Hydraulic Motor

Ideal transformation between hydraulic and rotational domains

 Description The Hydraulic Motor component models an ideal single-vane rotary actuator. It transforms energy between the hydraulic and rotational domains.
 Equations $p={p}_{A}-{p}_{B}$ ${\mathrm{\phi }}_{\mathrm{rel}}={\mathrm{\phi }}_{b}-{\mathrm{\phi }}_{a}$ $q={q}_{A}=-{q}_{B}=\mathrm{displacement}w$ $\mathrm{\tau }=-{\mathrm{\tau }}_{a}={\mathrm{\tau }}_{b}=-\mathrm{displacement}p$ $w=\frac{\mathrm{d}{\mathrm{\phi }}_{\mathrm{rel}}}{\mathrm{d}t}$

Variables

 Name Units Description Modelica ID $p$ $\mathrm{Pa}$ Pressure drop from A to B p $q$ $\frac{{m}^{3}}{s}$ Flow rate into port A q ${\mathrm{\phi }}_{\mathrm{rel}}$ $\mathrm{rad}$ Relative rotation angle phi_rel $\mathrm{\tau }$ $Nm$ Torque between flanges tau $w$ $\frac{\mathrm{rad}}{s}$ Angular velocity of flange_b w

Connections

 Name Description Modelica ID $\mathrm{portA}$ Hydraulic port portA $\mathrm{portB}$ Hydraulic port portB ${\mathrm{flange}}_{a}$ Left flange of compliant 1-dim. rotational component flange_a ${\mathrm{flange}}_{b}$ Right flange of compliant 1-dim. rotational component flange_b

Parameters

 Name Default Units Description Modelica ID $\mathrm{displacement}$ $1$ $\frac{{m}^{3}}{\mathrm{radian}}$ Volume per radian displacement