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

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.