Simulink-Based Implementation

of TCSC-Operated Single-Phase
Induction Motor as an
Educational Tool
MUWAFFAQ I. ALOMOUSH,1 SAHER A. ALBATRAN2
1

Department of Electrical Power Engineering, Hijjawi Faculty for Engineering Technology, Yarmouk University, Irbid, Jordan

Department of Electrical Engineering, College of Engineering, Tala Technical University, Tala, Jordan

Received 20 November 2008; accepted 2 February 2009

ABSTRACT: The article presents a method to achieve a variable capacitance in the auxiliary circuit of singlephase induction motor (SPIM) using thyristor controlled series compensator (TCSC) which is considered as a
controllable variable impedance that can considerably alter impedance of a circuit in which it is inserted to be
capacitive or inductive. The TCSC can change its impedance quickly as ring angle is controlled, therefore, it can
be utilized as variable capacitor to improve starting torque and enhance running performance of the SPIM. The
article also presents an unsophisticated Simulink-based model for a TCSC-operated SPIM to be an educational
approach that ts different operation conditions of the motor by adopting a very simple fashion. 2009 Wiley
Periodicals, Inc. Comput Appl Eng Educ 19: 514
524, 2011; View this article online at wileyonlinelibrary.com/journal/
cae; DOI 10.1002/cae.20332
Keywords: induction motor; TCSC; modeling and simulation; Simulink

INTRODUCTION
Even though SPIM does not have the capability to run directly as
it is not a self-starting motor, it is widely used in low power
applications. At homes, it is used more than any other type of
motors and many industrial applications nd this motor a popular
choice [1
9] because of its rugged structure and inexpensive
cost.
It has been a common practice to operate the SPIM motor
initially as a two-phase motor by auxiliary means to establish a
starting torque [1]. The SPIM generally has a main winding and
an auxiliary winding and a squirrel-cage rotor. An inductive or a
capacitive auxiliary winding is traditionally used to achieve a
two-phase motor operation. The most common types of twowinding SPIM are the split-phase, capacitor-start, permanent
capacitor, and capacitor-start capacitor-run [1
3]. It is a common
practice to use two capacitors in SPIM to establish and improve
its starting torque and to enhance its running performance.
Capacitor values are discrete values selected by a designer and
added to motor by a manufacturer. A mechanical centrifugal

Correspondence to M. I. Alomoush (ma@yu.edu.jo).

2009 Wiley Periodicals Inc.

514

switch is used to connect or disconnect the capacitors of the

auxiliary winding. In the capacitor-start SPIM, a large capacitance value is used during starting period to get higher starting
torque and to enhance running performance we disconnect the
capacitor after the motor speed reaches about 75% of synchronous speed. To improve the starting torque, efficiency, and
running performance of a capacitor-start capacitor-run motor, the
two parallel capacitors are connected during the starting period
(to improve starting torque) and when the motor speed reaches
nearly 75% of synchronous speed one capacitor is disconnected
by a centrifugal switch, leaving one smaller capacitor connected
to the auxiliary winding to enhance the running performance. In
Refs. [7
10] different proposals have been presented to adjust
the auxiliary capacitors using electronic switches.
The TCSC integrates a broad range of positive technical
qualications such as a high speed switching capability, fast
boosting of its degree of compensation, reduced weight,
decreased space requirements, and considerably alters impedance
of the circuit in which it is inserted to be capacitive or inductive
[11
17]. Therefore, it can be utilized for starting and running
purposes in SPIM. This contribution explores the representation
of the TCSC as a variable impedance and investigates its valuable
impacts, when it is operated in its capacitive mode, on the
transient behavior of SPIM. For the reason that the TCSC can

TCSC-OPERATED SINGLE-PHASE INDUCTION MOTOR

Figure 1

515

Schematic diagram of the proposed TCSC-operated SPIM.

change its impedance quickly as firing angle is controlled, we

proposes to use the TCSC as variable capacitor to improve
starting torque and enhance running performance of SPIM. A
schematic diagram of the proposed TCSC-operated SPIM is
depicted in Figure 1. As shown in this figure, a TCSC is inserted
in the auxiliary winding of the SPIM as a replacement of the
traditional auxiliary component and the accompanying mechanical centrifugal switch.
Because of the advantageous features the Simulink has, it is
a widely used package in academic world for research and
educational purposes and in industry for modeling and simulating
dynamic systems of real problems. Simulink can convert
computers into virtual laboratories for modeling and analyzing
systems that would be difcult or time consuming in practice.
Simulink gives us a very simple approach for modeling,
simulating and analyzing dynamic systems, where we can see
the simulation results while running and easily change system
parameters and observe their effects immediately. The Matlab/
Simulink software package has the capability to describe realworld phenomena by utilizing a comprehensive block library of
sinks, sources, linear and nonlinear components and connectors.
Accordingly, the TCSC-operated SPIM is presented in this study
as a simple Simulink-based model to be an educational tool.
The model implementation is designed to be suitable and simple
for different operation conditions of the motor. Using computer
for simulating the electrical systems is essential for teaching or
learning especially to overcome mathematical complexity of
nonlinear differential equations as those of the SPIM. The model
presented here is built to explain the dynamic simulation of SPIM
which is known to be time consuming and sometimes boring in
undergraduate and graduate courses. The graphical interface is
used in the model to efciently enable a user change system
parameters, modify simulation model and notice the results as
easy as possible.
In addition to the educational purpose, the article shows
that inserting the TCSC in the auxiliary winding of the SPIM
introduces more benets compared to the traditionally used
methods of starting and running the SPIM. The simulation results
of the test cases presented emphasize that incorporating TCSC
with the SPIM brings advantageous features to start and run the
motor. The simulation results presented in this investigation
indicate that the TCSC can effectively replace the traditional
auxiliary component and the accompanying mechanical centrifugal switch, which in turn may reduce maintenance requirements, size and cost of the SPIM.

MATHEMATICAL MODEL OF TCSC

The equivalent circuit of TCSC is shown in Figure 2, with
resistances have been neglected [11
17]. As shown in the figure,

Figure 2

Equivalent circuit of the TCSC.

the TCSC consists of a capacitor connected in a parallel thyristorcontrolled inductor. TCSC operates such that the TCSC is seen
by the circuit in which it is inserted as, virtually, having an
increased reactance beyond the original reactance of the of TCSC
capacitor (Xc), that is, the TCSC is seen as controllable equivalent
reactance. The currents i, iC, and iL in Figure 2 represent,
respectively, the total current, the capacitors current, and the
inductors current of the TCSC. The voltages of the capacitor and
the inductor of the TCSC are denoted by vC and vL, respectively.
See list of symbols at the end of this article for definitions and
meanings of system parameters and variables.
The TCSC has two modes of operation, which are TCSC
with TRIAC is ON and TCSC with TRIAC is OFF. When the
TRIAC is ON, the TCSC will appear as parallel LC circuit, where
the capacitor and the inductor have the same voltage. The ON
mode of operation is described by the following equations:
vC t vL t L

diL t
dt

it iL t iC t
iC t C

dvC t
dt

1
2
3

dvC t 1
it
iL t
dt
C

diL t vC t

dt
L

When the TRIAC is OFF, the inductor is open and the TCSC
will appear as a capacitor, therefore, the current i(t) will pass
through the capacitor only. In this mode of operation, the TCSC is
modeled by the following equations:
Z
1
vC t
it dt
6
C
it iC t C
iL t 0

dvC t
dt

7
8

In nutshell, we can consider TCSC circuit as a parallel LC

circuit with a variable inductance. For SPIM operations, because in
starting and running periods we need capacitive impedances to be
connected to the auxiliary winding of the SPIM, we select the
values of L and C in this study such that a capacitive impedance of

516

ALOMOUSH AND ALBATRAN

TCSC is obtained all the time, that is, the inductive impedance is
selected such that it is greater than the capacitive impedance in the
parallel LC circuit.

In (9), (10), and Figure 3, the voltage vqs and vds are given
by:
vqs vds vsource

17

where vsource Vm cos(ost) and os 2pfs.

MATHEMATICAL MODELS OF SPIM AND

TCSC-OPERATED SPIM

Mathematical Model of TCSC-Operated SPIM

Mathematical Model of SPIM
The mathematical model of SPIM in terms of stationary
reference-frame variables is given by the following equations
[2,3,8,9]:
dlqs
vqs
rs iqs
dt

dlds
vds
rS ids
dt

10

dl0qr
v0qr
rr0 i0qr asS or l0dr
dt

11

dl0dr
v0dr
rr0 i0dr
aSs or l0qr
dt

12

where asS Ns/NS and aSs NS/Ns. If v0qr v0dr 0, the set of
dynamic equations representing the SPIM, which are given by
(9)
(12), can be represented by the equivalent circuits shown in
Figure 3 [2].
In (9)
(12), the ux linkages of stator and rotor are dened
as:
lqs Lls iqs Lms iqs i0qr
13
lds LlS ids LmS ids i0dr
l0qr L0lr i0qr Lms iqs i0qr
l0dr L0lR i0dr LmS ids i0dr

14
15
16

For the case when TRIAC is OFF, the q-axis equivalent circuit
of the SPIM remains the same as that of the uncompensated
SPIM which was shown previously in Figure 3a, but the d-axis
equivalent circuit of the SPIM is modified to include the capacitor
C as shown in Figure 4. The voltages vds and vqs and the state
variable vTCSC can be expressed as:
vqs vsource

18

vds vsource
vTCSC

19

ids C

dvTCSC
dt

20

For the case when TRIAC is ON, the q-axis equivalent

circuit of the SPIM also remains the same as that of the
uncompensated SPIM (see Fig. 3a), but the d-axis equivalent
circuit of the SPIM is modified to include the parallel LC circuit
as shown in Figure 5. The state variables iL and vTCSC can be
expressed as:
Z
1
vTCSC vC
ids t
iL t dt
21
C
Z
iL

1
vL t dt
L

1
vC t dt
L

22

The expression of instantaneous electromagnetic torque and

the equation of electromechanical system of SPIM, for both
uncompensated SPIM and TCSC-operated SPIM, are given by
[2,3]:

Figure 3 The EQUIVALENT CIRCUITS of an SPIM in terms of stationary reference frame. (a) The
q-axis equivalent circuits and (b) the d-axis equivalent circuits.

TCSC-OPERATED SINGLE-PHASE INDUCTION MOTOR

517

Figure 4 The d-axis equivalent circuits of a TCSC-operated SPIM when the TRIAC is OFF.

P
aSs l0qr i0dr
asS l0dr i0qr
2

23

dor P=2
Te
TL
Td

J
dt

24

Te

The damping torque of the load (Td) in (24) is given by:

Td Bm or

25

SIMULINK MODELING OF SPIM

In this study, we implement a Simulink-based representation of
the TCSC-operated SPIM in addition to the traditional twocapacitor motor, that is, the Capacitor-Start Capacitor-Run
(CSCR) motor. The motor operation is represented in the
stationary reference frame, where the representations explain in
a simple fashion how to build the dynamic models of the SPIM.
The main front page of the motor is shown in Figure 6, which
embodies the TCSC-OPERATED SPIM block. The motor has
two inputs, which are the input voltage (Vsource) and the
mechanical load (TL) and seven outputs which are the two stator
currents (iqs and ids), the two rotor currents referred to stator
windings (i0qr and i0dr ), the electromagnetic torque (Te), the
mechanical rotor speed (om), and the capacitor voltage (Vc)
which equals the TCSC voltage (VTCSC). The outputs can be seen
from the scopes connected to the outputs of the block or from
workspace, which sometimes is more useful for analysis and
plotting purposes. Adjusting the input voltage and the mechanical
load is very simple and immediately we can see the effects of
adjustments.
To enhance our educational purpose we try to discriminate
input and output ports, where the inputs are indicated by circular
shapes and the outputs are indicated by elliptic shapes. Except the
Vqd and Vc subsystem, the blocks which are needed to
implement the q-axis parameters are not shadowed while the
others are shadowed even it depend on both q-axis and d-axis
parameters. Some other discrimination marks used in the article
will be mentioned when we describe the subsystems.

Figure 5

The TCSC-OPERATED SPIM subsystem contains internal blocks, which represent the nonlinear differential equations
and the mathematical relations necessary to implement the motor,
see Figure 7. The block contains another three subsystems named
by Vqd and Vc, Currents and Torque, and Speed.
The mission of Vqd and Vc block, as shown in Figure 8, is
to form the q-axis and d-axis stator voltages from the input
voltage source, as in (18) and (19), as well as to represents the
dynamic behavior the auxiliary winding for both the TCSCoperated motor and the CSCR. The auxiliary winding is modeled
by (21) and (22) for TCSC-operated motor, and by (26)
(28) for
the CSCR motor. In Figure 8 we use a shadowed blocks to
implement the TCSC circuit while the lower blocks in the figure
which implement the CSCR circuit are not shadowed. We
modeled the firing angles in this form to insure that the model will
work probably (more reliable) and to reduce simulation time
which will courage the user to investigate more operating
conditions. The main switch determines the operation state of
the motor whether it is in a running or in a starting mode
according to the output of the connected summation point.
Sometimes we only use scopes for debugging and checking
purposes
ids ic iR
vC

1
C

26

Z
ids dt

vR Rids

27
28

The Speed block is very simple as in Figure 9. It

represents the relations between the rotor angular velocity and
the electromagnetic torque as in (24) and (25), we need to see the
mechanical rotor speed in rpm which is the second output of this
subsystem, rather than the electrical speed in rad/s which is the
first output. We should notice here the relation between electrical
angular velocity oe and mechanical angular velocity om, which is
given by om (2/P)oe.
The most important subsystem is the Currents and
Torque subsystem, which will change if the auxiliary winding

The d-axis equivalent Circuits of a TCSC-Operated SPIM when the TRIAC is ON.

518

ALOMOUSH AND ALBATRAN

Figure 6

The main Simulink page of the TCSC-operated SPIM.

is modified. This subsystem embodies most of the mathematical

operations and state variables of the SPIM, as shown in Figure 10.
The Currents and Torque subsystem has three subsequent
tasks, which are creating the flux linkages then creating the
currents and finally creating the electromagnetic torque. In
addition to the previous discrimination signs, the stator currents
have longer output ports than rotor currents, and q-axis and d-axis
flux linkages are followed by rounded and rectangular summation
points, respectively. As it is difficult to indicate variables in the
Simulink blocks as in the case of equation format, for examples

Figure 7

the prime notation, superscripts and superscripts, we indicate

system parameters in Simulink blocks by equivalent text
expressions, for examples, rR0  rRp, aSs  aSs, and L0lr  Llrp.
In the Currents and Torque subsystem, the flux linkages
are determined using (9)
(12), the currents are determined by
rewriting (13)
(16) as in (29)
(32) and the output torque Te is
determined using (23).
iqs

lqs
i0qr Lms

Lls Lms

The internal blocks of TCSC-OPERATED SPIM subsystem.

29

TCSC-OPERATED SINGLE-PHASE INDUCTION MOTOR

Figure 8

ids
i0qr
i0dr

519

The internal blocks of Vqd and Vc subsystem.

lds
i0dr LmS

LlS LmS
l0dr

SIMULATION RESULTS
30

iqs Lms
0
Llr Lms

31

l0dr
ids LmS

L0lR LmS

32

Stator parameters : rs 2:02O; rs 7:14O; Xls 2:79O;

The parameters of the model can be entered or modied via

the graphical user interface, which is shown in Figure 11. As
shown in the mask description of the menu, all parameters should
be entered in SI units. The menu has a Help link that includes
more details about traditional SPIM and the TCSC-operated
motor.

Figure 9

The nonlinear differential equations, which describe the SPIM

dynamic behavior, have been simulated on a computer using the
MATLAB/Simulink software package. In this research we use a
0.25 hp, 4-pole, 60 Hz, 110 V SPIM with J 1.46  10
2 kg m2,
Bm 0 and (NS/Ns) 1.18. The machine parameters are as
follows:
XlS 3:22O; Xms 66:8O; XmS 92:9O
Rotor parameter : rr0 4:12O; rR0 5:74O;
0
Xlr0 2:12O; XlR
2:95O
TCSC parameters : XL 15:83O; XC 14:5O
CSCR parameters : Xs 3
j14:5O; Xr 9
j172O

The internal blocks of Speed subsystem.

520

ALOMOUSH AND ALBATRAN

Figure 10

Figure 11

The internal blocks of Currents and Torque subsystem.

Parameters menu of the TCSC-OPERATED SPIM subsystem.

TCSC-OPERATED SINGLE-PHASE INDUCTION MOTOR

To see the effect of adjusting motor parameters we rstly

present the normal behavior of the motor for the free acceleration
(no-load). In the following simulations of the TCSC-operated
SPIM, the starting ring angle (a) and the running firing angle (b)
are selected to be 1808 and 08, respectively. In the Simulink file
these angles are chosen to be a 1808 and b 08. As an example,
Figure 12 shows the simulation results for a 15 s simulation time
TCSC-operated SPIM. To show the advantageous features and
capabilities the TCSC may bring to the SPIM operation during
starting and running periods, a user of this educational tool may

521

consider the effect of the TCSC on the motor at many starting and
running firing angles. Figure 13 shows the simulation results for
the traditional CSCR-operated SPIM.
The Simulink model presented in the article can be used to
study the dynamic and steady state behavior of the SPIM as motor
parameters and inputs are varied. With the presented educational
model of the SPIM, a user can pose many questions such as what
will happen to the motor if parameter x or input y is changed?,
or What will happen if the supply frequency is doubled?,
Will the motor rotate if there are no resistances?, What will

Figure 12 Free acceleration TCSC-operated SPIM. (a) The q-axis stator current, (b) the d-axis stator
current, (c) the q-axis rotor current, (d) the d-axis rotor current, (e) the instantaneous torque, and (f) the
instantaneous speed.

522

ALOMOUSH AND ALBATRAN

Figure 13

Free acceleration of the traditional CSCR-operated SPIM.

happen if the q-axis parameters are identical to the d-axis

parameters?, Is the relation between the starting torque and the
input voltage linear or quadratic?, What is the effect of sudden
changes in load torque on motor behavior? and many other
questions. A user can get the answer directly, freely and in an
entertaining fashion.
As an example, Figure 14 shows the speed and torque versus
time of TCSC-operated motor for some different values of input
voltage. A user of the presented model can learn from the
characteristics shown in Figure 14 that the rise time will decrease
and the stating torque will increase as the input voltage increases.
As another example, Figure 15 shows the speed and torque versus
time of TCSC-operated motor for some different values of supply
frequency.
Figure 16 illustrates the impact of loading the TCSCoperated SPIM on torque and speed, for both transient and steadystate period. Figure 17 illustrates the impact of loading the TCSCoperated SPIM on stator currents of the motor for both transient
and steady-state period.

CONCLUSIONS
SPIM is a widely used motor in many home and industrial
applications. Unfortunately, this motor is not a self-starting

motor, therefore, we traditionally add an inductive or a capacitive

auxiliary winding to produce a starting torque. A CSCR operation
is usually the most favorite operation of the SPIM.
The TCSC has many advantageous technical qualications
such as a high speed switching capability, fast boosting of its
degree of compensation, reduced weight, decreased space
requirements, and considerably alters impedance of the circuit
in which it is inserted to be capacitive or inductive. We have
utilized the TCSC for starting and running purposes in SPIM. The
article has explored the representation of the TCSC as a variable
impedance and investigated its valuable impacts on the transient
and steady-state behavior of the motor. The TCSC was inserted in
the auxiliary winding of the SPIM as a replacement of the
traditional auxiliary component and the accompanying mechanical centrifugal switch. The study has presented an unsophisticated Simulink-based model which implements both the CSCR
and the TCSC-operated SPIM to be an educational approach that
ts different operation conditions of the motor. Simulink
environment has been adopted as it has superior features and
has become the most widely used package in academic world and
industry for modeling and simulating dynamic systems, especially as it is integrated with the powerful Matlab capabilities.
The presented Simulink model gives a user a very simple
approach to model, simulate and analyze the dynamic behavior of
the SPIM as motor parameters and input variables change. The

Figure 14 The free-acceleration torque and speed characteristics of TCSC-operated SPIM for different
values of input voltages.

TCSC-OPERATED SINGLE-PHASE INDUCTION MOTOR

Figure 15 The free-acceleration torque and speed characteristics of TCSC-operated SPIM for different
values of supply frequency.

Figure 16

The torque and speed characteristics of a loaded TCSC-operated SPIM.

Figure 17 Effect of loading on the stator currents characteristics of TCSC-operated SPIM. (a) The q-axis
stator current with TL 0.5 N m. (b) The q-axis stator current with TL 1.5 N m. (c) The d-axis stator
current with TL 0.5 N m. (d) The d-axis stator current with TL 1.5 N m.

523

524

ALOMOUSH AND ALBATRAN

investigation has shown the effect of TCSC as a variable capacitor

on SPIM behavior, where the results have shown that the TCSC
can be used as a variable capacitor to improve starting torque and
enhance running performance of the motor.

NOMENCLATURE
vqs, vds
v0qr ; v0dr
iqs, ids
i0qr ; i0dr
lqs, lds

0qr ;
0dr
rs, rS
rr0 ; rR0
Ns, NS
Lls, Lms
LlS, LmS
L0lr ; L0lR

J
Bm
P
or
os
fs
C
L
XC
Xe
vTCSC
vL
vsource
Te
TL
Td

q-axis and d-axis stator voltages, respectively

q-axis and d-axis rotor voltages referred
to stator windings, respectively
q-axis and d-axis stator currents, respectively
q-axis and d-axis rotor currents referred to stator
windings, respectively
q-axis and d-axis stator flux linkages, respectively
q-axis and d-axis rotor flux linkages
referred to stator windings, respectively
q-axis and d-axis stator winding resistances, respectively
q-axis and d-axis rotor winding resistances referred to
stator windings, respectively
equivalent number of turns of the q-axis and d-axis
stator windings, respectively
leakage inductance and the magnetizing inductance
the q-axis stator winding, respectively
leakage inductance and the magnetizing
inductance of the d-axis stator winding, respectively
leakage inductance and magnetizing inductance of
the d-axis rotor winding referred to stator windings,
respectively
inertia constant of the rotor and load
damping coefficient of the motor and mechanical load
number of poles
angular rotor speed
angular synchronous speed
supply frequency
capacitance in the TCSC
inductance in the TCSC
reactance of the of TCSC capacitor
equivalent reactance of the TCSC
voltage the TCSC capacitor
voltage the TCSC inductor
voltage of supply
developed electromagnetic torque of the motor
mechanical torque of the load
damping torque of the load

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BIOGRAPHIES
Muwaffaq I. Alomoush was born in Jordan in 1967. He received
the B.Sc. (1990) and the M.Sc. (1994) degrees in electrical power
engineering from the Jordan University of Science and Technology
(JUST), Irbid, Jordan, and the Ph.D. degree (1999) in electrical
engineering from Illinois Institute of Technology (IIT), Chicago,
U.S. He is currently associate professor in the Electrical Power
Engineering Department and Vice Dean of Hijjawi Faculty for
Engineering Technology, Yarmouk University, Irbid, Jordan. His
areas of interest are modeling and simulation of electrical machines,
power system restructuring, congestion management, power system
control and economic operation and optimization of power system.
E-mail: ma@yu.edu.jo

Saher A. Albatran was born in Jordan in 1982. He received the

B.Sc. (2005) degree in electrical power engineering from Yarmouk
University, Irbid, Jordan and the M.Sc. (2008) in electrical power
engineering and control from the Jordan University of Science and
Technology (JUST), Irbid, Jordan. He is currently an instructor in
the Electrical Engineering Department, Faculty of Engineering,
Tafila Technical University, Tafila, Jordan. His areas of interest
are modeling, simulation and control of electrical machines.
E-mail: saher.albatran@gmail.com