Help Text for fixed displacement motor block

This block is the model of a fixed displacement hydraulic motor.

The inputs to the block are:

  1. the controlled flows from the valve (is a two elements vector)
  2. the external force acting on the actuator (a constant) [Nm]
  3. the system pressure (accumulator output)
  4. the torque transmitted by the a second mass connected to the actuator output through a link, having a defined stiffness [Nm/rad]

The outputs are:

  1. the actuator position [rad]
  2. the pressures into the two actuator chambers (it a two elements vector)
  3. the motor speed

The motor drag torque is represented by the following equation:

DragTorque = Displ*(rkm*omg^1.4 + Ploss + (p1 + p2)*Cf)

where

Displ is the motor displacement

omg is the angular speed

p1 and p2 are the input and output pressure

rkm, Ploss and Cf are constant input data that shall be set to match the efficiency curve of the motor.


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