2nd International Conference on Experiments/Process/System Modelling/Simulation/Optimization

2nd IC-EpsMsO
Athens, 4-7 ly,2007
© IC-EpsMsO

AN EFFICIENT MODELING OF THE DYNAMIC BEHAVIOUR OF HIGH

PRESSURE HYDRAULIC SYSTEMS

Pavlos Athanasatos and Theodore Costopoulos*

Laboratory of Machine Elements
School of Mechanical Engineering
National Technical University of Athens,
Iroon Polytechneiou 9, Zografou 15780 Athens, Greece
*
email: cost@central.ntua.gr, web page: http://www.mech.ntua.gr

Abstract. This paper presents the development of a bond graph model of a high pressure hydraulic system
comprised by a pump, a 4/2 way valve, a hydraulic cylinder and the appropriate hydraulic lines. As today's high
pressure hydraulic systems are becoming increasingly complex, the need for a simple yet efficient modeling
method for representing their responses and dynamic behavior is becoming more evident. The bond graph
method is a versatile and convenient modeling tool for visualizing and representing aspects of the physical
reality and mechanical systems. In this paper, the bond graph method is used and explained. The reasons that
make bond graph modeling desirable to hydraulic systems are demonstrated,. The development of bond graphs
for the main components of the above mentioned hydraulic system is discussed, as well as the different bond
graph models that can be used for each component, according to how much detail is needed for the modeling as
evidenced by the examined applications. .

Keywords: High pressure hydraulics, bond graphs, modeling

1. INTRODUCTION
Since time immemorial, man has recognized and accepted fluids as a source of power. With water-
power (water hydraulics) at first, and oil hydraulics since the 20s, fluids have been used for power transmission
on an ever-increasing scale. Nowadays, high pressure oil hydraulic systems are found in many mobile, airborne
and stationary applications. Given the importance of hydraulics in contemporary industrial applications, it is
essential to know the dynamic behaviour of these systems which are intended to work at oil pressures of
hundreds of bars, and transmit forces of thousands of Newtons. Magnitude and variation of these dynamic forces
can be determined by experimental studies as well as by simulations carried on theoretical models of the actual
system which can be obtained by various techniques. One of the most “intuitive” and versatile among these
methods is the Bond Graph Technique.
The Bond Graph Method is a way to model and visualize power flow in a complex system. It has been
established by Prof. Henry Paynter in 1961. Initially, Rosenberg [1], Karnopp [2] and Thoma [3] made
contributions to the evolution of the method with their research in various fields. Thoma [3], Breedveld [4] and
Dixhoorn [5] developed techniques showing the method is applicable in the field of thermodynamics. The
research carried out by Karnopp and Rosenborg [6] and Kalidindi [7] related the application of the Bond Graph
Method to acoustics area. Also, Karnopp and Rosenberg [8,9] did some thorough research on the area of system
dynamics utilizing the Bond Graph Method and Thoma wrote a book [10] expressing the applicability of the
method in different engineering fields. The first applications of the Bond Graph Method to the field of hydraulics
was made by Dransfield [11] and Karnopp [8]. Later on, Dransfield [12], [13] did more research on the
application of Bond Graphs on hydraulic systems. Additional insight into the Bond Graph method can be found
in [14], [15], [16] and the application in [17].
Using the power bond graph method, we have developed a theoretical model of a simple hydraulic
system, which consists of a hydraulic pump, a 4/2 way direction control valve, a linear actuator (hydraulic
cylinder), along with essential ancillaries such as hydraulic lines, return line filter, hydraulic fluid tank etc..
Where necessary, different bond graph models with varying complexity of the system’s components will be
used, in order to give an idea of the method’s versatility. The hydraulic schematic diagram of the system can be
seen in Figure 1. In order to facilitate the process, the system will be broken down to its individual components,
which will be first modeled separately. Following that, a bond graph for the entire hydraulic system will be
assembled from the bond graphs of the individual components. For this paper, prior knowledge of the basic
principles of bond graph modeling (R, C, and I effects, Transformers and Gyrators, as well as the role and
placement of causality bars) is assumed.
 Pavlos Athanasatos and Theodore Costopoulos
2

2 MODELING OF THE HYDRAULIC COMPONENTS AND THE ENTIRE SYSTEM

2.1 Hydraulic pump modeling

In the simplest case, we consider the pump to be in its steady state of operation, running continuously
and rotating with constant angular velocity. Therefore, we omit the modeling of any dynamic phenomena which
usually appear during startup or shutdown of pumps. Given that the pump under examination is of fixed
displacement-type, we can also omit the inertia of the pump’s moving parts, and their internal friction from our
model. Taking the assumptions made above into consideration, we can consider the pump as a mechanical
power-to-hydraulic power transformer, which is experiencing a speed source. Taking into consideration only the
internal leakage of the pump, its bond graph can be seen in Figure 2, where :
T is the torque at the pump shaft
ωp is the pump shaft’s angular velocity, here considered as a constant and therefore a source
Vp is the geometric displacement per radian rotation of the pump
Pp is the pressure at the pump discharge port
Qp is the ideal pump flowrate
Rlp is the resistance of the passage followed by the “internal leakage” flowrate Qlp, since we have chosen to take
internal pump leakage into consideration
Qlp is the pump leakage flowrate
Qp is the flowrate at the pump discharge port
Since pump shaft speed ωp and geometric displacement per radian rotation Vp are constant, we can
consider the ideal pump flowrate Qp as a source, and simplify the bond graph to that of Figure 3
Ay Az Rlp

Qlp
T
Sωp TF SQp
0 Qp
Pay Qay Paz Qaz Vp Pp
Figure 2
Pump bond graph, where pump is
regarded as fixed displacement,
rotating at a constant speed

Rlp

Qlp

SQp 0 Qp
Pp
Figure 3
Figure 1 Same pump as Fig 2, but
Schematic diagram of the simplified, with flowrate Qp
hydraulic system regarded as source

The causal bar of the pump’s output bond is at the left, indicating that pressure is a back effect, to be induced by
whatever resistance the pump’s discharge flowrate experiences. That way, the bong graph indicates that positive
displacement pumps are generators or flowrate, not pressure. Below follows the modeling procedure for some of
the most significant dynamic effects encountered during the operation of a pump, including leakages, friction,
and inertia.
Leakages are unavoidable in hydraulic circuits, as all of their main components (pumps, valves,
actuators etc) have clearances. These clearances may be very small, but, due to the high pressure of the hydraulic
fluid, they cause significant leakages in various parts of the hydraulic circuit. Due to the viscosity of modern
hydraulic fluids and the generally small clearances in the hydraulic components, most leakage flows can be
assumed to be laminar, This means that we can assume:

Ql = ⋅ ∆P
1 (1)
Rl

Where Ql is the leakage flowrate through the leakage path, Rl is the resistance of the leakage path and ∆P is the
pressure drop across the leakage path. For the hydraulic pump in discussion, the leakage flowrate flows back in
 Pavlos Athanasatos and Theodore Costopoulos
3

the tank, so we can assume that the discharge pressure is negligible. So, ∆Ρ is approximately equal to the
pressure at the entry of the clearance. Thus, leakage from the pump can be expressed as:

Q lp = ⋅ Pp
1 (2)
R lp

where Rlp is the leakage resistance coefficient of the pump and Pp is the pressure at the pump discharge side.
Analytical estimation of the Rlp coefficient is often not possible, so most of the time empirical values are used
Friction in a hydraulic pump can arise from various sources, including motion between mated
mechanical parts within the pump, pump shaft bearings, potential movement of control mechanisms inside the
pump and fluid shear within the pump, caused by the moving parts. The calculation of the precise friction value
generated by each component is a rather complicated task. To overcome it, we consider a total friction torque
Tfp, which is affected by both pump rotating speed and pump discharge pressure. Given that the moving parts are
well lubricated, we can assume that pump speed will induce viscous friction, which increases accordingly with
pump speed. In general, we have an equation of the form:

Tfp=f(ωp, Pp) (3)

which can be also expressed as

Tfp = R fp (Pp ) ⋅ ω p (4)

For Rfp(Pp) we can assume that

R fp = R fpω + K fp ⋅ Pp (5)

In the bond graph, friction can be represented as an R effect mated to a 1-junction.

The inertia effect of the hydraulic pump can be described by the following relationship:

Ip ∫
ωp = ⋅ Tx ⋅ dt + ω p (0 )
1 (6)

where ωp is the hydraulic pump shaft speed, Ip is the inertia of the pump’s rotating parts and Tx is the torque
absorbed in accelerating inertia Ip
The capacitance effect of the pump’s discharge side can also be modeled, and it is symbolized as a “C”
effect. This quantity includes the pump’s own porting and outlet, hydraulic lines, high pressure filters or
accumulators. The compliance characteristic of a liquid can be described by a bulk modulus described by the
static equation:
∆P
B = −V ⋅
∆V
(7)

where V is the initial volume of the liquid subjected to compression, ∆V is the change in volume of the
liquid subjected to compression and ∆P is the change in pressure caused by compression ∆V. If volume of liquid
is subjected to a positive ∆Ρ, then ∆V will be negative, which is why we use the minus sign in equation- in order
to have a positive B.
Fluid compliance modeling is used mainly in dynamic performance analysis. These are mainly the cases
where an amount of hydraulic fluid is temporarily “lost” due to compression. The previous equation can take the
form

B = −V ⋅
dP (8)
dV

which in dynamic form transforms into :

dP
B = −V ⋅ dt = −V ⋅
P (9)
dV V
dt

 with -Qc, which stands for the “lost” flowrate, we have

By replacing V
 Pavlos Athanasatos and Theodore Costopoulos
4

B = V⋅
P (10)
Qc

From this equation, we have that

V ∫
P= ⋅ Q c ⋅ dt + P(0)
B (11)

This equation can be seen as a linear capacitance type relationship with capacitance defined as C=V/B
In most cases, hydraulic pumps are accompanied with pressure relief valves, so we consider
appropriate to include their modeling in this paper. To model a pressure relief valve for use in bond graphs, what
we essentially need is an equation of the form : Qr=f(P) where Qr is the flowrate from the relief valve back to the
tank and P is the pressure at the valve inlet. In most cases, the internal dynamics of the relief valve can be
neglected, as their response speed is many times faster than the ones of other hydraulic system components. So, a
pressure relief valve is generally modeled as an R-effect on a simple 0-junction. Qr can be calculated by a
discontinuous two-part equation of the type seen below.

Qr = 0 if P ≤ Pset
= 1 ⋅ (P − P ) if P > Pset
(12)
set
Rr

where Rr is the resistance that the flowrate discharged back in the tank experiences, when it passes through the
relief valve. In Figure 4, we see the entire pump bond graph along with the pressure relief valve adjacent to it,
which is created by summing up all the above explained bond graphs.

Rfp Ip Rlp Cp Rr

Tfp Tx Qlp ∆Qp Qr

T
1 1 TF Qp 0 Qop 0 Qpx 0 Q py
ωp ωp Vp Pp Pp Pp

Figure 4
Detailed pump bond graph, along with pressure relief valve

Having completed the power bond graph of the hydraulic pump and its adjacent pressure relief valve,
we can now sum up all the equations which help us describe the system’s dynamic behavior. Starting from left to
right, we can describe the equations present in each junction of the bond graph.

1-junction :

Tfp + Tmp = T
Tfp = R fp (Pp ) ⋅ ω p
(13)
(14), where
R fp = R fpω + K fp ⋅ Pp (15)

1-junction :

Tmp − TIp = Top (16)

Ip ∫
ωp = ⋅ Tx ⋅ dt + ω p (0 )
1 (17)

Transformer TF :

= Pp , ω p ⋅ Vp = Q p
Top (18)
Vp
Top ⋅ ω p = Pp ⋅ Q p (19)

0-junction:

Q op + Q lp = Q p (20)
 Pavlos Athanasatos and Theodore Costopoulos
5

Q lp = ⋅ Pp
1 (21)
R lp

0-junction:

P = ⋅ ∫ ∆Q p ⋅ dt + P(0)
Qpx+∆Qp=Qop (22)
B (23)
V

0-junction:

Q py + Q r = Q px (24)
Qr = 0 if P ≤ Pset
= 1 ⋅ (P − P ) if P > Pset (25)
set
Rr

The hydraulic pump’s coefficients such as Vp and Ip and Kp are easily obtainable from the manufacturer of the
pump. Leakage can be calculated as already described above, and the same goes for capacitance. The most
difficult coefficients to determine are the internal friction coefficients Rfr, Rfp0 and Kfp, that’s why usually we
make and overall assessment of friction forces, based on mechanical efficiency data.

2.2 4/2 way direction control valve modeling

As its name implies, the valve in the hydraulic system under examination has no center position, only 2
working positions. In the first position, oil flows from the supply port P to control port A, and also from control
port B to exhaust port T. In the second position, oil flows from supply port P to control port B, and from control
port A to exhaust port T. For this example, we consider the port-spool overlap to be zero, and we measure axial
displacement Xv of the spool from position 1, as seen in Figure 4.In Figure 5 we have the flowpaths and their
restrictions in a 4/2 way hydraulic valve, and in Figure 6 we have a schematic diagram indicating the pressure
and flow resistance circuit.

Figure 5
Figure 4 Flow paths through a 4/2 way
Symbolic configuration of valve, and their controlling
a 4/2 way valve variable restrictions

In our case, the spool is in its initial position when it allows flow from port P to A and from port B to T
respectively, preventing flow from port P to port B and from port T to port A. So, in this case the resistance of
openings RPA and RBT is finite, allowing flow, while at the same time the resistance of openings RPB and RAT is
infinite, thus preventing flow. When the spool is moved left from its initial position (changing the working
position of the valve), the effects are reversed. Now, the resistances of openings RPB and RAT are finite, allowing
flow through the corresponding passages, while resistances of openings RPA and RBT become infinite, preventing
oil flow. In Figure 7, we have a general bond graph respresentation of the 4/2 way valve function. The four
control resistances are each a function of spool displacement Xv. The basic equations implied on the bond graph
are the following:

RPA, QPA = f(∆ΡPA) (26)

RPB, QPB = f(∆ΡPB) (27)
RAT, QAT = f(∆ΡAT) (28)
RBT, QBT = f(∆ΡBT) (29)
Q PA = K v ⋅ X v ⋅ ∆PPA ` (30)
Q PB = K v ⋅ X v ⋅ ∆PPB (31)
Q AT = K v ⋅ X v ⋅ ∆PAT (32)
Q BT = K v ⋅ X v ⋅ ∆ PBT (33)
Supply 0-junction: Q P = Q PA + Q PB (34)
 Pavlos Athanasatos and Theodore Costopoulos
6

Exhaust 0-junction: Q T = Q AT + Q BT (35)

A port 0-junction: Q A = Q PA − Q AT (36)
B port 0-junction: Q B = Q PB − Q BT (37)
“RPA” 1-junction : ∆PPA = PP − PA (38)
“RPB” 1-junction : ∆PPB = PP − PB (39)
“RAT” 1-junction : ∆PAT = PA − PT (40)
“RBT” 1-junction : ∆PBT = PB − PT (41)

Figure 6 Figure 7
Pressure and flow resistance Bond graph of a 4/2 way
diagram for a 4/2 way valve hydraulic valve

We must note that, all the above equations are general. However, the “R” equations (26 through 29) in
our case are discontinuous. Each one must be expanded appropriately to express the physical reality in the 4/2
way valve. So, we have that:

= K v ⋅ W ⋅ ∆PPA ,
= K v ⋅ (W − X )⋅
QPA if Xv = 0
∆ P PA , if 0 < X v < W (42)
if W ≤ X v ≤ 2W
v

= 0,

if 0 ≤ X v ≤ W
= K v ⋅ (X v − W ) ⋅ ∆PPB ,
QPB = 0,
if W < X v < 2W (43)
= K v ⋅ W ⋅ ∆PPB , if Xv = 2W
if 0 ≤ X v ≤ W
= K v ⋅ (X v − W ) ⋅ ∆PAT ,
QAT = 0,
if W < X v < 2W (44)
= K v ⋅ W ⋅ ∆PAT , if Xv = 2W

= K v ⋅ W ⋅ ∆PBT ,
= K v ⋅ (W − X v ) ⋅ ∆PBT ,
QBT if Xv = 0
if 0 < X v < W
(45)

= 0, if W ≤ X v ≤ 2W

2.3 Cylinder-Load Model

In the simplest model of the hydraulic cylinder, only the transformation effect and the inertia of the
driven load are taken into consideration. It is recognized that the cylinder will receive power as the product of
pressure P and flowrate of oil Q and it will provide power as the product of force Fa and velocity  , in order to
X a
accelerate the inertia load Iload or Il. All other dynamic phenomena (backpressure on the return side, friction,
capacitance effects etc) are neglected. Pressure P transforms to force F on the piston, and flowrate Q to piston
 Pavlos Athanasatos and Theodore Costopoulos
7

velocity  . The area A of the piston is the transformation modulus. The proposed bond graph for this over-
X a
simplified model is shown in Figure 8
P Fa
Q TF Xa
I load
A

Figure 8
Simple bond graph for a cylinder-driven inertia load. Only the power transformation and the inertia of the load
are taken into consideration

Similarly to the hydraulic pump, there is a variety of dynamic phenomena that appear during the
operation of the hydraulic cylinder, which must be taken into consideration if we wish to create an accurate
model. First of all, during the transient stages of the cylinder operation (for example when it starts moving or
when its direction of movement is reversed), the capacitive effect of the cylinder chamber receiving flow is
dynamically significant. That is that a small amount of flow is “lost” due to the compression of the oil in the
hydraulic cylinder chamber. This effect can be recognized as a capacitive effect Ca
Friction resisting load movement can be included at the 1-junction containing the inertia effect Il
caused by the load mass. The piston and cylinder rod do have some inertia when they are accelerated. Friction is
also generated due to piston seals and rod glands, which opposes their motion. Both these phenomena can be
taken into account if they are considered significant. In order to avoid creating conflicts in the 1 and 0 junctions
of the bond graph, the best way to describe them, is to consider them “lumped” to the inertia and friction of the
driven load.
The back pressure developed in the discharge side of an actuator as its piston is driven in one direction
generates a force which opposes motion. This return-side effect can be included in a bond graph via a 1-junction,
or added to the existing 1-junction which includes the inertia and friction of the cylinder and the driven load.
This 1-junction represents the algebraic sum of the forward-side generated force Fay and the return-side pressure
force Faz. The 1-junction describes the net pressure force Fa as:

Fa = Fay − Faz (46)

This way it is also obvious that back pressure causes a power loss, expressed by the loss of effective force
To allow for the effects of the internal lekage across the actuator piston, the bond graph can be
modified to that illustrated on Figure 9. A bond from the 0-junction of Cay, or from a separate 0-junction
downstream of it, allows that some of the incoming flow Qay is lost as leakage Qla. A bond into the 0-junction of
Caz, or into a separate 0-junction upstream of it, allows Qla to be added to Qaz. The 1-junction placed in the Qla
flow bonds recognizes the pressure drop (Pay-Paz) across the piston that induces leakage.
The bond graph in Figure 9 is a quite detailed one, and it is suitable for study of the dynamic
performance of the actuator itself, rather than studying the behavior of a complete hydraulic system. It is suitable
also for connection to the bond graphs of inertia loads having compliance between actuator and inertia. Entry
and/or exit pressure losses can be included by adding 1-junctions at the left.

Cay

Pay ∆Qay
Pay P Fay (Rfl + Rfa)
Qs 0 Qayay TF Xa
Ay F f Xa
Pay Qla
F1
∆Pla
1 Xa
(Il + Ia)
1 Qla
Rla

Pe Qla
Pe Paz Faz
Qe 0 Qaz TF Xa
Az
Paz ∆Qaz

Caz

Figure 9
Bond graph of hydraulic cylinder, with back pressure effect and cross-piston leakage taken into consideration
 Pavlos Athanasatos and Theodore Costopoulos
8

Based on the bond graph shown in Fig 5.20, we proceed to the equation formation for the cylinder-load
model. If simpler forms of the model are to be used, then a number of equations can be omitted and the
appropriate 0 and 1-junctions can be deleted from the bond graph. Starting from the left top of the bond graph,
we have:

0-junction:

Pay = const. (47)

Q s = ∆Q ay + Q ay + Q la (48)

V ∫
Pay = ⋅ ∆Q ay ⋅ dt + Pay (0) , where 1 = V
B (49)
C ay B

Transformer:

Pay =
Fay (50)
Ay
Q ay = Fay ⋅ X

a
(51)

1-junction (load junction):

Fay = Ff + F1 + Faz (52)

(I l + I a ) ∫ 1
 =
X
1
⋅ F ⋅ dt + X
 ( 0) (inertia modeling) (53)

Ff = (R fl + R fa ) ⋅ X
a a

 , where Rfl, Rfa = const. (friction modeling, assuming viscous friction) (54)
a

Transformer No2 (bottom of the bond graph):

Paz =
Faz (55)
Az
Q az = Faz ⋅ X

a
(56)

0-junction No2 (bottom of the bond graph):

Paz = Pe = const. (57)

Q e = ∆Q az + Q az + Q la (junction equation) (58)

Paz = ⋅ ∫ ∆Q az ⋅ dt + Paz (0) , where =

B 1 V (59)
V C az B

1-junction (representing the cross-piston leakage):

Q la = const. (60)
Pay = ∆Pla + Pe (61)

Q la = ⋅ ∆Pla
1 (62)
R la

2.4 Ancillary components modeling (hydraulic lines, return line filter)

In most hydraulic control systems the lines are short and of reasonably large diameter in order to keep
flow velocities (and the losses associated) low. In these situations it is usually reasonable to ignore line
resistance as it is too small compared to, for example, valve resistance. The same goes for line capacitance (it is
negligible compared to actuator capacitance) and fluid inertia, which is many times smaller than the inertia of the
actuator and load. Alternatively, line resistance can be lumped with valve resistance and (possibly) with actuator
inlet resistance, and line capacitance with actuator or other adjacent components’ capacitance. There may be
cases however where it is desirable to include some or all of a line’s R, C, and I effects in a dynamic model.
Such a case would be when the hydraulic lines are long, if their diameter is small, or if the system is driven in an
 Pavlos Athanasatos and Theodore Costopoulos
9

highly dynamic mode. Pressure drop in a line can be accounted for simply by placing a 1-junction in the
appropriate power bond. For example, Figure 10 shows line resistance as Rh. From the bond graph, we have:

Q h = const. (63)
∆Ph = Pi − Po (junction equation) (64)

Qh = ⋅ ∆Ρh
1 (65)
Rh

Similarly, line capacitance can be represented by Ch leading from an 0-junction in the appropriate
power bond, as shown in Figure 11. As with Rh, special attention must be paid in the placement of Ch, in order to
preserve integral causality. In order to do so, C effects from adjacent 0-juctions must be lumped. It is proper to
separate line capacitance from another capacitance only if there is an R of I effect in between. From the bond
graph, we have that:

Ph = const. (66)
∆Q h = Q i − Q o (junction equation) (67)

V ∫
Ph = ⋅ ∆Q h ⋅ dt + Ph (0) (68)
B

=
1 V (69)
Ch B

In extreme cases such as long small bore lines and highly dynamic flows the line dynamics can be represented as
a series of RC effects. Such is the case shown in Figure 12
Ch Rh Ch
Rh
Ph ∆Qh ∆Ph Qh Ph ∆Qh
∆Ph Qh Ph Ph Pi Ph Ph
Qi
0 Qo Qh 1 Qh 0 Qo
Pi Po
Qh
1 Qh
Ph Qh Ph
Qh Figure 11 Figure 12
Figure 10 Bond graph of Combined
Bond graph of hydraulic line hydraulic line RC
hydraulic line capacitance effects
resistance

The effect of hydraulic filters is essentially the same as the effect of hydraulic lines, meaning that it
introduces a resistance to the passage of fluid and it also has a capacitance effect due to its fixed volume. In
Figure 13 we see a bond graph of a hydraulic filters representing these two effects.

Rf Cf

∆Pf Q1 P2 ∆Qf
P1 P2 P2
Q1
1 Q1 0
Q2
Q1 P2

Figure 13
Bond graph of a hydraulic filter

From that bond graph, we have:

∆Pf = f (Q1 ) ⇒ Q f = ⋅ ∆Ρf

1 (70)

P1 = P2 + ∆Pf , P2 = f (∆Q f ) ⇒ P2 = B ⋅ ∆Q f ⋅ dt + P2 (0)

Rf

V ∫
(71)

=
1 V (72)
Cf B
∆Q f = Q1 − Q 2 (73)

In (70) and (73), Q1 is determined from thw upstream component and Q 2 is determined from downstream
component. Whether or not the Rf and Cf effects are significant enough to be allowed for in a particular system
analysis must be decided by the analyst. Whether or not Rf van be lumped with an adjacent R, possibly of the
 Pavlos Athanasatos and Theodore Costopoulos
10

hydraulic line, depends on the circumstances of the particular system and its bond graph, and the same goes for
the Cf effect.

2.5 Modeling the entire hydraulic system

By combining the bond graph models of the hydraulic system’s components, we can create a bond
graph model of the entire hydraulic system. This can be seen in Figure 14, where each hydraulic component has
been outlined in order to facilitate the comprehension of the diagram. Using the equations developed for each of
the hydraulic components in the previous chapters, we an have an accurate representation of the dynamic
behaviour of the entire hydraulic system. It must be noted though that in this case, the most detailed bond graphs
of the hydraulic system’s components were used, in order to demonstrate the potential of the method. In actual
case studies, this can lead to an extremely complex set of equations, for the entire system’s bond graph model.

PT
QAT
∆ΡAT
QAT 1 QAT
RAT

QAT PA Cay
Pay
PA 0 Qs Pay ∆Qay
QΡA PA (Rfl + Rfa)
Pay Fay
∆ΡPA 0 TF
Rfp Ip Rlp Cp Rr Rh Ch
QΡA 1 QΡA
RΡA Qay
Ay
Xa
Ff X a
Pay Qla
∆Ph Qh Ph ∆Qh F1
Tfp Tx Qlp ∆Qp Qr PP QΡA 1 (Il + Ia)
Pi=P p Ph PP=P h ∆Pla Xa
T
1 1 TF Qp
0 Qop
0 Qpx
0 Qh
1 Qh 0 0 PP 1 Rla
ωp ωp QP Qla
Vp Pp Pp Pp Qh Ph PP QΡB
Pe Qla
∆ΡPB
1 QΡB
RΡB Pe
0
Paz Faz
Cf Rf Ch Rh Qe Qaz TF Xa
QΡB PΒ
Az
PT ∆Qf ∆Pf Ph ∆Qh Paz ∆Qaz
∆Ph Qh
PT PT Pf Ph PT
PΒ 0
QT 0 Qf
1 Qf 0 Qh
1 Qh 0 PT Caz
PT Qf QBT PΒ
Ph Qh
∆ΡBT
QBT 1 QBT
RBT
PT

QBT

Figure 14
Bond Graph model of the entire hydraulic system

2.6 Overview of related work

The bond graph method has also been successfully implemented in the modeling of the hydraulic system used to
move the boom of a crane. The modeling and the simulation of the hydraylic system’s dynamic behaviour were
carried out in the Machine Elements Laboratory of the National Technical University of Athens. The schematic
diagram of the hydraulic system can be seen in Figure 15 and in Figure 16, we can see its bond graph model.

Figure 15
Schematic diagram of the hydraulic system used to move the crane boom
 Pavlos Athanasatos and Theodore Costopoulos
11

R3 R4 Ca2

Cp
P2
1 0 Q2
0 TF
A2
Sω Pp Fa Fm1 Fm
TF Qp
0 0 1 TF 1 Xm
Im
Xa
Vθ
P1
Rlp Rr
1 0 Q1
0 TF
A1 Rfa Sg

R2 Rr Ca1

Figure 16
Bond Graph model of the hydraulic system

The requirements are to position a load of 125kg in a vertical arc of 0,6m. The system was required to cause the
load to change position by 0,3m within 1 second, and the maximum system pressure was set in 13,8MPa. Based
on these requirements, and on manufacturer-provided technical data, the bond graph model of Figure 16 was
used to simulate various aspects of the hydraulic system’s dynamic behavior. For the simulation, we assumed
that pump drive speed is constant, that positive displacement of the valve spool causes lowering of the load, and
we chose to neglect the hydraulic resistance and capacitance effects in the hydraulic lines and filter. To conduct
the simulation, appropriate software code was created using the Fortran programming language. In Figure 17, we
can see the displacement of the hydraulic valve spool, and in Figures 18, 19, and 20 we can see the hydraulic
cylinder tip displacement, velocity and oil pressure during the lowering of the load.

Figure 17 Figure 18
Hydraulic valve spool displacement Hydraulic piston displacement

Figure 19 Figure 20
Hydraulic piston velocity Hydraulic cylinder oil pressure
 Pavlos Athanasatos and Theodore Costopoulos
12

3 CONCLUSION

In this paper, the basic aspects of dynamic analysis and modeling for high pressure hydraulic systems
using the bond graph method were analyzed. We particularly focused on the power bond graph modeling method
for hydraulic systems because it offers many advantages compared to other modeling techniques. It is rather
simple in its concept, easy to implement, and it offers an easily perceivable representation of the power flow in
the system. Using the power bond graph method, a model of a simple hydraulic system was created. For each
component of the hydraulic system more than one bond graphs were created, each one having a varying degree
of complexity, demonstrating the versatility of the method

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