Прегледај по Аутор "Prodanović, Saša"
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- СтавкаANALYSIS OF GEAR RATIOS OF TWO DIFFERENT TYPES OF CYCLOID DRIVE TRAIN(Mašinski fakultet, Univerzitet Istočno Sarajevo, 2022) Tica, Milan; Mačkić, Tihomir; Marjanović, Nenad; Troha, Sanjin; Milutinović, Miroslav; Golubović, Dušan; Milutinović, Miroslav; Prodanović, SašaThe cyclo drive train is a special variant of the planetary drive train, where the planets are gears with a cycloid profile, while rollers are placed on the central gears (wheels). An analysis of the gear ratios of two types of cycloid drive train was performed. The first type is a classic cycloid drive train, while the second is a special variant with stepped planets. The cycloid drive with stepped planets can achieve very large gear ratios, while using central gears with a relatively small number of rollers.
- СтавкаANALYSIS OF POSSIBILITIES FOR DISTURBANCE REJECTION IN THE DECOUPLED MULTIVARIABLE PROCESS(Faculty of Engineering Hunedoara, University Politehnica Timisoara, 2016) Prodanović, Saša; Nedić, NovakProper behavior of multivariable process isn't guaranteed only through the disabling influence of its mutual coupling (interaction), but also compensation of disturbance has very important role. Investigation of disturbance that can be rejected by previously decoupled 2×2 process has been presented in this paper. Considered flow tank, as a multivariable process, was controlled using PI controllers. The aim was to determine limit of disturbance intensity under whose influence system can operate correctly, and in that way additionally check validity of designed decoupler, i.e. chosen non-conventional control. General expression for periodic rising signal that can be introduced into process in order to present array of disturbances has been derived, too.Investigation was supported by simulations.
- СтавкаCOMPARATIVE ANALYSIS COMPETENCIES IN TRADITIONAL AND AGILE PROJECT MANAGEMENT APPROACHES(Mašinski fakultet Istočno Sarajevo, Univerzitet u Istočnom Sarajevu, 2022) Savković, Marija; Komatina, Nikola; Nestić, Snežana; Gojković, Ranka; Golubović, Dušan; Milutinović, Miroslav; Prodanović, SašaIn order for the project to be successfully implemented, each individual involved in the project must possess appropriate competencies and skills. Competencies/skills have a great influence when assembling the project team itself and when deciding on the inclusion of new members in the existing project team. In particular, the competencies and skills of the project manager have an impact on the successful realization of the project's goals. The members of the project team must possess certain competencies/skills in order to successfully cooperate with each other and to successfully implement the tasks assigned to them. The main goal of this research paper is a comparative review and analysis of competencies/skills in traditional and agile project management approaches. Also, the paper highlights the roles, responsibilities and powers of each team member, both in the traditional and in the agile approach.
- СтавкаCOMPARISON OF TWO MATHEMATICAL MODELS FOR CONTROL SYSTEM OF LEVEL IN CONDENSER OF TURBINE IN THE THERMAL POWER PLANT(International ConferenceProcess Technology And Environmental Protection, 2011-12) Prodanović, Saša; Nedić, Novak; Filipović, VojislavThis paper shows large importance of adequate mathematical modeling of system. Control system of level in condenser of turbine in thermal power plant Gacko is taken into exploration. Here it was presented in two ways, as first-order system and second-order system. Their analysis and comparison were carried out after auto-tuning of PID (proportional-integral-derivative) controller using relay feedback test simulation. Obtained parameters of PID controller were applied into both variations of the system block diagram and its responses have been utilized for giving evaluation of researched models.
- СтавкаCONTROL OF TIME-DELAY PROCESSES USING CONTROLLER DESIGNED BASED ON POLE PLACEMENT METHOD(Technical Faculty "Mihajlo Pupin", 2019-10) Prodanović, Saša; Dubonjić, LjubišaDue to many problems in the system control caused by time delay present paper, like many others, deals with such a kind of processes. Approximation and reduction of mathematical model of process have been carried out, in order to adapt it for controller design according pole placement method. Proposed procedure was researched and proven on the two different processes. First, single-input single-output (SISO) process and the other multivariable process with two-inputs and two-outputs (TITO), both with time delay. Investigation has been carried out using simulations.
- СтавкаDECOUPLING CONTROL OF THE TITO SYSTEM SUPPORTED BY THE DOMINANT POLE PLACEMENT METHOD(University of Nis, Serbia, 2017) Nedić, Novak; Prodanović, Saša; Dubonjić, LjubišaAppropriate approach to the nature of systems is a significant precondition for its successful control. An always actual issue of its mutual coupling is considered in this paper. A multivariable system with two-inputs and two-outputs (TITO) is in the focus here. The dominant pole placement method is used in trying to tune the PID controllers that should support the decoupling control. The aim is to determine parameters of the PID controllers which, in combination with decoupler, can obtain a good dynamical behavior of the system. Therefore, this kind of the centralized analytically obtained controller is used for object control. Another goal is to simplify the tuning procedure of PID controllers and enlarge the possibility for introducing the given approach into practice. But the research results indicate that the proposed procedure leads to the usage of P controllers because they enable the best performances for the considered object. Also, it is noticed that some differences from the usual rules in selection of the dominant poles gives better results. The research is supported by simulations and, therefore, the proposed method effectiveness, regarding the system behavior quality, is presented on several examples.
- СтавкаDESIGN OF FRACTIONAL - ORDER PI CONTROLLER FOR MULTIVARIABLE PROCESS(International Engineering and Technology Institute, 2022) Rajaraman, Janani; Prodanović, Saša; Dubonjić, LjubišaThis article presents design and analysis of fractional order PI controller for a pilot plant binary distillation column. Design of controller for a multivariable (multi-input multi-output – MIMO) process is a challenging task due to loop interaction and system with dead time. The first order model with dead time (FOPDT) model is obtained for the overall open loop transfer function of the system. This work aims on the comparative study of one conventional controller along with fractional order controller based on the performance measures for a pilot plant binary distillation column.
- СтавкаDESIGN OF FRACTIONAL - ORDER PI CONTROLLER FOR MULTIVARIABLE PROCESS(International Engineering and Technology Institute, 2022) Rajaraman, Janani; Prodanović, Saša; Dubonjić, LjubišaThis article presents design and analysis of fractional order PI controller for a pilot plant binary distillation column. Design of controller for a multivariable (multi-input multi-output – MIMO) process is a challenging task due to loop interaction and system with dead time. The first order model with dead time (FOPDT) model is obtained for the overall open loop transfer function of the system. This work aims on the comparative study of one conventional controller along with fractional order controller based on the performance measures for a pilot plant binary distillation column.
- СтавкаDesign of PID Controllers for the System of a Pump Controlled Hydro-Motor(Faculty of Mechanical and Civil Engineering in Kraljevo, 2021) Dubonjić, Ljubiša; Prodanović, Saša; Nedić, Novak; Savković, MileThis paper presents design of a PID controller for the system of a pump-controlled motor with a long transmission line. By using possibilities offered by computers and software the graphical method is used in the design of PID controllers. The D–decomposition method including system performances, damping and settling time was applied. This type of controllers frequently satisfies practical needs because the feedback loop system is fast, and the static error is reduced to 0. The proposed method allows easy design of PID controllers in significant modifications of lengths of the transmission line. The system performances are included in a new manner without the need for calculation of Chebyshev functions for every change of the damping coefficient thanks to strong software support.
- СтавкаEnergy saving in the power plants using automatic control(2011) Nedić, Novak; Filipović, Vojislav; Prodanović, SašaThe constant striving to reduce energy consumption leads toward introduction of strategies, which can enable it. In this paper, the strategy which includes frequency regulators into control system of condensate level in condenser of turbine in thermal power plant Gacko is proposed. Properly tuned PID (proportional-integral-derivative) controllers are precondition for appropriate process control. Therefore, the mathematical model of this system is formed and simulations of auto-tuning of PID controllers, using ideal relay and saturation relay as nonlinearity, are carried out. Static load disturbance are considered too, because of its adverse effect both directly on the object, and in auto-tuning process, which causes errors in determining of PID regulator’s parameters. The justification of the introduction of frequency regulators has been confirmed by calculation of energy saving. Its feasibility was proved through simulation of the functioning of the entire control system of level in condenser, based on consideration of characteristic parameters of system response.
- СтавкаImproved Auto-tuning PID Controller of Level in Condenser of Turbine in Thermal Power Plant Using Saturation-relay Feedback(Faculty of Electronic Engineering; Faculty of Mechanical Engineering, University of Niš, 2010) Prodanović, Saša; Nedić, Novak; Filipović, VojislavProperly tuned controllers should ensure correct and unobstructed functioning of the system, i.e. process. Using ideal relay as nonlinearity in process of auto-tuning gives significant errors in estimates of the ultimate gain and ultimate period. In this paper mentioned lack is overcomed by introduction saturation relay, where control system of condensate level in condenser of turbine in thermal power plant Gacko is used as a model. Due to the constant striving to reduce energy consumption, above settings are implemented in the system for which is proposed strategy which provides energy savings, i.e. includes frequency regulators.
- СтавкаINFLUENCE OF ADDITIONAL Pa CONTROLLER TO THE SYSTEM RESPONSE WHEN THE SET POINT IS CHANGING(Mašinski fakultet Istočno Sarajevo, Univerzitet u Istočnom Sarajevu, 2020-11) Prodanović, Saša; Dubonjić, Ljubiša; Nedić, Novak; Radić, Nebojša; Prodanović, SašaOne of the numerous approaches for disturbance rejection is occasionally introducing additional Pa term in parallel to the existing controller. It is strongly important to check effects of its operation to the system's transient processes caused by instant changes of set point, because it is well known that too high values of P term can lead system into unstable state. Therefore, this paper deal with researching of maximum proportional gain that can be used for disturbance rejection if it appear in the transient process (dynamical area of system response). Investigation has been carried out using numeric simulations, on the some characteristic process examples, that were considered in the previous survey of mentioned additional Pa controller.
- СтавкаISPITIVANJE ZAMORNIH KARAKTERISTIKA LEGURE ALUMINIJUMA 242.0 S CILJEM PROCJENE INTEGRITETA AVIONSKOG CILIDARSKOG SKLOPA SA PRSLINOM(Mašinski fakultet Istočno Sarajevo, Univerzitet u Istočnom Sarajevu, 2022) Vučetić, Nikola; Jovičić, Gordana; Antunović, Ranko; Milovanović, Vladimir; Krstić, Branimir; Jeremić, Dejan; Golubović, Dušan; Milutinović, Miroslav; Prodanović, SašaU cilju procjene integriteta cilindarskog sklopa avionskog motora Lycoming IO-360-B1F usljed pojave prsline na glavi cilindra potrebno je izvršiti niz eksperimentalnih ispitivanja legure aluminijuma 242.0 kao sastavnog materijala glave cilindra, među kojima je ispitivanje zamornih karakteristika na sobnoj i na povišenoj temperaturi. Dobijeni rezultati korišćeni su kao ulazni podaci u numeričkoj strukturnoj analizi razmatranog cilindarskog sklopa. Cilj ispitivanja materijala na zamor jeste odrediti dinamičku čvrstoću, odnosno najveći dinamički napon koji materijal pri određenom broju promjena opterećenja može da izdrži, a da pri tome ne dođe do loma.
- СтавкаLEAN WASTE IN THE MANUFACTURING INDUSTRY(Mašinski fakultet Istočno Sarajevo, Univerzitet u Istočnom Sarajevu, 2020) Gojković, Ranka; Nestić, Snežana; Radić, Nebojša; Prodanović, SašaIn principle, the basic idea of achieving Lean production is continuous waste reduction. This implies a reduction of all activities that do not contribute to the successful operation of the company, and thus do not add value to the product or service. Each wastes significantly affects the production time, price as well as the quality of the product, which makes the company less competitive in today's market. By identifying failures that lead to Lean waste and reducing or eliminating them, the wastes are reduced, which leads to a significant improvement in the production process. Continuous improvement in production through waste elimination has been recognized as one of the most important tasks of socially responsible organizations.
- СтавкаModified approach to distillation column control(Association of the Chemical Engineers of Serbia, 2017) Prodanović, Saša; Nedić, Novak; Filipović, Vojislav ; Dubonjić, LjubišaThis paper contains methodology research for forming the control algorithm for a distillation column, modeled as TITO (two-input two-output) process. Its modified form was obtained by connecting the two parts, and this combination hasn't been applied for such a industrial plant, until now. These parts include: a simplified decoupler which was first designed and decentralized PID controller obtained using D-decomposition method for such decoupled process. The decoupler was designed in order to make process become diagonal, and parameters of PID controllers are defined for the two SISO (single-input single-output) processes starting from relation between IE (integral error) criterion and integrator gain, taking into account desired response characteristics deriving from technological requirements of controlled plant. Their connecting provides centralized control. Analysis of the processes responses, obtained by the proposed algorithm and their comparison with the results from the literature, were performed after the completion of the simulations. The proposed approach to the centralized controller design, beside its simplicity of usage and flexibility in achieving diversity of process dynamic behavior, gives better response characteristics, in comparison with existing control algorithms for distillation column in the literature.
- СтавкаNON-CONVENTIONAL CONTROL OF LEVEL AND TEMPERATURE IN THE FLOW TANK(Faculty of Engineering Hunedoara, University Politehnica Timisoara, 2015) Prodanović, Saša; Nedić, NovakControl of multivariable processes is greatly hampered due to the presence of mutual coupling (interaction) between their inputs and outputs. Therefore, the analysis of the mutual coupling, i.e. the determination of its measure, is very important for determining further activities towards the achievement of a satisfactory behavior of the controlled object. Present paper contains synthesis of decoupler for flow tank as a multivariable process in order to achieve decentralized control of level and temperature as its outputs. Afterward, PI controllers were tuned, and the quality of this nonconventional control was confirmed through the considerations of system time responses. The research was supported by simulations, and the results represent one of approaches in forming the concept for control of multivariable processes.
- СтавкаON PID CONTROLLER DESIGN FOR A HIGH-ORDER SYSTEMS(Technical Faculty "Mihajlo Pupin", 2020-10) Prodanović, Saša; Dubonjić, LjubišaInvestigation of PID (proportional-integral-derivative) controller and its shorter variants (PI and P) for high-order systems has been carried out and presented in this paper. Famous Ziegler-Nichols method based on frequency response was used without previous model reduction of system. Tuning procedure and system functioning were performed by means simulations. According specificity in the obtained results, caused by system particularities, some corrections in the PID parameters tuning rules have been suggested. Applicability of proposed procedure has been proved on the several high-order systems.
- СтавкаON THE DIVERSITIES OF MULTIVARIABLE CONTROL SYSTEMS(Faculty of Mechanical Engineering, University of East Sarajevo, 2018-11) Prodanović, Saša; Nedić, Novak; Dubonjić, Ljubiša; Golubović, Dušan; Košarac, Aleksandar; Jeremić, DejanSuccessful system control can`t be achieved without taking into account system nature. Present paper contain overview of control strategies for various multivariable systems. Regarding the mathematical model, order of system and eventual presence of dead time have high influence on the choice of method, which can ensure appropriate design of decoupler and controller. All in order to ensure desired dynamical behaviour of system. Due to that, it is very important to recognize if controlled object is mechanical system or industrial process. Systems with two inputs and two outputs has been illustrated here. Consideration has been supported and presented by appropriate simulations from relevant investigations.
- СтавкаOPTIMAL CONTROL OF A TWO-WHEELED SELF-BALANCING MOBILE ROBOT BASED ON ADAPTIVE DYNAMIC PROGRAMMING(University of East Sarajevo, Faculty of Mechanical Engineering, 2024-11) Stojanović, Vladimir; Đorđević, Vladimir; Dubonjić, Ljubiša; Prodanović, Saša; Marković, Biljana; Milutinović, Miroslav; Milić, DavorThis paper considers optimal tracking control for a two-wheeled selfbalancing mobile robot with unknown dynamics. The aim is to achieve asymptotic tracking and disturbance rejection by minimizing some predefined performance index. Through the combination of adaptive dynamic programming (ADP) and internal model principle, an approximate optimal controller is iteratively learned online using measurable input/output data. Unmeasurable states are also reconstructed from input/output data. The discrete-time algebraic Riccati equation is iteratively solved by ADP approach. Simulation results demonstrate the feasibility and effectiveness of the proposed approach.
- СтавкаPD controller design for a system of a valve controlled hydromotor(Faculty of Mechanical and Civil Engineering, Kraljevo, University of Kragujevac, 2023) Dubonjić, Ljubiša; Prodanović, Saša; Stojanović, Vladimir; Menezes Morato, MarceloPD controller design methodology based on D-decomposition is considered in this paper. The method consists in tuning two parameters of a controller: proportional (P) and differential (D). The method was applied to a hydromotor controlled by a valve according to the position of the valve’s piston. The results obtained in this paper show the good performance of the automatic control system in comparison with other methods of controller design and other controllers designed with the same method on the valve controlled hydromotor system.