Staniša Perić, Dragana Trajković, Dragan Antić, Vlastimir Nikolić, Saša Nikolić, Miroslav Milovanović

DOI Number
First page
Last page


This paper establishes a complex highly nonlinear model of a submersible pump station with three pump aggregates, in the water factory NAISSUS in Niš, using the theory of bond graphs. To verify the model accuracy there are performed several simulations in the software package Dymola. To reduce power consumption of the pumps and to eliminate the need for classic switching tables, herein, we propose the fuzzy-PI controller. The obtained experimental results confirms the effectiveness of the proposed control logic and the power required for the pump station is significantly reduced.

Full Text:



H. M. Paynter, Analysis and Design of Engineering Systems. M.I.T. Press, Cambridge, 1961.

R. C. Rosenberg, D. C. Karnopp, Introduction to Physical System Dynamics. McGraw-Hill Book Co., New York, 1983.

D. C. Karnopp, D. L. Margolis, R. C. Rosenberg, System Dynamics: A Unified Approach. John Wiley & Sons, New York, 1990.

M. A. Djeziri, B. Ould Bouamama, R. Merzouki, "Modelling and robust FDI of steam generator using uncertain bond graph model," Journal of Process Control, vol. 19, no. 1, pp. 149–162, 2009. [Online]. Available: http://dx.doi.org/10.1016/j.jprocont.2007.12.009

D. C. Karnopp, D. L. Margolis, R. C. Rosenberg, System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems. John Wiley & Sons, New York, 2012.

D. Mezghanni, R. Andoulsi, A. Mami, G. Dauphin-Tanguy, "Bond graph modelling of a photovoltaic system feeding an induction motor-pump," Simulation Modelling Practice and Theory, vol. 15, no. 10, pp. 1224–1238, 2007. [Online]. Available: http://dx.doi.org/10.1016/j.simpat.2007.08.003

A.-M. Pirvu, G. Dauphin-Tanguy, P. Kubiak, "Automatic adaptation of a bond graph model to transfer function specifications," Simulation Modelling Practice and Theory, vol. 17, no. 1, pp. 257–270, 2009. [Online]. Available: http://dx.doi.org/10.1016/j.simpat.2008.02.015

D. Trajković, V. Nikolić, D. Antić, B. Danković, "Analyzing, modeling and simulation of the cascade connected transporters in tire industry using signal and bond graphs," Machine Dynamics Problems, vol. 29, no. 3, pp. 91–106, 2005.

D. Antić, D. Trajković, S. Nikolić, S. Perić, M. Milojković, "Bond graph modeling and simulation of the 3D crane system using Dymola," in Proceedings of the XLVIII International Scientific Conference on Information, Communication and Energy Systems and Technologies, ICEST 2013, Ohrid, Macedonia, vol. 2, pp. 821–824, 2013.

D. M. Trajković, V. D. Nikolić, D. S. Antić, S. S. Nikolić, S. Lj. Perić, "Application of the hybrid bond graphs and orthogonal rational filters in sag voltage effect reduction," Electronics and Electrical Engineering, vol. 19, no. 6, pp. 25–30, 2013. [Online]. Available: http://dx.doi.org/10.5755/j01.eee.19.6.1746

F. E. Cellier, R. T. McBride, "Object-oriented modeling of complex physical systems using the dymola bond-graph library," Simulation Series, vol. 35, no. 2, pp. 157–162, 2003. [Online]. Available: www.inf.ethz.ch/~fcellier/Pubs/BG/icbgm_03_bglib.pdf

K. J. Aström, C. C. Hang, P. Person, W. K. Ho, "Towards intelligent PID control", Automatica, vol. 28, no. 1, pp. 1–9, 1992. [Online]. Available: http://dx.doi.org/10.1016/0005-1098(92)90002-W

E. H. Mamdani, "Applications of fuzzy control for control of simple dynamic plant", IEEE Proceedings of the Institution of Electrical Engineers, vol. 121, no. 12, pp. 1585–1588, 1974. [Online]. Available: http://dx.doi.org/10.1049/piee.1974.0328

L. A. Zadeh, "Fuzzy sets," Information and Control, vol. 8, no. 3, pp. 338–353. [Online]. Available: http://dx.doi.org/10.1016/S0019-9958(65)90241-X

C. C. Lee, "Fuzzy logic in control systems: Fuzzy logic controller - Part I," IEEE Transactions on Systems, Man and Cybernetics, vol. 20, no. 2, pp. 404–418, 1990. [Online]. Available: http://dx.doi.org/10.1109/21.52551

W. Pedrycz, Fuzzy Control and Fuzzy Systems. Research Studies Press, England, 1993.

D. Antić, M. Milojković, Z. Jovanović, S. Nikolić, "Optimal design of the fuzzy sliding mode control for a DC servo drive," Journal of Mechanical Engineering, vol. 56, no. 7–8, pp. 455–463, 2010. [Online]. Available: http://ojs.sv-jme.eu/index.php/sv-jme/article/viewFile/125/112

S. Nikolić, D. Antić, B. Danković, M. Milojković, Z. Jovanović, S. Perić, "Orthogonal functions applied in antenna positioning," Advances in Electrical and Computer Engineering, vol. 10, no. 4, pp. 35–42, 2010. [Online]. Available: http://dx.doi.org/10.4316/AECE.2010.04006

D. Antić, M. Milojković, S. Nikolić, "Fuzzy sliding mode control with additional fuzzy control component," FACTA UNIVERSITATIS Series: Automatic Control and Robotics, vol. 8, no. 1, pp. 25–34, 2009. [Online]. Available: http://facta.junis.ni.ac.rs/acar/acar200901/acar2009-03.html

R.-E. Precup, H. Hellendoorn, "A survey on industrial applications of fuzzy control," Computers in Industry, vol. 62, no. 3, pp. 213–226, 2011. [Online]. Available: http://dx.doi.org/ 10.1016/j.compind.2010.10.001

R.-E. Precup, M.-L. Tomescu, C.-A. Dragoş, "Stabilization of Rössler chaotic dynamical system using fuzzy logic control algorithm," International Journal of General Systems, vol. 43, no. 5, pp. 413–433, 2014. [Online]. Available: http://dx.doi.org/10.1080/03081079.2014.893299

D. Trajković, V. Nikolić, S. Nikolić, S. Perić, M. Milojković, "Modeling and simulation of pump station using bond graphs," in Proceedings of the XI International Conference on Systems, Automatic Control and Measurements, SAUM 2012, Niš, Serbia, pp. 455–458, 2012.

S. S. Nikolić, D. Trajković, D. Antić, V. Nikolić, S. Perić, M. Milovanović, "Fuzzy control applied on the three parallel pumps modelled by bond graphs", in Proceedings of the XII International Conference on Systems, Automatic Control and Measurements, SAUM 2014, Niš, Serbia, , pp. 171–175, 2014.


  • There are currently no refbacks.

Print ISSN: 1820-6417
Online ISSN: 1820-6425