sensors

Article
Research on Small Square PCB Rogowski Coil
Measuring Transient Current in the Power
Electronics Devices
Chaoqun Jiao 1, *, Juan Zhang 1 , Zhibin Zhao 2 , Zuoming Zhang 1 and Yuanliang Fan 3
1 School of Electrical Engineering, Beijing Jiaotong University, No.3 ShangYuanCun, Haidian District,
Beijing 100044, China; 17126087@bjtu.edu.cn (J.Z.); 18126182@bjtu.edu.cn (Z.Z.)
2 State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources, North China
Electric Power University, No.2, Beinong Road, Changping District, Beijing 102206, China;
zhibinzhao@ncepu.edu.cn
3 Fujian Provincial Enterprise Key Laboratory of High Reliable Electric Power Distribution Technology,
State Grid Fujian Electric Power Research Institute, No. 48 Fuyuan Branch, Cangshan District,
Fuzhou 350007, China; fyl_fjdky@sina.cn
* Correspondence: chqjiao@bjtu.edu.cn; Tel.: +86-158-1046-1086




Received: 11 August 2019; Accepted: 24 September 2019; Published: 26 September 2019


Abstract: With the development of China’s electric power, power electronics devices such as
insulated-gate bipolar transistors (IGBTs) have been widely used in the field of high voltages and
large currents. However, the currents in these power electronic devices are transient. For example,
the uneven currents and internal chip currents overshoot, which may occur when turning on and
off, and could have a great impact on the device. In order to study the reliability of these power
electronics devices, this paper proposes a miniature printed circuit board (PCB) Rogowski coil that
measures the current of these power electronics devices without changing their internal structures,
which provides a reference for the subsequent reliability of their designs.

Keywords: PCB Rogowski Coil; Transient Current; power electronics devices; current measurement

1. Introduction
With the development of semiconductor technology, a lot of power electronics devices such as
IGBTs have been widely applied to high-power inverters, high voltage direct current high voltage
direct current (HVDC) transmissions, and so on [1–3]. Therefore, in order to study the reliability of
these devices, it is necessary to measure the distribution of the current in the device under different
driving resistances, temperature conditions and layout modes [4–6]. However, commercially available
current transformers and Rogowski coil current sensors are difficult to mount inside devices due to
their large sizes. Moreover, such sensors are expensive, and large-scale use will undoubtedly increase
cost. In [6] and [7], Bock B., Furuya M. et al. made a circular coil with a diameter of 19.7 mm and
a rectangular coil with a side length of 24.7 mm using hand-wound coils, based on Rogowski coils.
The self-integration working state measures the current of the internal chip of the press-pack IGBT
device in different package forms. However, the bandwidth of the sensor is relatively narrow from the
state of integration, and it is impossible to measure the current at a relatively low frequency. In [7], it is
pointed out that a coil wound by hand is prone to uneven winding, which results in a difference in
impedance between the coils and has a great influence on the measurement results.
With the development of PCB technology, the advantages of its digital wiring and fully automatic
production have been able to overcome the interference factors caused by the winding method of
a traditional coil. As a result, PCB technology has also been applied to the Rogowski coil. In [8,9],

Sensors 2019, 19, 4176; doi:10.3390/s19194176 www.mdpi.com/journal/sensors

Sensors 2018, 18, x FOR PEER REVIEW 2 of 13

In [8,9],2019,
Sensors Gerber D. et al. proposed a new Rogowski coil with multiple PCB boards stacked to monitor
19, 4176 2 of 13
the gate current outside the press-pack IGBT package. Tsukuda M. et al. proposed a new PCB
Rogowski coil based on 6-layer PCB layout in the literature and applied it to the study of the current
Gerber D. et al. proposed a new Rogowski coil with multiple PCB boards stacked to monitor the
sharing characteristics of the welded IGBT module [10–12].
gate current outside the press-pack IGBT package. Tsukuda M. et al. proposed a new PCB Rogowski
In this paper, a miniature, thin and low-cost Rogowski coil sensor is proposed for its boss
coil based on 6-layer PCB layout in the literature and applied it to the study of the current sharing
geometry, without changing the internal structure of the device. The new current sensor can be
characteristics of the welded IGBT module [10–12].
placed inside the device, and the current variation during the opening process of the device under
In this paper, a miniature, thin and low-cost Rogowski coil sensor is proposed for its boss geometry,
different driving modes is monitored. Simulation and experimental verification of the proposed
without changing the internal structure of the device. The new current sensor can be placed inside the
sensor is carried out.
device, and the current variation during the opening process of the device under different driving
modes is monitored. Simulation and experimental verification of the proposed sensor is carried out.
2. PCB Rogowski Coil Sensor
2. PCB
TheRogowski
Rogowski Coil Sensoris usually composed of a coil probe and an integrator. The coil and the
coil sensor
integrator are connected
The Rogowski by a coaxial
coil sensor cable.
is usually composed of a coil probe and an integrator. The coil and the
integrator are connected by a coaxial cable.
2.1. The Working Principle of the Coil, the Establishment of the Equivalent Circuit Model and the
Determination of the
2.1. The Working Working
Principle of Mode
the Coil, the Establishment of the Equivalent Circuit Model and the
Determination of the Working Mode
As shown in Figure 1, the coil is uniformly wound on a non-magnetic skeleton of a constant
As shownarea
cross-sectional in Figure 1, the
to form a coil
closedis uniformly
loop, andwound on a non-magnetic
the induced skeletoninofthe
voltage generated a constant
coil is
cross-sectional
proportional to area to form
the rate a closed
of change of loop, and theI passing
the current inducedthrough
voltage generated
the centerin
ofthe
thecoil
coil.isThe
proportional
induced
to the rate
voltage the current I passing through the center of the coil. The induced voltage is
of changetoof[13]
is equivalent
equivalent to [13]
ddI
I dI
ee= µ0 NA  M dI (1)(1)
0 NAdt = Mdt
dt dt
whereeeisisthe
where theinduced
inducedvoltage
voltage(V)
(V)of
ofthe
thecoil,
coil,NNisisthe
thewinding
windingdensity (turns/m),AAisisthe
density(turns/m), thecoil
coilcross
cross
section(m2)
section (m2)and
andM Misisthe
themutual
mutualinductance
inductance(nH).
(nH).

BasicRogowski
Figure1.1.Basic
Figure Rogowskicoil
coiltransducer.
transducer.

Theequivalent
The equivalentcircuit
circuitofofthethecoil
coilisisshown
shownininFigure
Figure2.2.The
The literature
literature [14,15]
[14,15] points
points outout
thatthat
in in
a
a high-frequency state, the bandwidth of the coil is affected by the terminal impedance.
high-frequency state, the bandwidth of the coil is affected by the terminal impedance. When the When the
current through
current through the
the coil
coil is
is in
in aa centrally
centrallysymmetrical
symmetricalposition,
position,the
thetransfer
transferfunction
functionofof
the coil
the is [16–18]
coil is [16–
18] V0 1 1
= jωL
= sL
(2)
e
 Zt − ω L0 C0=
V10 + 0 1 2 2
s L01C0 + Zt0 + 1
e j L0 2 sL (2)
1+   L0C0 s 2 L0C0  0  1
where V 0 is the terminal impedance voltage Zt (V), Zt is the terminal
Zt impedance (Ω), L0 is the coil
Sensors 2018, 18, x FOR PEER REVIEW 3 of 13
inductance (H), C0 is the coil equivalent capacitance (F) and C0 = 4C/π2 .
where V0 is the terminal impedance voltage (V), Zt is the terminal impedance (Ω), L0 is the coil
L(F) and C0  4C  .
2
inductance (H), C0 is the coil equivalent capacitance
R 0 0

e C0 R d V0

Equivalentcircuit
Figure2.2.Equivalent
Figure circuitof
ofcoil
coiltermination.
termination.

From the total parameter model of the upper atlas, when the terminal resistance value Rd is
small, there is 1/C0  Rd , C0 close to the open circuit, so i =iR ; thereby
dI dI
eM L  (R  R )I
Sensors 2019, 19, 4176 3 of 13

From the total parameter model of the upper atlas, when the terminal resistance value Rd is small,
there is 1/ωC0 >> Rd , C0 close to the open circuit, so i = iR ; thereby

dI dI
e=M = L0 + (R0 + Rd )I (3)
dt dt

dt >> (R0 + Rd )I, Equation (3) can be

When measuring a high-frequency current and satisfying L0 dI
changed into
dI dI
e = M ≈ L0 (4)
dt dt
Further
M
V0 = IRd ≈ R I (5)
L0 d
It can be seen from the above formula that the coefficient is constant, and the output voltage of
the coil is proportional to the current being measured. In this case, no external integration circuit is
required, so the process is called self-integration.
Conversely, when the frequency change is not high and the terminating resistance Rd is large,
Equation (3) can be reduced to
dI
e = M = (R0 + Rd )I (6)
dt
and then
Rd dI
V0 = IRd = M (7)
(R0 + Rd ) dt
Z
(R0 + Rd )
I= V0 dt (8)
MRd
It can be seen that it is necessary to integrate the output voltage to obtain the measured current,
which is the external integral working mode of the Rogowski coil.
The inductance and capacitance of the coil are obtained by the formula

L0 = µ0 N2 lA = MNt (9)

4πε0 εr l
C0 = (10)
ln(A/a)
where l is the length of the coil (m), a is the cross-sectional area (m2) of the loop inside the skeleton εr ,
εr is the relative dielectric constant of the skeleton material and Nt is the total number of turns of the
coil (turn).
The natural angular frequency of the coil ω0 is

1 1
ω0 = √ = 2π √ (11)
L0 C0 L0 C0

The transfer function of the coil output voltage and the current I through the coil can be obtained
by simplifying Equations (1) and (2) [18]:

V0 sM sM
= sL0
= (12)
I 2
s L0 C0 + Zt + 1 1 + 2ξTc s + Tc 2 s2

√ √ 
The equivalent coil delay is TC = L0 C0 , and the damping coefficient is ξ = L0 /C0 /(2Zt ).
In order to increase the sensitivity and bandwidth of the coil sensor, it is necessary to increase the
mutual inductance M and the pass band of the coil. The improvement of the mutual inductance is
mainly reflected in the increase of winding density and cross-sectional area, and the increase of M will
lead to a decrease of the resonant frequency of the coil. Since the PCB coil needs to be nested inside the
 The equivalent coil delay is TC  L0C0 , and the damping coefficient is
  L0 C0   2Z  .
t

In order to increase the sensitivity and bandwidth of the coil sensor, it is necessary to increase
the mutual
Sensors inductance
2019, 19, 4176 M and the pass band of the coil. The improvement of the mutual inductance 4 of 13
is mainly reflected in the increase of winding density and cross-sectional area, and the increase of M
will lead to a decrease of the resonant frequency of the coil. Since the PCB coil needs to be nested
IGBT module,
inside the IGBTthe improvement
module, space is limited;
the improvement space isThe improvement
limited; is mainly in
The improvement the twoin
is mainly aspects
the two of
the coil’s own resonant frequency and the optimization of the integrator. However,
aspects of the coil's own resonant frequency and the optimization of the integrator. However, the the widening of
the bandwidth
widening of theis mainly foristhe
bandwidth improvement
mainly of the integrator,
for the improvement of theand when the
integrator, andcoil works
when theoutside the
coil works
integral, the terminal resistance is not limited. In order to measure the IGBT current well,
outside the integral, the terminal resistance is not limited. In order to measure the IGBT current well, the external
integral
the working
external mode
integral is chosen.
working mode is chosen.

2.2. Error Analysis of Rogowski Coil

2.2. Error Analysis of Rogowski Coil
It is worth mentioning that this paper adopts a new type of winding method that can effectively
It is worth mentioning that this paper adopts a new type of winding method that can effectively
reduce the interference of external signals on the coil, as shown in Figure 3.
reduce the interference of external signals on the coil, as shown in Figure 3.

Figure
Figure 3.
3. Fishbone
Fishbonewith
with return
return line.
line.

The
The PCB
PCB coil
coil is
is wound
wound around
around aa circle.
circle. Since
Since the
the small
small coil
coil is
is in
inaastraight
straightline,
line,ititcan
canbeberegarded
regarded
as
as forming
forming aa large
large line.
line. This
Thisarticle
articlewraps
wrapsaround
aroundaalarge
largeline
lineandandbackbackline
lineat
atthe
theendendof ofthe
thewinding.
winding.
When
When the the disturbing
disturbing magnetic
magnetic field
field isis parallel
parallel toto the
the conductor
conductor to to be
be tested,
tested, the
the law
law ofof
electromagnetic
electromagnetic induction
induction dictates
dictates that
that the
the two
two coils
coils will
will generate
generate an an equal
equal and
and opposite
opposite induced
induced
electromotive
electromotive force force since
since the
the large
large coil
coil is
is connected
connected in in series
series with
with thethe return
return line
line in
in the
the opposite
opposite
direction.
direction. Thus,
Thus, the
the lines
lines will
will cancel
cancel each
each other
other out.
out.
When
When the the interfering
interfering magnetic
magnetic field
field is
is perpendicular
perpendicular to the the conductor
conductor to to be
be tested,
tested, the
theinterfering
interfering
magnetic
magnetic field generates
generates an an induced
inducedelectromotive
electromotiveforce forceofofequal
equalmagnitude
magnitude but
but opposite
opposite direction
direction on
on
thethe small
small lineline
wherewhere thethe Rogowski
Rogowski coilcoil is symmetric,
is symmetric, thusthus canceling
canceling eacheach other
other andand eliminating
eliminating the
the interference
interference of the
of the magnetic
magnetic fieldfield in the
in the current
current measurement.
measurement.
In
In addition,
addition, the the return
return line
line can
can also
also effectively
effectively reduce
reduce thethe error
error caused
caused byby the
the eccentricity
eccentricity ofof the
the
coil
coil and
and the
the conductor
conductor under under test,
test, which will not be elaborated upon in this paper.

2.3. Parameters
2.3. Parametersand
and Frequency
Frequency Characteristics
Characteristics of
of Rogowski
Rogowski Coil
Coil
Combined with
Combined with the
the above
above analysis,
analysis, the
the final
final selected
selected square
square coil
coil parameters
parameters are
are as
as Table 1.
follows.

Table 1. PCB coil parameter.

Turns Inside Outside

84 9.6 mm 14.4 mm
Minimum aperture Plate thickness Trace width
0.2 mm 1 mm 3.5 mil

The coils were drawn by AD (Altium Designer) software, and the drawn PCB coils were imported
into the Ansys Q3D Extractor for parameter extraction. The equivalent circuit model was built in
the PSpice simulation software, and the frequency characteristics of the coil are shown in Figure 4.
In the frequency band of 10Hz–1MHz, the amplitude gain increases linearly with the increase of the
frequency, and the phase offset is 90◦ . This is a typical differential operation mode, which requires
the subsequent signal circuit to integrate the differential of the measured current. In order to obtain
a constant amplitude gain in this band, it is also necessary to properly configure the parameters of the
subsequent integration circuit.
built
Figurein 4.
theInPSpice simulation
the frequency software,
band and the frequency
of 10Hz–1MHz, characteristics
the amplitude of the coil
gain increases are shown
linearly with thein
Figure 4. In the frequency band of 10Hz–1MHz, the amplitude gain increases linearly
increase of the frequency, and the phase offset is 90°. This is a typical differential operation mode, with the
increase of the frequency,
which requires and the
the subsequent phase
signal offset
circuit to is 90°. This
integrate theisdifferential
a typical differential operation
of the measured mode,
current. In
which requires the subsequent signal circuit to integrate the differential of the measured
order to obtain a constant amplitude gain in this band, it is also necessary to properly configure the current. In
order
Sensors to obtain
parameters
2019, 19,of a constant
the
4176 amplitude
subsequent gain circuit.
integration in this band, it is also necessary to properly configure the
5 of 13
parameters of the subsequent integration circuit.
100 Phase
80
Phase

Phase(degree)
100
60
80
40

Phase(degree)
60
20
400
20
-20
0
-40
-20
-60
-40
-80
-60
-100
-80
10 100 1k 10k 100k 1M 10M 100M 1G
-100
10 100 1k 10kFrequency(Hz)
100k 1M 10M 100M Gain
1G
20
0 Frequency(Hz) Gain
20
-20

Gain(dB)
0
-40
-20
Gain(dB) -60
-40
-80
-60
-100
-80
-120
-100
-140
-120
-140 10 100 1k 10k 100k 1M 10M 100M 1G
10 100 1k 10kFrequency(Hz)
100k 1M 10M 100M 1G
Frequency(Hz)
Figure4.
Figure 4. Frequency
Frequency characteristic
characteristic of
of coil.
coil.
Figure 4. Frequency characteristic of coil.
2.4. Subsequent
2.4. Subsequent Integration
Integration Circuit
Circuit Design
Design
2.4. Subsequent Integration Circuit Design
The integrator
The integratorof of the
the Rogowski
Rogowskicoil coil sensor
sensor contains
containsaa passive
passive integral
integral link link and and an an active
active integral
integral
link,The
link, as integrator
as shown of the5.
in Figure
Figure Rogowski
5. The
Thecoil coil
coilworks
works sensor
inin contains amode,
differential
differential passive
mode,R1Rintegral
and
1 C
and 1 link
form
C 1 formand
a an
passive
a active integral
integral
passive link
integral
link,
link as
and and shown
R2, CR2 2and in
, C2 an Figure
and 5.
operational The
an operational coil works
amplifier in differential
formform
amplifier a low-frequencymode,
a low-frequency R and
active
1 C
integral
active 1 form a passive
link [17–21].
integral integral
link [17–21]. link
In theInmid-
the
and R2, C2 and
mid-band, the an operational
integral action amplifier
is achieved form
by a low-frequency
the
band, the integral action is achieved by the passive R1C11 network,passive R C 1
active
network, integral
since
since 1 
1/
link
C( 2 
ωC [17–21].
R )  R In the
and
2 and2the op amp
2
mid-
the op
1   C  R
amp
band, appears
appears a as
theasintegral a unity
unity gaingain
action amplifier.
is achieved
amplifier. Inby Inthe
the the
low low
passiveband,
band, Rthe
1Cthenetwork,
1passive R1R
passive since
C C1 network
11network 2 exhibits
2
exhibits andunityunity
the op gain,
amp
gain, at
at which
appears time
as a constant
unity gain R C decided
amplifier. In by
the the
low active
band, inegration.
the passiveThe
R link
C realizes
network
which time constant R2C2 decided by the active inegration. The link realizes the integral function.
2 2 1 1 the
exhibits integral
unity function.
gain, at
which time constant R2C2 decided by the active inegration. The link realizes the integral function.
Low pass
filtering
Low pass
filtering
R CX 2

R0 L0 R1 Rcable RX C2

e R0 L0 C0 Rd R1 RCcable
cable C1 R2 RL
e C0 Rd Ccable C1 R2 RL

Rogowski coil probe Passive integration Active integration

circuit circuit
Rogowski coil probe Passive integration Active integration
circuit circuit
Figure 5. Lumped
Figure 5. Lumped parameter
parameter model
model of
of the
the Rogowski
Rogowski transducer.
transducer.
Figure 5. Lumped parameter model of the Rogowski transducer.
In
In the
the design
design process
process ofof the
the integrator
integrator circuit,
circuit, the
the parameters
parameters are
are designed
designed according
according to
to the
the
sensitivity
In the R required
design by
process the
of Rogowski
the coil
integrator sensor.
sensitivity Rsh required by the Rogowski coil sensor.
sh circuit, the parameters are designed according to the
In order
sensitivity Rshto ensure that
required theRogowski
by the Rogowskicoil sensor has a constant sensitivity Rsh within the specified
coil sensor.
operating frequency range, the time constants of the passive and active integration need to be matched.
The transfer function of the entire passive and active integration network is

Vout (1 + Ti s)
= (13)
Vt Ti s(1 + T0 s)

Among them, Ti = C2 R2 and T0 = (C1 + Ccable )R1 . Ccable is the equivalent capacitance of the
coaxial cable.
By matching the the time constant of the passive integration with the time constant of the active
integration Ti = T0 , Z
1
Vout = Vt dt (14)
Ti
 By matching the the time constant of the passive
Ti integration with the time constant of the active 
T
integration i  T0,

Combining Equations (3) and (13)–(15), the transfer function of the Rogowski coil sensor is
1
obtained. Vout = Vt dt (14)
Ti 
Sensors 2019, 19, 4176 6 of 13

Combining Equations (3) and Vout(13)–(15), the  e jc function of the Rogowski coil sensor is
Rshtransfer

obtained. I
Combining Equations (3) and (13)–(15),  2
1the transfer s 1  Tof
Tc s  Tcfunction
2 2
b sthe  (15)
 Rogowski coil sensor is obtained. 
 jc
V R e
Vout out  Rshsh· e− jθc
where sh R  M Ti and Tb  1  2   GBW
I
= 
I  . 1  2 Tc s  Tc22 s22 1  Tb s 
(1 + 2ξTc s + Tc s )(1 + Tb s)  (15)
(15)
In order to filter out the low-frequency noise introduced by the operational amplifier in the
R=M/T M Ti andandTT b 1
b =
 2(2π
 GBW  . ).
active Rintegration
where
where sh sh i section, a 1/
high-pass × GBWfilter circuit can be added after the active integration step. In
InInorder to to
filter outout
the the
low-frequency noisenoise
introduced by theby operational amplifier in the active
order to reduce the gain of the active integral link andintroduced
order filter low-frequency the operational
improve the response amplifier
of the sensor to theinrate
the
integration section, asection,
active integration high-pass filter circuit
a high-pass can
filter be added
circuit can be after the active
added integration
after the step. In order
active integration step.toIn
of change of theofmeasured current link di dt , an amplifying circuit can be added to change the gain of
reduce
order the gain
to reduce thegain
the activeof integral
the active integral and improve
link and theimprove
response ofresponse
the the sensor ofto the
the rate oftochange
sensor the rate
the amplifying
ofofthe measured circuit
current by adjusting
di/dt, an the corresponding
amplifying
di dt circuit can resistance
be added value,
to as
change shown
the gainin Figure
of the 6.
amplifying
change of the measured current , an amplifying circuit can be added to change the gain of
circuit by adjusting
the amplifying the corresponding
circuit by adjusting the resistance value, as
corresponding shown in
resistance Figure
value, as 6.
shown in Figure 6.
Low pass
filtering
Low pass
filtering
RX C2
R5
R0 L0 R1 Rcable RX C2
C3 R5
e C0 Rd Ccable C1 R2 RL R3 R6
R0 L0 R1 Rcable Vout
C3 R4
e C0 Rd Ccable C1 R2 RL R3 R6
R4 Vout
Rogowski coil probe Passive integration Active integration Buffer amplifier
circuit circuit circuit
Rogowski coil probe Passive integration Active integration Buffer amplifier
circuit circuit circuit
Figure 6. Optimization of integral circuit.
Figure 6. 6.Optimization
Figure Optimizationofofintegral
integralcircuit.
circuit.
Theamplitude–frequency
The amplitude–frequencycharacteristics
characteristicsof
ofthe
thePCB
PCBcoil
coilsensor
sensorare
areshown
shownininFigure
Figures 7a–d.
7a–d.
The amplitude–frequency characteristics of the PCB coil sensor are shown in Figure 7a–d.

Gain
20
Gain
20
-90 Gain
0 Gain
-90
0 -95
-20
-95
-20 -100
-40
Gain(dB)

-100
-40 -105
Gain(dB)

Gain(dB)

-60
-105
Gain(dB)

-60 -110
-80
-110
-80 -115
-100
-115
-100 -120
-120
-120
-120 -125
-140
-125
-140 -130
10 100 1k 10k 100k 1M 10M 100M
-130
10 100 1k Frequency(Hz)
10k 100k 1M 10M 100M 10 100 1k 10k 100k 1M 10M
Frequency(Hz) 10 100 1kFrequency(Hz)
10k 100k 1M 10M
Frequency(Hz)

(a) (b)

Figure 7. Cont.
 Sensors 2018, 18, x FOR PEER REVIEW 7 of 13
Sensors 2019, 19, 4176 7 of 13
(a)
Sensors 2018, 18, x FOR PEER REVIEW (b) 8 of 14
-30
-30
-30
-30

Gain -40
Gain
Gain -40
Gain
-40 -50
-40 -50

Gain(dB)
Gain

Gain(dB)
-60
Gain

-60

-50 -70

-50 -70

-80
-80

-90
-60 10 100 1k 10k 100k 1M 10M 100M
10 100 1k 10k 100k 1M 10M 100M -90
-60 10 100 1k Frequency(Hz)
10k 100k 1M 10M 100M
10 100 1k Frequency
10k 100k 1M 10M 100M
Frequency(Hz)
Frequency
(c) (d)
(c) (d)
Figure 7. Amplitude–frequency characteristics of the PCB coil sensor: (a) amplitude–frequency
Figure 7. Amplitude–frequency
characteristics,
7. characteristics
(b) amplitude–frequency
Amplitude–frequency of
of the PCBwith
characteristics
characteristics sensor: (a)
passive
coil sensor: amplitude–frequency
integral, (c) amplitude–
amplitude–frequency
characteristics,
characteristics, (b)amplitude–frequency
(b) amplitude–frequency
frequency characteristics characteristics
characteristics
with active integral with with
and (d) overall passive
passive integral,integral, (c) amplitude–
(c) amplitude–frequency
amplitude–frequency characteristics.
frequency characteristics
characteristics with activewith active
integral integral
and and (d)
(d) overall overall amplitude–frequency
amplitude–frequency characteristics.
characteristics.
3. Simulation and Experimental Verification
3. Simulation and
3. Simulation and Experimental
Experimental Verification
Verification
3.1. Simulation of PCB Rogowski Coil
3.1. Simulation of PCB Rogowski Coil
3.1. Simulation of PCB Rogowski Coil
The PCB Rogowski coil made in this paper is depicted by the physical map and coil size shown
The PCB Rogowski coil made in this paper is depicted by the physical map and coil size shown in
The PCB
in Figure 8. Rogowski coil made in this paper is depicted by the physical map and coil size shown
Figure 8.
in Figure 8.

9.6mm 14.4mm
9.6mm 14.4mm

Figure 8. A PCB Rogowski coil.

Figure 8. A PCB Rogowski coil.
Figure 8.4294
Using the impedance analyzer Agilent A PCB
A,Rogowski coil. parameters of the PCB Rogowski
the impedance
Using the
coils shown impedance
in Figure analyzer
8 were tested Agilent
to obtain4294
theA, the impedance
impedance parameters
frequency of the PCB
characteristics of Rogowski
each coil
coilsUsing
probe shown thein
(Figure impedance
9).Figure
Compared analyzer
8 were tested
with theAgilent
results4294
to obtain A, the
the
of PSpice impedance
impedance parameters
frequency
simulation itofcan
thebe
PCB
characteristics
processing, Rogowski
of
seen each coil
that the
probe (Figure
simulation 9).
results Compared
were with
basically the results
consistent of
withPSpice
the simulation
experimental processing,
test results it
incan
a
coils shown in Figure 8 were tested to obtain the impedance frequency characteristics of each coil be
wideseen that
frequencythe
simulation
range,
probe (Figureresults
indicating were
9). the
Compared basically
accuracy of the
with consistent
the equivalentwith
results of the model
circuit
PSpice experimental
in this
simulation test results
frequency
processing, in abe
itrange.
can wide
seenfrequency
that the
range,
As indicating
can be seenthe accuracy
from Figureof2,the
theequivalent circuit model in this frequency
coil probe impedance–frequency range.
characteristic Z(s) is
simulation results were basically consistent with the experimental test results in a wide frequency
1
range, indicating the accuracy of the equivalent circuit r +inLsthis frequency range.
model
Z(s) = (r + Ls)// = (16)
Cs 1 + rCs + LCs
Sensors 2019, 19, 4176 8 of 13
Sensors 2018, 18, x FOR PEER REVIEW 8 of 13

#1
#2
100 #3
#4
#5

Z(Ω)
nihe

10

1
100 1k 10k 100k 1M 10M 100M

90 Frequency(Hz)

60
Phase(degree)

30

100 1k 10k 100k 1M 10M 100M

Frequency(Hz)

Figure 9.9.Comparison
Comparison of impedance
of impedance characteristics
characteristics of the
of the coil coil measured
measured by and
by simulation simulation and
experiment.
experiment.
The impedance parameters of each coil are shown in Table 2. Due to the bandwidth limitations of
As can be seen
the impedance from impedance
analyzer, Figure 2, thecharacteristics
coil probe impedance–frequency
only at 40–110 MHzcharacteristic Z(s) is It can
could be measured.
be seen in Figure 10a that the resonant frequency of the coil probe was greater than 110 MHz,
1 r  Ls
Z  s   (r expansion
which provides a possibility for subsequent Ls ) / / of the bandwidth. The frequency characteristics (16)
Cs 1  rCs  LCs
of the coil are given above. In combination with the existing experimental conditions, signals of
The impedance
different frequenciesparameters of each
were generated bycoil
theare shown
signal in Tableand
generator 2. Due to the
output viabandwidth
the powerlimitations
amplifier.
of the
The impedance
PCB Rogowskianalyzer, impedance
coil was serially characteristics
connected only at 40–110conductor,
to the current-carrying MHz could bethe
and measured. It can
voltage signal
be seenthe
across in terminal
Figure 10a that the was
resistance resonant frequency
measured of the coil with
and compared probethe was greater than
measured 110The
signal. MHz, which
output of
provides
the 2.5 MHz,a possibility
1 MHz, 500 forkHz
subsequent
and 250expansion
kHz sinusoidal of thesignals
bandwidth.
and 400 Theandfrequency
200 kHzcharacteristics
triangular wave of
the coil is
signals areshown
given above.
in FigureIn combination
10. In Figurewith 10a,the
theexisting
output experimental
of the Rogowski conditions, signalsand
coil is cosine, of different
there is
afrequencies
phase difference of 90◦ fromby
were generated thethe signal
input; thegenerator
output of and output via
the Rogowski theinpower
coil Figure amplifier. The PCB
10b is a rectangular
Rogowski
wave. Bothcoil was serially
of these connected
verify the to the
differential current-carrying
operation conductor,
of the Rogowski coil.and the voltage signal across
the terminal resistance was measured and compared with the measured signal. The output of the 2.5
MHz, 1 MHz, 500 kHz and Table Impedance
2. kHz
250 parameters
sinusoidal signals of and
the PCB
400Rogowski
and 200 kHz coil. triangular wave signals
is shown in Figure 10. In Figure 10a, the output of the Rogowski coil is cosine, and there is a phase
Serial Number #1 #2 #3 #4 #5
difference of 90° from the input; the output of the Rogowski coil in Figure 10b is a rectangular wave.
Internal resistance r (Ω) 4.28 4.14 4.07 4.85 4.63
Both of these verify the differential operation of the Rogowski coil.
Self-induct L (nH) 439 445 436 440 441
Mutual sense M (nH) 6.10 6.18 6.06 6.11 6.13
Table 2. Impedance parameters of the PCB Rogowski coil.

Serial number #1 #2 #3 #4 #5
Internal resistance r（Ω） 4.28 4.14 4.07 4.85 4.63
Self-induct L（nH） 439 445 436 440 441
Mutual sense M（nH） 6.10 6.18 6.06 6.11 6.13
Sensors 2019,
Sensors 2018, 19,
18, 4176
x FOR PEER REVIEW 99 of 13
of 13

VR Vcoil
0.4 2.0
1.5

Vcoil(mV)
0.2 1.0
0.5

VR(V)
0.0 0.0
-0.2 -0.5
-1.0
-0.4 -1.5
0.0 0.5 1.0 1.5 2.0
Time(s)-f=2.5MHz
0.4 1.0

Vcoil(mV)
0.2 0.5

VR(V)
0.0 0.0
-0.2 -0.5
-0.4 -1.0
0 1 2 3 4 5
Time(s)-f=1MHz
0.4 1.0

0.2 0.5

Vcoil(mV)
VR(V)

0.0 0.0
-0.2 -0.5
-0.4 -1.0
0 2 4 6 8 10
Time(s)-f=500kHz
0.4
0.4
0.2 0.3

Vcoil(mV)
0.2
VR(V)

0.0
0.1
-0.2 0.0
-0.1
-0.4
0 5 10 15 20
Time(s)--f=250kHz

(a)

VR Vcoil
0.4
0.6
0.3 0.5
0.2 0.4
0.3
Vcoil(mV)

0.1
VR(V)

0.2
0.0 0.1
-0.1 0.0
-0.2 -0.1
-0.2
-0.3 -0.3
-0.4 -0.4
0 2 4 6 8 10 12
Time(s)-f=400kHz
0.4 0.6
0.3 0.5
0.2 0.4
Vcoil(mV)

0.1
VR(V)

0.3
0.0
0.2
-0.1
-0.2 0.1
-0.3 0.0
-0.4 -0.1
-2 0 2 4 6 8 10 12 14 16 18 20 22
Time(s)-f=200kHz

(b)

Figure 10.
Figure 10. Roche coil differential relationship
relationship verification:
verification: (a) 2.5 MHz, 1 MHz, 500 kHz,
kHz, 250
250 kHz
kHz
sinusoidaland
sinusoidal andRogowski
Rogowski coil
coil outputs;
outputs; (b) and
(b) 400 400 200
andkHz
200triangular
kHz triangular wave
wave and and Rogowski
Rogowski coil
coil outputs.
outputs.
The coil and integrator were connected by a coaxial cable of 100 pF/m, and the frequency
characteristics of theintegrator
The coil and Rogowskiwere
coil sensor wereby
connected obtained by simulation,
a coaxial as pF/m,
cable of 100 shownand
in Figure 11.
the frequency
characteristics of the Rogowski coil sensor were obtained by simulation, as shown in Figure 11.
Sensors 2019, 19, 4176 10 of 13
Sensors 2018, 18, x FOR PEER REVIEW 10 of 13

100 Phase

Phase(degree)
0

-100

-200

-300
1 10 100 1k 10k 100k 1M 10M 100M
Frequency(Hz) Gain
-40

-50

Gain(dB)
-60

-70

-80

1 10 100 1k 10k 100k 1M 10M 100M

Frequency(Hz)

Figure 11. Rogowski transducer Bode diagram.

Figure 11. Rogowski transducer Bode diagram.
3.2. Experimental Verification of the PCB Rogowski Coil Current Transformer
3.2. Experimental Verification of the PCB Rogowski Coil Current Transformer
The switching characteristics of many power electronics devices have a large current change rate
The switching
in a short switching time.
characteristics
The circuitoffor
many power
testing the electronics devices
characteristics of thehave a large current
diode-clamped changeload
inductive rate
in a short
circuit switching
is not completedtime.
yet,The circuit
since for testing
the lightning the characteristics
current wave also hasofthe thecharacteristic
diode-clamped of ainductive
sudden
load circuit is not completed yet, since the lightning current wave also has the characteristic
change in a short time. As a result, this section takes the detection of an 8/20-µs standard lightning of a
sudden change in a short time. As a result, this section takes the detection of an 8/20-μs
current wave as an example to verify the performance of the self-designed PCB Rogowski coil current standard
lightning current
transformer. waveparameters
The main as an example todevice
of the verify are
the shown
performance
in Tableof3.the self-designed PCB Rogowski
coil current transformer. The main parameters of the device are shown in Table 3.
Table 3. Main parameters of lightning surge generator (LSG-510A).
Table 3. Main parameters of lightning surge generator (LSG-510A).
Integrated Waveform
Output Waveform Integrated waveform
Output waveform Open Circuit Voltage Wave Short Circuit Current Wave
Open circuit voltage wave Short circuit current wave
cutting edgeedge
cutting 1.2 μs1.2 µs ± 30%
± 30% 8 μs ±20%8 µs ± 20%
PulsePulse
widthwidth 50 µs
50 μs ± 20% ± 20% 20 μs ±20%µs ± 20%
20
Peak 0~6 kV ± 10% 0~3 kA ± 10%
Peak 0~6 kV ± 10% 0~3 kA ±10%
Output impedance 2Ω ± 10%
Output impedance 2Ω ± 10%

The
The output
output ofofthe
thelightning
lightningsurge
surgegenerator
generatorwas wasconnected
connectedtotoaa1Ω1Ω400W
400Wresistor.
resistor. The
The PCB
PCB
Rogowski
Rogowskicoil coiland
andthe
thePEM
PEMCWTCWTRogowski
Rogowski coilcoil (see
(see Table
Table44for
forparameters)
parameters)were
werepassed
passedthrough
through
the
thewire
wirecontaining
containingthe theoutput
outputsignal
signalof ofthe
thelightning
lightningsurge
surgegenerator
generatorto
tocontinuously
continuouslychange
change thethe
lightning surge. The output voltage amplitude of the device recorded and saved the waveform
lightning surge. The output voltage amplitude of the device recorded and saved the waveform data data of
the oscilloscope.
of the oscilloscope.TheThe
experimental
experimentalsitesite
is shown
is shownin Figure 12. 12.
in Figure

Table4.4.Main
Table Mainparameters
parametersof
ofthe
theCWT
CWTRogowski
Rogowskicoil
coiltransducer.
transducer.

Current
Current peak (A)
Peak (A) di/dt(kA/µs)
di/dt (kA/μs) Bandwidth
Bandwidth
600 600 40 40 6.2–30 M M
6.2–30
Sensitivity
Sensitivity Attenuationcharacteristic
Attenuation characteristic Maximum
Maximumnoisenoise
10 10 6 6 10 10

In this experiment, the output voltage amplitude of the lightning surge generator ranged from
300 to 550 V, and was recorded every 50 V to obtain six sets of experimental waveforms. The channel
connected to the PEM CWT Rogowski coil during the experiment set the attenuation ratio so that the
instantaneous value of the current did not exceed the maximum range of the oscilloscope current probe.
As shown in Figure 13, taking the peak current of the measured current as 400 A, red represents the
output waveform of the PCB Rogowski coil probe, and blue represents the measurement result of the
PEM CWT Rogowski coil. The output waveform of the PCB Rogowski coil probe produces a significant
Sensors 2019, 19, 4176 11 of 13
1Ω 400W Resistance

PEM CWT Rogowski Coil

abrupt change at the moment of sudden change of the measured current signal. After rising to the
Lightning Surge Generator

maximum value, it gradually decreases. AfterPCB

zero-crossing,
Rogowski Coil
it increases inversely and then gradually
decays to 0. Here again, the PCB Rogowski coil is verified by the differential way of working.
Sensors 2018, 18, x FOR PEER REVIEW 11 of 13
Figure 12. Scene of the lightning surge test.

In this experiment, the output voltage amplitude of the lightning surge generator ranged from
300 to 550 V, and was recorded every 50 V to obtain six sets of experimental waveforms. The channel
connected to the PEM CWT Rogowski coil during the experiment set the attenuation ratio so that the
instantaneous value of the current did not exceed the maximum range of the oscilloscope current
probe. As shown in Figure 13, taking the peak current of the measured current as 400 A, red
represents the output waveform of the PCB
1Ω 400W ResistanceRogowski coil probe, and blue represents the

measurement result of the PEM CWT Rogowski coil. The output waveform of the PCB Rogowski coil
PEM CWT Rogowski Coil
probe produces a significant abrupt change at the moment of sudden change of the measured current
Lightning Surge Generator

signal. After rising to the maximum value, itPCBgradually

Rogowski Coil decreases. After zero-crossing, it increases
inversely and then gradually decays to 0. Here again, the PCB Rogowski coil is verified by the
Figure 12.
differential way of working. Figure 12. Scene
Scene ofof thethe lightning
lightning surge
surge test. test.

In this experiment, the output

30 voltage amplitude of the lightning 0.04 surge generator ranged from

300 to 550 V, and was recorded every 50 V to obtain six sets of experimental
20
0.02
waveforms. The channel
connected to the PEM CWT Rogowski
10 coil during the experiment set the attenuation ratio so that the
instantaneous value of the current
0 did not exceed the maximum range 0.00 of the oscilloscope current
Current (A)

Voltage(V)
-10
probe. As shown in Figure 13, taking the peak current of the measured -0.02
current as 400 A, red
-20
represents the output waveform of the PCB Rogowski coil probe, and blue represents the
-30 -0.04
measurement result of the PEM CWT Rogowski coil. The output waveform of the PCB Rogowski coil
-40
probe produces a significant abrupt change at the moment of sudden change
-0.06 of the measured current
-50
signal. After rising to the maximum value, it gradually decreases. After zero-crossing, it increases
inversely and then gradually-60decays
-10 0 to 100. Here
20 again,
30 40 the
50 PCB
-0.08
60 Rogowski coil is verified by the
differential way of working. Time (s)

Figure 13.30Mutation characteristics of the PCB Rogowski

0.04 coil.
20
The measurement
measurementresults
resultsareareshown
shownin Figure 14 for14thefor
in Figure output voltage
the output
0.02 amplitude
voltage of the lightning
amplitude of the
10
surge generator
lightning at 300 and
surge generator at 550
3000 V.andWhen theWhen
550 V. measured current peak
the measured current value
peakwas 300was
value A, the
300 output
A, the
0.00
waveform of the PCB Rogowski
output waveform of the PCB Rogowski coil sensor and PEM CWT Rogowski coil were
coil sensor and PEM CWT Rogowski coil were basically basically the same;
the
Current (A)

Voltage(V)

-10
since
same;the sensitivity
since of the sensor
the sensitivity of-20thewas 10 mV/A,
sensor was 10 themV/A,
internalthecircuit configuration
internal
-0.02 of the operational
circuit configuration of the
amplifier
operationaldetermined
amplifier that the amplitude
determined -30
of the
that the output signal
amplitude of the did
outputnot exceed
signal
-0.04
the not
did supply voltage.
exceed In this
the supply
experiment, the experiment,
voltage. In this power supply voltage
the-40
powerofsupply
the op voltage
amp was of±5theVopDC,ampmeaning
was ±5that the measured
V DC, current
meaning that the
amplitude of the PCB Rogowski coil sensor was notmore than 500 A.-0.06
Therefore, when the peak value
measured current amplitude of
-50 the PCB Rogowski coil sensor was notmore than 500 A. Therefore,
of the the
when measured current
peak value increased
of the measured
-60
to 550 A, theincreased
current output waveform
to 550 A, theof the PCB Rogowski coil sensor
-0.08 output waveform of the PCB
-10 0 10 20 30 40 50 60
would
Rogowskibe distorted.
coil sensorIfwould
you want to measure
be distorted. If ayou
higher
wantcurrent amplitude,
to measure a higher you can consider
current bothyou
amplitude, the
Time (s)
sensitivity
can consider of both
the sensor or the supply
the sensitivity of thevoltage
sensor of or the
the op amp.voltage of the op amp.
supply
Figure 13. Mutation characteristics of the PCB Rogowski coil.

The measurement results are shown in Figure 14 for the output voltage amplitude of the
lightning surge generator at 300 and 550 V. When the measured current peak value was 300 A, the
output waveform of the PCB Rogowski coil sensor and PEM CWT Rogowski coil were basically the
same; since the sensitivity of the sensor was 10 mV/A, the internal circuit configuration of the
operational amplifier determined that the amplitude of the output signal did not exceed the supply
voltage. In this experiment, the power supply voltage of the op amp was ±5 V DC, meaning that the
measured current amplitude of the PCB Rogowski coil sensor was notmore than 500 A. Therefore,
when the peak value of the measured current increased to 550 A, the output waveform of the PCB
Rogowski coil sensor would be distorted. If you want to measure a higher current amplitude, you
can consider both the sensitivity of the sensor or the supply voltage of the op amp.
Sensors
Sensors 2018,
2019, 18,
19, x4176
FOR PEER REVIEW 1212of
of 13
13

(a) (b)

Figure
Figure 14.
14. Experimental
Experimentalresults
results of
oflightning
lightning surge
surge signal
signal (negative
(negative polarity).
polarity). (a)
(a)The
Themeasured
measured current
current
peak
peak value is 300 A. (b) The measured current peak value is 550 A.

4. Conclusions
4. Conclusions
In this
In thispaper,
paper,aasmall
smallPCB
PCB Rogowski
Rogowski coil
coil sensor
sensor waswas designed
designed for power
for power electronics
electronics devices.
devices. The
The design flow was introduced in detail. The differential action of the Rogowski coil was
design flow was introduced in detail. The differential action of the Rogowski coil was verified using verified
usingaboth
both a simulation
simulation and
and an an experiment.
experiment. The feasibility
The feasibility of designed
of the the designed Rogowski
Rogowski coilcoil
was was verified,
verified，
which provides a reference for the reliability research and optimization design of subsequent
which provides a reference for the reliability research and optimization design of subsequent devices. devices.

Conceptualization, C.J. and

Author Contributions: conceptualization, and Z.Z.;
Z.Z.;methodology,
methodology,C.J. C.J.and
andZ.Z.; software,
Z.Z.; software,J.Z.; validation,
J.Z.; J.Z.
validation,
and and
J.Z. Z.Z.;Z.Z.;
formal analysis,
formal C.J.; investigation,
analysis, J.Z.; resources,
C.J.; investigation, J.Z.; data
J.Z.; resources, J.Z.;curation, J.Z. and
data curation, Y.F.;
J.Z. andwriting—original
Y.F.; writing—
draft preparation, C.J., J.Z. and Z.Z.; writing—review and editing and C.J. and Z.Z.; visualization, J.Z.; supervision,
original draft preparation, C.J., J.Z. and Z.Z.; writing—review and editing and C. J. and Z.Z.; visualization, J.Z.;
C.J.; project administration, C.J and Y.F.; funding acquisition, Y.F.
supervision, C.J.; project administration, C.J and Y.F.; funding acquisition, Y.F.
Funding: This work was supported by the Science and Technology Project of State Grid Corporation of China:
Funding:
Future Grid This work wasTechnology
Prospective supported Layout
by the Science
Researchand Technology
(grant Project of State
no. NYB17201800314) andGrid
the Corporation
open Fund ofoftheChina:
State
Key Laboratory
Future of Alternate
Grid Prospective ElectricalLayout
Technology Power Research
System with Renewable
(grant Energy Sourcesand
no. NYB17201800314) (grant
theno. LAPS17017).
open Fund of the
State KeyofLaboratory
Conflicts of Alternate
Interest: Declare conflictsElectrical
of interestPower
or state.System with Renewable Energy Sources (grant no.
LAPS17017).
References
Conflicts of Interest: Declare conflicts of interest or state.
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8. Gerber, D.; Guillod, T.; Biela, J. IGBT gate-drive with
Rogowski coils. Eur. Power Electron. Conf. 2003, 2003, 1–10. PCB Rogowski coil for improved short circuit detection
7.and Furuya,
current turn-off capability.
M.; Ishiyama, In Proceedings
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measurement insideIEEE Pulsed
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2641–2648. [CrossRef]
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12. IXYS Is Now Part of Littelfuse. Available online: http://www.westcode.com/ (accessed on 25 September
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