Changes in the dynamics of the output characteristics of mechatronic systems with planetary hydraulic motors

A structural-functional diagram of a dynamic model of a mechatronic system with a planetary hydraulic motor is proposed. The initial conditions for the simulation of transients occurring in a mechatronic system with a planetary hydraulic motor are substantiated. The design parameters of the distribution system, which determine the unevenness of the output characteristics of the planetary hydraulic motor, are also substantiated. The influence of the design features of a serial and modernized hydraulic motors on the dynamic processes of the mechatronic system is investigated. It is established that fluctuations in the flow area of the distribution system of a serial hydraulic motor cause pulsations of torque on the hydraulic motor shaft and pressure in the discharge line of the mechatronic system. At the time of acceleration, significant pulsations of the flow of working fluid through the safety valve are observed, and as a result, pulsations of the flow of working fluid through the hydraulic motor. Elimination of fluctuations in the flow area of the distribution system of the upgraded hydraulic motor allows you to stabilize the values of pressure, torque and flow rate of the working fluid throughout the study of the acceleration process. Under steady-state operation, fluctuations in the area of the passage section of the distribution system do not affect the nature of the change in the shaft speed, either of the modernized or serial hydraulic motors.