86
1, March 1999
PSPICE Simulation of single-phase Induction Motors
Jawad Faiz, IEEE Senior Member and M, Ojaghi
Department of Electrical Engineering
Faculty of Engineering, University of Tabriz
Tabriz, Iran
Abstract. Dynamic analysis of a single-phase induction
motor is studied using PSPICE software. The machine
dynamics are presented by a set of tionlinear time-varying
differential equations. T h e equations which define the
motor operation are represented in a n orthogonal system.
T h e electric circuit presenting this set of equations is
determined and solved by PSPICE software for simulation
of the motor. The simulation results are compared with
those obtained by E M T P and t h e experiment. Good
agreements are observed for both cases.
Key Words: Single-phase induction motor, transient
operation, PSPICE application
List of symbols
index for main winding
index for auxiliary winding
No. of effective turns of winding a
No. of effective turns of winding m
N,iN,
resistance and self-inductance of winding m
resistance and self-inductance of winding a
resistance and self-inductance of rotor q
winding (referred to stator)
resistance and self-inductance of rotor d
winding (referred to stator)
leakage inductances of windings m and a
leakage inductances of rotor bars
mutual inductances between, rotor winding
q and winding m , r o t o r winding d and
winding B (referred to stator)
rotor speed in elec. rad/s.
pole numbers
load torque
rotor and load inertia
capacitor series resistance
capaciiance
operator didt (pl integrator)
synchronous speed in elec. radls
1. Introduction
Single-phase m o t o r s a r e widely used for fractional
horsepower applications. Study of the transient behaviour
of the motor is required for designing the protection system
PE-PW-ECI-09-1997 A paper recommended and approved by the
IEEE Electric Machinery Committee of the IEEE Power Engineering
Society for publication in the IEEE Transactions on Energy
Conversion. Manuscript submitted July 18, 1996; made available for
printing October 3, 1997.
0885-8969/99/$10.00
IEEE Transactions on Energy Conversion, Vol. 14, NO.
A, Keyhani, IEEE Senior Member
Department of Electrical Engineering
The Ohio state University
Columbus, OH 43210, USA
and evaluating its impact on the supply. T h e dynamic
performance of t h e motor is described by a set of time-
varying differential equations a s a function of the rotor
position.
To solve the above time-varying differential equations, they
are transformed to a new orthogonal reference kame fixed
on t h e stator [ l ] . I n this new reference f r a m e , t h e
time-varying differential equations are transformed to a set
of constant coefficient differential equations which can be
solved using the classical numerical methods.
Among the available softwares, EMTP is the most powerful
and rvidely accepted package for the analysis of electrical
machines. EMTP contains many models for the analysis of
electrical machines as well as power electronic elements,
and permits the simulation of the performance of control
systems [ 2 , 3 ] .PSPICE also is considered to be the most
complete general purpose electric circuit analysis program.
P S P I C E has b e e n used t o simulate discrete device
electronic circuits and it contains most electronic elements
[ 4 ] . At present, P S P I C E does not include models of
electrical machines and drives, however,those systems that
can be represented by constant parameters equivalent
circuit can be implemented easily [SI.
The PSPICE software can be used to solve the machine
dynamic model of the differential equations which a r e
represented by a circuit model and is used in this paper.
The advantage of the proposed approach is the siniplicity
of analyzing the performance of the machine transients
using the graphical postprocessor of the PSPICE software.
This paper presents an application of PSPICE (4.05
version) that is used to implement and study the dynamic
of a capacitor single-phase induction motor. The purpose
of the paper is to show that more generally available tools
such as PSPICE, also can be readily employed. T h e
simulation results are compared with those obtained by
E M T P and the experiments. It is observed that good
agreement can be obtained between the experimental
testbed, EM?? and the PSPICE simulation results. Finally,
some advantages of using PSPICE over E M T P will be
presented.
2. Dq model of the niotor
A capacitor single-phase squirre! cage induction motor
using two windings and two capacitors is studied. At
capacitor-start capacitor-run mode, one capacitor (C,) is
permanently in circuit, in series with auxiliary (a) or starting
winding (see Fig. 1). The other capacitor (C,) remains in
circuit only during starting period and is cut off by a
0 1997 IEEE

centrifugal switch a s t h e motor picks u p about 75% of
synchronous speed. For capacitor-start mode, C, is not
excited and only C , is in circuit during the starting period.
Therefore, when the motor accelarates the auxiliary winding
will be cut off. Since the stator windings are not identical,
for a two-axis model, a stationary reference frame must be
used which leads to the differential equations with constant
coefficients [I].
T h e r u n capacitor C , is shown by a d o t t e d line t o
emphasize its contribution only a t t h e capacitor-start
capacitor-run mode. T h e rotor bars o n d and q axes are
short circuited. Referring to Fig. 1 and using [I], the
differential equations of the motor are as follows:
87
system represented by Fig. 2 or its dual circuit (Fig. 3) is
simulated. The dual circuit is preferred because its number
of nodes is much less, and most of its elements a r e in
parallel.
In Fig. 3 , v a = i y q .Vb=-im, v c = i a , Vdz-i’d V f ~ w rAny
.
voltage in the main circuit has the same w a k f o r m as its
corresponding current in the dual circuit. For instance the
auxiliary ninding current waveform 1(), in the main circuit
corresponds with the voltage V, waveform in the dual
circuit. Other circuit parameters in Fig. 3 are as follows:

Winding m: v* =r,e+L&,+M&’q
Winding a: + +L d i , +Mapi ’d
v, = rcia + p”ia/C raia
Rotor q vhding: O=M,&&faw,i,/n+r’qi’q
+L’qpi’q-L’&ri’d
Rotor d winding O=n~,g+Mapia+nL’gu>’q
+r’di’d+L’d’d
Torque Qua tion: T,= P ~ l ~ ’ d - i , i , q ] = f L + J ( d w ~ d ( ) l P
(1)

Fig. 2. Equivalent circuit for the soultion of Eqns. 1

wdg ,

Fig. 1. Capacitor single-phase induction motor

The capacitance leakage current of the auxiliary winding
has been ignored. All parameters d u e t o rotor q winding
have been referred to stator m winding, and all parameters
due t o q winding have been referred to stator a winding.
T h e self-inductances and the mutual-inductances of the
motor are as follows:

b=Mm+L1, L,q=Mm+L,lq
La= M,+L:,, L3d=Ma+L’ld (2)
3. Electrical circuit analogy of the motor Fig. 3. The dual circuit of Fig .2.
equations 4. Simulation studies

The system described in Eqns. 1 and 2 can be presented by For the same single-phase induction motor. whose
the equivalent circuit given by Fig. 2. In Fig. 2 the followng specificmans are gnen at appendK A, all simulation steps
relationships exlst: folloued in [6] can he repeated using the circcit of Fig. 3
and PSFICE Due to space limitations, some the results
V,=Maw,ia/n of PSPlCE simulation are presented in Figs 1 - 1 2 There
V,=L’do,i’d/n results are in good agreement with the results obsined by
V,=nMmwrim EI\.lPP [6] fdr most cases but there are some differences in
V4 = n L * p , i ’ 4 some cases, as IS discussed below
T,=PniLi,[imi’d-iai’q] (3)
Fig Sa s h o u s :he clestromagnetic torque \arid!ions
In order to compute the inom dynamic performance, the ohtmed by PSPICE dn3 Fig 5b shons the same NaLeform
88
--
11
Current M I C u m 1 (A)
m
IS

I*

0 #

-IO

.IS

-la
-?2
_- 0 0.50 1.00 1.25 0 m r W s l l W I Q n

Time (s) (a) (b) Time (ms)

fig. 4. Main winding current in capacitor-startcapacitor-run mode: (a)PSPICE simulation, (b)EMTP simulation
Electromaenetic torauc I"\ Electranaerietic tnroue fNm)
8

0
0

1 ,i/
I 1

. ~

-9 n o ~ 1 o p 6 m p D I ~
0 0.50 1.00 1.25
Tie (s) (a) (b) Tme (ms)
Fig. 5. Electromagnetic torque in capacitor-startcapacitor -run mode (a)PSPICE simulation, (b)EMTP simulation.
lectromagnetic torque (Nm) Current (A)
1s 10

-13 ..
0 .'A 1.00 1.25 0 0.- 1.w 1.15
T i e (s) Time (s)
Fig. 6. Electromagnetic t o r q u e in capacitor-start mode, Fig. 7. Auxiliary winding c u r r e n t in c a p a c i t o r - s t a r t
supply voltage is a t t h e begining of t h e positive half capacitor-run mode - PSPICE simulation
cyde

ua
n

-150
1 lllllllllllllllll~llllll~ll~
0 0.W
~~~~~llllll~~
:: 1.00 1.2s # 3 . m Q - I -

Time (s) (a! (b) Time (ms)

Fig- 8- Starting capacitor voltage: (a)PSPICE simulation, (b)EM.Tp simulation

 89
6
.
- ~
voltage (V)

-280 c
C 0 50 100 125
Time (s)
Fig. 9. Running capacitor voltage - PSPICE simulation
Electromagnetic torque (Nm) Electromagnetic torque (Nm)

-9
050
Time (s) (a,' O0 25 ' " m
(b) %me (ms)
u - -

Fig. 10. Electromagnetic torque in load operation condition in capacitor-start capacitor-run mode: (a) P S P I C E simulation.
(b) Ehl'" simulation.
Electromagnetic torque (Nm)

0 050 Q " " I m ,

Time (s) (b) Time (ms)

f3g. 11. Electromagnetic torque for the capacitor-start mode: C ,=3-~7.3(Q)(a)PSPICE simulation, (b) EMTP simulation.

Ekaromagne:!c torque (Nm) Electromagnetic torque (Nm)

6

0 0

T i e (s) (a) (b) Eme(ms)

Fig. 12 Electromagnetic torque for the capacitor-start mode: Cs=3-j29 (R)(a)PSPICE simulation, (b) EMTP simulation.
90

.w i- t * l . . . . f . . . . J

0
n
>
W
(d
>

I f 1
n I I

I 1
0 sa3
Time(ms)

( b ) (b) Laboratory
Fig. 13. Different currents and vdiageSof the test molor(a) PSPICE simuhtloa, test

obtained by EMTP [6].
T h e EMTP simulation result shows there are pulsations
with fundamental frequency in the developed torque at the
instants of starting period, while the simulated results by
PSPICE have no such pulsating torque. The capabilityof
PSPICE provides the opportunity to study this topic.
Investigation has shown that such pulsation depends upon
the instant of applying the supply voltage. If the motor is
connected to the supply when the supply is a t voltage
+Vmax,the results will be as those shown in Fig. 5a. Fig. 6
presents a similar result when the motor is connected to
the supply at the begining of the positive half-cycle of the
applied voltage. It is clear that in the second case this
pulsation is even larger than the average torque. This
pulsation is caused by interaction between the dc
components of the different motor winding currents and
the fundamental frequency component of ac current. The
dc component of the currents is damped quickly. Figs. 8a-b
show the starting capacitor voltage waveform in capacitor -
start-capacitor-run mode obtained by PSPICE and EMTP
[ 6 ] ,respectively. E M T P results (Fig. 8b) shows t h e
variations for this voltages after the centrifugal switch
action. This means the current flow in the starting capacitor
after switch turns off. Referring to Fig. 1 indicates that
after the centrifugal switch action there is no external and
internal path for the capacitor current. Therefore, the
variation of this voltage after the centrifugal =itch action is
not possible, as shown in Fig. Sa obtained using PSPICE.
When the motor is loaded, with TI = 0.9?l”, EMTP
simulation result shows a n electromagnetic torque at the
steady state which is in the opposite direction of the
transient mode (61 (see Fig.lOb). The authors of the paper
have tried to clarify that the EMTP UM model treats the
torque as a generative torque, but PSPICE simulation
results (see Fig. l o a ) show that no negative torque is
exhibited.
Figs. 11-12 show the electromagnetic torque variations in
the capacitor-start mode when the capacitance is half and
twice its noniinal value. As shown, the mean value of this
torque is reduced in both cases. Thus, in Figs. 10-12, the
average accelerating torque (T,-T,) has decreased,
compared with Fig. 5 (in Fig. 10 because of TL).So: a
delay in the operation of the centrifugal sbitch is expected.
Such a feature can be observed in the resuls obtained by
PSPICE (Figs. loa, l l a and 12a) not by EhrrP 161 (Figs.
lob, l l b , and 12b).
5. A comparison behveen simulated and
experimental results
Aconimercial capacitor-start single-phase induction motor
has been tested through short circuit and open circuit
testing in order to determine the motor parameters which
are given in appendix B. The laboratory testing results of
the motor which are obtained using C R T and xy-plotter,
are shown in Fig. 13, together with corresponding results
which are obtained using the circuit of Fig. 2 snd PSPICE.
Regarding the experimental results, some p i n t s must be
noted:
I. The capacitor and auxlliary winding voitagt-s do not have
good resolutions, and the quantitative campxison of the
91
experimental and simulated results are not possible, but the
qualitative comparison can be made.
11. The expermental waveforms are individually obtained
and plotted, therefore, the time instant of voltage source
connection t o the motor is n o t t h e s a m e . Since t h e
transient waveforms depend on the time instant of applying
the voltage, trial and error procedure has been followed for
simulation. Furthermore, because different voltages a r e
applied a t different r!me instants, the experimental and
simulation results do not correspond exactly.
Considering the above comments, a good a g r e e m e n t
between the experimental and simulated results is observed.
Since the centrifugal witch is assumed to be almost ideal in
the simulation, the auxiliary winding current instantly
dropped a n d reached zero. This immediate c u r r e n t
interruption leads to a large amplitude of induced voltage,
but in t h e experimental waveform, t h e s p a r k in t h e
centrifugal switch prevents to induce a reasonablevoltage
in the auxiliary winding. Other factors, such as saturation,
may explain the remaining small discrepancy between the
simulated and experunzntal results.
6. Conclusions
An accurate software simulation of single-phase induction
motors is possible ussg a PC in conjunction with a general
purpose analysis program such a s PSPICE. T h e use of
PSPICE leads to a more accurate and reasonable result as
compared with those obtained using E M T P . A good
agreement between the simulated and experimental results
confirms the quality of the simulation studies.
Appendix A
Single-phase capac!:or induction motor data used as the
first motor for the smulation is taken from Krause’s paper
[61:
Ratings: 4 poles, 0.25 hp, 110 Volts.
Armature winding pxameters (Q):
Main winding: r,=2.02
.luxiliary winding: r,=7.14
Field binding paranxxrs (a):
1-’~=4.12 X’1,=2.12
r ’,=5,74 X ’Id =2.95
Magnetizing reactanxs (unsaturated) (Q):
Xm=66.8 X,, =92.9
Winding turn ratio: n=l.IS
Moment of inertia: 0.3365 Ib-ft2
Starting capacitor: 3.0-j14.5 (n)
Running capacitor: 9.0-j172.0 (Q)
Appendix B
Single-phase capacitor induction motor data used for
testing:
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Rating: 1/6 hp, 2201240 Volts, 50 Hz, Biographies

2750 rpm
Armature winding parameters (a): Jawad Faiz received t h e Ph.D. degree in electrical
Main winding: r,=17.4 X1,=17.4 engineering from the University of Newcastle upon Tyne,
Auxiliary winding: r,=24.3 X1,=10.6 England, in 1988, In 1988,he joined the Depattment of
Electrical Engineering, University of Tabriz, Iran, as an
Field winding parameters (Q): assistant professor. He was promoted to associate professor
f q= 23.83 X'lq= 17.4 in 1993. His teaching and research interests are switched
r'd = 14.63 X'ld= 10.6 reluctance and V R motor design, electrical machine
designing, modeling and application.
Magnetizing reactances (unsaturated) (Q):
Xm=420 ?&,=258 M. Ojaghi received the B.Sc. in electrical engineering from
the Shahid Chamran University, Ahwaz, Iran in 1993. He is
Moment of inertia: 0.0297 Ib-ft2 currently working on his M.Sc. degree at the University of
Starting capacitor: 75 pF U1800 (Q) Tabriz, Iran. His areas of interest include electrical
machines design, drives and their microprocessor control.
References
Ali Keyhani received t h e Ph.D. degree from P u r d u e
P. C. Krause, "Analysis of Electrical Machinery", IEEE
University, West Lafayette, Indiana in 1975. From 1967 to
Press, 1994.
1969, he worked for Hewlett-Packard Co. on t h e
EMTP User's Manual, Bonneville Power
computer-aided design of electronic trasformers. Currently,
Administration, Portland, OR, June 1984, pp.274-313.
Dr. Keyhani is a professor of electrical engineering at The
D. Dalle Molle, M. Lippi, M. blazzucchelli, R. Moroni
Ohio State University, Columbus, Ohio. His research
and G. Sciutto, "Digital simulation of ac electrical
interest is in control and modeling, parameter estimation,
drives based on field oriented control method using a
and failure detection of electric machines, transformers and
general purpose program", PCI'86 Conf., Munich,
drive systems.
Germany, June 1986, pp. 350-364.
PSPICE Manual CA: MicroSim Corp.
G. Franceschini, et al., "Spice assisted simulation of
controlled electric drives an application to switched
r e l u c t a n c e drives" JEEE Trans. on Indusiry
Applications, Vol. 27, No. 6, Nov./Dec. 1991,
pp. 1103-1110.
A. Domijan and Yuexin Yin, "Single phase induction
machine simulation using the electromagnetic
t r a n s i e n t s p r o g r a m , Theory a n d t e s t cases",
IEEE. Trans. on Energy Conversion, Vol. 9, No. 3 ,
September 1994, pp. 535-542.