Title: A dynamic modelling of forklift hydraulic actuator internal leakage using bond graph method

Authors: Rizki Susetyo Nugroho; Irfan Bahiuddin; Hafizh Arsa Prabakara; Ryandhi Rofifu Chazim; Zulkarnain Ali Leman; Mohd Hatta Mohammed Ariff

Addresses: Department of Mechanical Engineering, Vocational College, Universitas Gadjah Mada, Jln Yacaranda, Sekip, Unit VI, Yogyakarta, 55281, Indonesia ' Department of Mechanical Engineering, Vocational College, Universitas Gadjah Mada, Jln Yacaranda, Sekip, Unit VI, Yogyakarta, 55281, Indonesia ' Department of Mechanical Engineering, Vocational College, Universitas Gadjah Mada, Jln Yacaranda, Sekip, Unit VI, Yogyakarta, 55281, Indonesia ' Department of Mechanical Engineering, Vocational College, Universitas Gadjah Mada, Jln Yacaranda, Sekip, Unit VI, Yogyakarta, 55281, Indonesia ' Faculty of Engineering, Department of Mechanical Engineering, Universitas Sriwjaya, Indralaya-30662, South Sumatera, Indonesia ' Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, Jalan Sultan Yahya Petra, 54100 Kuala Lumpur, Wilayah Persekutuan, Kuala Lumpur, Malaysia

Abstract: This paper presents a first application of bond graph approach to model hydraulic internal leakage in an elevating movement of forklift. A mathematical model was built by considering the operation of the forklift during normal and faulty conditions. The modelled system consists of mechanical and hydraulic parts of the mechanism. The internal leakage is proposed to be added in the hydraulic system. Several parameters are tuned using constriction particle swarm optimisation (PSO) inspired by bird groups method searching for food. The analysis was carried out by considering parameters to the leakage flow system in the forklift lifting hydraulic cylinder. The simulation results show that the greater the leakage flow parameter the smaller efficiency, which is quite similar to the benchmark data from the previous study. The negative correlation between the constant representing leakage and the steady state velocities is also found based on the simulation results.

Keywords: bond graph; forklift; cylinder leakage; internal leakage; dynamic simulation; elevating mechanism; transient response; particle swarm optimisation; leaking parameter representation.

DOI: 10.1504/IJHVS.2023.132996

International Journal of Heavy Vehicle Systems, 2023 Vol.30 No.3, pp.380 - 399

Received: 29 Jun 2022
Accepted: 08 Aug 2022
Published online: 23 Aug 2023 *

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