Машински факултет [Конференције] / Faculty of Mechanical Engineering [Conference paper]
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Прегледај Машински факултет [Конференције] / Faculty of Mechanical Engineering [Conference paper] по Аутор "Dubonjić, Ljubiša"
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- 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.
- 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.
- 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.
- 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.
- СтавкаSome Considerations on Application of Relay Feedback Test to the Multivariable Systems(Faculty of Electronic Engineering-Niš; Faculty of Mechanical Engineering-Niš, 2018-11) Prodanović, Saša; Nedić, Novak; Dubonjić, LjubišaWide usage of relay feedback test for controller tuning naturally leads to numerous investigations for its improvement and extension of its application to the various objects and control strategies. Present paper contains testing possibilities for application relay feedback test to the already decoupled two input two output system. The aim is to protect system from influence of the interaction during procedure of tuning of PID controller or its shorter variants. Survey has been supported by simulations in order to prove efficiency of presented approach on the two examples of systems. The results confirm that relay feedback test can be applied simultaneously to the all loops of the previously decoupled multivariable system.
- СтавкаSome Considerations on the Decoupling Control of TITO Systems(Faculty of Electronic Engineering; Faculty of Mechanical Engineering, University of Niš, 2016) Nedić, Novak; Prodanović, Saša; Dubonjić, LjubišaProper understanding of the system nature is significant precondition for its successful control. Always actual issue about its mutual coupling was considered in this paper. Multivariable system with two-inputs and two-outputs (TITO) was in the focus here. Dominant pole placement method has been used in trying to tune PID controllers that should support decoupling control. The aim was to determine parameters of the PID controllers which, in combination with decoupler, can obtain good dynamical behavior of the system. Another goal was to simplify tuning procedure of PID controllers and enlarge possibility for introducing given approach into practice. But, research results indicate that proposed procedure leads to usage of P controllers, because they enable the best performances for the considered object. Research has been supported by simulations and therefore effectiveness of the proposed method, regarding quality of system behavior, was presented on the several examples.