developed circuital models are implemented using the
induced in a PDS when a lightning current flows in the software MATLAB and are validated comparing simulation
grounding system. The models have been developed
results with the results obtained with the more rigorous
adopting the network approach with lumped parameters
and have been implemented using the software MATLAB. models developed by Yaqing Liu, Zitnik and Thottappillil in
A High Frequency (HF) model suitable to simulate the [1], using the TLM (Transmission Line Method) method and
impulse response of a PDS is described and a generalized Grcev in [2,3] using the electromagnetic field method.
method in order to calculate the lumped parameters values The models are simpler than the models realized with the
of grounding system models is presented. The new method TLM and the electromagnetic field methods, they require a
takes into account the burial depth of electrodes as regards shorter computational time and minor cost because an on sale
their length. The validation results of this new method are commercial software for network simulation can be used.
presented. It has been made comparing simulation results The developed grounding systems models permit to analyse
with the ones obtained with the more rigorous models
EMI in installations earthed to the same grounding system,
developed by Yaqing Liu et al. in [1] and by Grcev in [2, 3]
using, respectively, the Transmission Line Method (TLM) for example the electromagnetic interferences in a PDS
and electromagnetic field method. The grounding systems (Power Drive System) with the motor case and the converter
developed circuital models are simpler than those realized case earthed in a point of the grounding system and the
with the TLM and the electromagnetic field methods, they neutral of the transformer, that supplies the PDS, earthed in
require a shorter computational time and a minor cost another point of the same grounding system. During a
because an on sale software for network simulation can be lightning strike these two points can have different potentials
used. These characteristics permit to combine the and this produces interferences that can flow into the PDS
grounding system model with the PDS HF circuital model, through:
obtaining an only model that permits to analyse EMI
- stray capacitances between the motor case and the motor
generated in every section of the drive during a lightning
strike giving only the waveform of the lightning current in windings;
time domain. as input of the model. - the distributed stray capacitances through earth of the
motor supply lines;
I. INTRODUCTION - the stray capacitances between the converter devices and
the converter heat sink, connected to the grounding
During a lightning strike a large impulse current can system.
flow in the grounding systems causing a large transient These electromagnetic disturbances, that may propagate also
voltage along the buried electrode. The induced voltage by radiation, can cause lifetime reduction of the motor,
and current surge can generate, in the electric and interferences with the control system of the PDS, with
electronic apparatus connected to the grounding systems, communication systems and with other electronic devices
ElectroMagnetic Interferences (EMI) and these can placed near the drive.
cause malfunctions, operation errors, destructions of In order to analyse the propagation of electromagnetic
electronic equipments and so on; moreover transient step disturbances in a PDS when a lightning current flows in its
and touch voltages, dangerous for people, can arise. grounding system, a High Frequency (HF) model of an
For all these reasons the study of the grounding systems electrical induction machine and of an electronic power
excited by a high impulse current due to a lightning converter of a PDS are presented. The HF models of
strike is useful both for the design and for the verify of induction machines and converters proposed in literature are
the systems also to practical aims. above all circuital models with lumped parameters that take
A lot of analytical and numerical models are proposed in into account the parasitic linkages between points of the
literature in order to analyse the grounding systems systems at different potentials [11-14].
during a lightning strike[1-10]. They are mainly based In this paper a HF model of an induction electrical motor is
on two analytical methods: the transmission line method presented following the approach proposed by Metwally in
and the electromagnetic field method. [15] for the simulation of the impulse response of AC
This work presents two simplified circuital models machines. Moreover a HF model of the cable between the
suitable to analyse, in time and spatial domain, the power converter and the motor is considered.

0-7803-9252-3/05/$20.00 ©2005 IEEE 1726

 II. CIRCUITAL MODELS OF GROUNDING the permittivity, the permeability and the conductivity of the
SYSTEMS propagation medium and β1 e β2 are, respectively, the
AND OBTAINED RESULTS attenuation constant and phase constant. So the wave length λ
is obtained by the relation:
A. Description of the method
2π (2)
λ =
Three basic analytical approaches can be used to model β 2
grounding systems excited by a high impulse current due
to a lightning strike. They are: The longitudinal resistance R of an elementary cell is
- the network approach that models the grounding determined by the well known formula R= (ρCU · l)/S where
systems using equivalent π-circuits formed by lumped R-
ρCU =(0,0172 ⋅ 10 −6 Ωm ) is the copper resistivity, and S the
L-C elements[4];
section of the conductor.
- the transmission line approach that models the
When it is possible to neglect the buried depth, d, in respect
grounding systems adopting the travelling wave
of the electrode length (l>>d), the parameters L, G and C,
technique pioneered by Bergeron. This approach makes
can be calculated by Sunde formulas[12]:
fewer approximations than the network approach but
requires a major computational time[1,5]; µ l  2l 
L = 0 ⋅ ln − 1 ; (3.1)
- the electromagnetic field approach that is the most 2π  2 rd 
rigorous analytical approach; it is based on the theorems
of electromagnetism and applies the full set of (3.2)
πε 0 ε r l
Maxwell’s equations solved with numerical methods C=
(such as FEM [6,7], FTDT[8], MoM[9,10], etc). This  2l 
ln  − 1 
approach uses minimum approximations but it is  2 rd 
computationally too complex and, solving the problems
in frequency domain, it is not easy to combine the
⇒ R E = ρ ⋅ ln 2l − 1 (3.3)
−1
πl   2l 
G =  ln  − 1 
πl  2rd 
grounding system models with other components of the
same system that are modelled in time domain. ρ   2 rd  
The models of the two grounding systems, proposed in
this work, have been developed using the network where RE is the ground resistance, r is the radius of the
approach. The developed models take into account the electrode and ε0, εr, and µ0 are, respectively, the permittivity
burial depth of electrodes as regard their length, on the of the vacuum, the relative permittivity of the medium and
contrary the frequency dependence of the lumped the permeability of the vacuum.
circuital parameters is not considered because the skin If the condition l>>d is not valid Sunde’s formulas are not
effect is negligible when the electrode is excited by an valid. In this case lumped parameters L, G and C, can be
impulse current as explained in [16]. calculated using the formulas[13]:
The proposed models have been validated comparing
results with those obtained by Yaqing, Grcev et. al. in µ 0 l  2l l 2d d 2 1 d 4 
[1,2,3], then the same working conditions have been L= ⋅ ln + ln − 2 + − 2 + ⋅ 4 + ... (4.1)
4π  r d l l 2 l 
adopted here: the surge current is assumed to be injected
directly to the grounding electrode and the other
conducting structures of a lightning protection system
(LPS), i.e. air-termination and down conductors of the 2πε 0 ε r l (4.2)
C=
LPS, are not considered.  2l l 2d d 2 1 d 4 
ln
 r + ln − 2 + − 2 + ⋅ 4 + ...
Circuital models have been developed dividing the  d l l 2 l 
grounding electrodes in elementary segments of the
same length, l, each of them is modelled by a π-circuit
cell with lumped R, L, G, C parameters, where R and L
ρ  2l l 2d d 2 1 d 4  (4.3)
are the longitudinal resistance and inductance and G and RE = ⋅ ln + ln − 2 + − 2 + ⋅ 4 + ...
C are the transversal conductance and capacitance. 2πl  r d l l 2 l 
The length l of the elementary segment is chosen in
order to respect the condition of “electrically small”: Formulas (4) are of a more general application, in fact in the
l<λ/10, where λ is the wave length at the maximum condition of l>>d these formulas give the same results as
frequency of interest. As regard lightning current it is Sunde’s formulas.
known that its frequency spectrum has a range with a This is shown in fig. 1 where the value of the ground
superior limit as high as 10 MHz. resistance RE is calculated at different values of electrode
For an electromagnetic wave propagating in a medium length.
with loss, the expression of propagation constant is: Using the methodology explained before, for defined soil and
electrodes characteristics, circuital models of a long
γˆ = jωµ ⋅ ( σ + jωε ) = β1 + jβ 2 (1) horizontal grounding electrode and of a grounding grid,
reported in fig. 2, have been developed.
where ω=2πfx is the angular pulsation at the maximum
frequency fx, the parameters ε, µ and σ are, respectively,

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 180 In table 1 the values of the R-L-C-G lumped parameters,
160 calculated with the formulas (4), for the long horizontal
formula (4.3) electrode are reported [18, 19].
140
Sunde's formula
120
RE[Ohm]

100
Table 1. R-L-C-RE parameters of horizontal electrode.
Ω
80
60
RE 391
40 L 0,3 µH
20 C 23,27 pF
0
R 11 µΩ
0,5 0,667 0,833 1,25 1,667 2,5 5 10
meter[m]
C. Circuital model of a grounding grid
Fig. 1 - Ground resistance versus electrode length.

The studied grid electrode is a 4-meshe grid with dimensions

of 12mx12m, made of copper conductors of r=7mm radius
and it is buried at a depth of d = 0,6m in a soil with ρ = 100
Ωm, εr = 36 and µr = 1. The electrode is excited, in point A of
fig.2, by a lightning current:
i2(t) = 10·(e-14300t – e-5400000t) kA.
For the grid electrode the propagation constant has the value:

γˆ = j 2π ⋅ f x µ 0 µ r ( σ + j 2π ⋅ f x ε 0ε r ) ⇒

⇒ j 2π ⋅10 7 ⋅1,256 ⋅ 10 − 6 ⋅1 ⋅ (0 ,01 + j ⋅ 2π ⋅10 7 ⋅ 8,854 ⋅10 −12 ⋅ 36 ) =

Fig. 2 a) Long horizontal electrode; b) grounding grid. = 0 ,3 + j1,3

The phase constant β2 is equal to 1,3 rad/m so the wave

length has the value:
B. Circuital model of a long horizontal grounding
electrode 2π
λ= = 4,83m
1,3
The studied horizontal electrode has a length L = 15 m
and a radius r = 12mm; it is buried at a depth d = 0,6m so the length, l, of an elementary cell is chosen:
in a soil with ρ = 70 Ωm, εr =15 and µr = 1.
It is excited, in the point reported in fig. 2, by the λ
lightning current: i1(t) = 36,5·(e-50000t – e-5000000t) A. l = 0,24m < = 0,483m
10
For the horizontal electrode the propagation constant has
the value:
So every side of the grid, of L=12 m length, is divided in
elementary segments of l=0,24m length and, like the
γˆ = j 2π ⋅ f x µ 0 µ r ( σ + j 2π ⋅ f xε 0ε r ) ⇒ horizontal electrode, every segment is modelled with a π-
circuit with lumped parameters.
⇒ j 2π ⋅ 10 7 ⋅1,256 ⋅ 10 −6 ⋅ 1 ⋅ (0,0143 + j ⋅ 2π ⋅ 10 7 ⋅ 8,854 ⋅ 10 −12 ⋅15) = In table 2 the values of the R-L-C-G lumped parameters,
calculated with the formulas (4), for the grounding grid are
= 0 ,57 + j
reported[18, 19].

The phase constant β2 is equal to 1 rad/m so the wave

length has a value: Table 2. R-L-C-RE parameters of grounding grid.
RE 1300 Ω
λ=
2π
= 6,28m L 0,47 µH
1 C 25 pF

so the length, l, of an elementary cell is chosen: R 27 µΩ

λ D. The Validation results of the method [20]
l = 0, 29m < = 0,628m
10
The circuital models of the grounding systems described
As a consequence the horizontal electrode is divided in before have been implemented using the software MATLAB
elementary segments of length l=0,29m and every and the simulation results have been compared with the
segment is modelled with a π-circuit with lumped results obtained by Yaqing, Grcev et. al. in [1,2,3] in order to
parameters. validate the proposed method.

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In particular, the comparing has been made among between the motor winding and parts of the machine
transient voltage peak values: the transient voltage peak connected to ground. The values of the circuital parameters
values in three different points of the horizontal are calculated by experimental investigations setting up
electrode at three different distances (x) from the variable frequency measures at the motor terminals.
injection point of the lightning current (see fig. 2.a) and The circuital model of the induction motor presented in this
in the points A, C, D and E of the grid system (see fig. paper has been developed adopting the approach proposed by
2.b). Metwally [15] for the studies of impulse response of AC
In table 3 the deviations in per cent of the transient machines.
voltage peak values obtained with circuital model in Every section of the three phase stator winding is modelled
relation to the ones obtained by Yaqing, et al. with TLM using the lumped parameters circuit shown in fig. 4. The
method[1] are reported. parameters Li and R i are respectively the leakage inductance
As shown in table 3 the obtained results are in a good and the resistance of one phase of the stator winding, Ci is the
accordance with the results obtained using the more capacitance between two contiguous turns and the resistance
complex TLM models. Rpi represents the eddy currents inside the magnetic core and
A more detailed description of the implementation of the the frame.
developed circuital models and of the obtained The HF circuital model of the motor is shown in fig. 5.
simulation results will be presented in another paper of In fig. 5, the capacitances Csg represent the capacitive
the Authors in course of publication [20]. coupling between the motor winding phases and the motor
frame, connected to the ground, and the capacitance Cg
Table 3. Deviation of the obtained simulation results in relation to the represents the capacitive coupling between the winding star
ones obtained with TLM method. point and the ground.
Horizontal electrode Grid electrode
The values of the lumped parameters are reported in table 4.
Deviation in x=0m 5,3 % Deviation in A 4,8 %
Deviation in x=3,5m 3,27 % Deviation in D and E 6,15 %
Deviation in x= 7m 15 % Deviation in C 6,25 %

III. CIRCUITAL MODELS OF THE PDS

A. Description of the PDS under study

A HF circuital model with lumped parameter of a PDS is

proposed in order to analyse the EMC problems in the
drive when a lightning strike occurs in the grounding
system. In fig. 3 the scheme of the studied PDS is Fig. 3 Scheme of the studied PDS.
shown. It is formed of an AC induction motor fed by a
power electronic converter supplied via a transformer.
The considered PDS is that studied by Gubia et al. in
[21] and it is composed of a 3 kW tri-phase induction
motor fed via a three-wired cable by a 4 kW converter
realized with an PWM-VSI inverter (Pulse Width
Modulation Voltage Source Inverter) and a diodes
rectifier.
In the following sections a detailed description of HF
models of the induction motor, of the power converter
Fig. 4 High frequency model of one stator winding phase of the induction
and of the cable between the motor and the converter are motor.
reported.

B. Motor

The HF models of induction motors proposed in

literature are circuital models with lumped parameters of
the supplied winding of the motor, i.e. the three-phase
stator winding. Two ways of modelling every phase of
the winding are proposed:
- using an equivalent circuit with passive elements
[11, 12];
- using a finite number of identical cells connected in
cascade in order to better represent the distributed
effects of the stray parameters [13, 14].
These models take into account the capacitive stray
linkage between contiguous turns of a winding section, Fig. 5 High Frequency model of the induction motor.
between the sections of the three phase winding and

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 Table 4. Parameters of the induction motor model. D. Cable between the converter and the motor
Ri 1,1 Ω
Rp1 2964 Ω In fig. 7 the HF circuital model with lumped parameters of
Li 4,94 mH the three-wired cable between the converter and the motor is
Cm 162 pF reported. This has been modelled taking into account the
Csg 270 pF longitudinal resistance R i, and inductance Li , the stray
Cg 2,56 nF capacitances, C lt, between the cable and ground and the stray
capacitances, C l, between the wires.
C. Converter The values of these parameters are reported in table 5.

In literature two approaches for HF modelling of

electronic power components are proposed. The former
approach is based on a simplified modelling of
electronic power components using ideal switches or
components contained in libraries of software for
network simulation. In this case a more detailed
description of the HF performance of the electronic
power system can be obtained introducing parasitic
circuital parameters that are negligible at 50 Hz. The
values of these parameters are calculated with measures, Fig. 7 Circuital model of the cable between the converter and the motor.
assessments or using the technical information
containing in the data sheets of the power electronic Table.5 Parameters of the cable model.
components. The latter approach proposed in literature Rl 4,6 Ω
is based on the modelling of the power component as a Ll µ
9,73 H
resistance variable in time with the current during the Cl 1,38 nF
commutation process. In this way it is possible, during Clt 347 pF
the switching on and the switching off of the electronic
components, to control the voltage time gradient, dv/dt, IV. CONCLUSION
that is the cause of the arising of electromagnetic
interferences. In this paper circuital models of a horizontal grounding
In this work the first approach has been used. electrode, of a grounding grid and of a PDS, suitable to
In fig. 6 the circuital scheme of the converter is shown. analyse the distribution of electromagnetic disturbances in a
The diodes rectifier is connected via a DC-link, with the PDS when the grounding system is excited by a lightning
capacitances Cb , to a PWM-VSI inverter. The inverter current, have been presented. A new method to valuate the
and rectifier power switches have been modelled using lumped parameters values of grounding systems models, that
IGBT and diode components taken from Power System takes into account the burial depth of electrodes as regards
Blocksets (PSB) library of MATLAB. In the converter their length, is proposed. In this paper the validation results
model have been considered : of this new method are presented, comparing simulation
- the stray capacitances, Cig, between the inverter results with those obtained using the more rigorous
switching devices and the heat sink, connected to Transmission Line Method (TLM) and electromagnetic field
converter frame that is connected to ground; method. Unlike others circuital models proposed in literature,
- the stray capacitance, Cbg, between the DC-link and the developed models take into account the burial depth of
the heat sink. electrode respect to its length giving a more general
The values of these capacitances are reported in table 4. methodology to develop grounding electrodes circuital
models useful to analyse the effects of a lightning strike. The
proposed circuital models of grounding systems are simpler
than the models realized with the TLM and the
electromagnetic field methods, require a shorter
computational time and a minor cost because an on sale
software for network simulation can be used. These
characteristics permit to combine the grounding system
model with the PDS HF circuital model obtaining one model
that permits to analyse EMI generated in every section of the
drive during a lightning strike giving only the waveform of
the lightning current in time domain as input of the model. A
Fig. 6 Scheme of the converter.
more detailed description of the implementation in
MATLAB of the presented circuital models and of the
obtained simulation results together with a complete analysis
Table 4. Stray capacitances and DC link capacitance of the converter. of the EMI generated in the PDS, when the grounding system
Cb 5 mF is excited by a lightning current, will be presented by the
Cig 108 pF Author in another paper in course of publication [20].
Cbg 10,3 nF

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