Mechanism

and
Mechanism and Machine Theory 41 (2006) 487–504
Machine Theory
www.elsevier.com/locate/mechmt

Dynamic vibration analysis of a swash-plate type water

hydraulic motor
H.X. Chen, Patrick S.K. Chua, G.H. Lim *

School of Mechanical and Production Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore

Received 13 October 2004; received in revised form 3 August 2005; accepted 7 September 2005
Available online 3 November 2005

Abstract

This paper presents the study of the dynamic analysis of a swash-plate water hydraulic motor in a modern water
hydraulic system. A swash-plate mechanism is modeled as a system with three masses and 14 degrees of freedom
(DOF). In order to evaluate the applicability of the dynamic model, the numerical simulation analysis of the dynamic
response of the model due to pressure pulsation is presented and compared with experimental results. A series of the
dynamic vibration characteristics of the water hydraulic piston motor are studied by the numerical simulation. It is effec-
tive for the model to simulate the vibration signal of the casing in the hydraulic motor. The waveform and frequency of the
simulated signal is similar to the experimental signal. The simulated signals in other directions show that the vibration
signals in all the directions mainly consist of the hydraulic pump and hydraulic motor rotational frequencies.
 2005 Elsevier Ltd. All rights reserved.

Keywords: Water hydraulic motor; Dynamic response; Numerical simulation; Vibration analysis; Swash plate; Pressure

1. Introduction

With the increasing environmental impact of the operating oil-based hydraulic system and the concern
raised by environmentally conscious organizations, a most exciting area of development in the fluid power
industry over the past few years has been in the area of water hydraulics, which involves using tap water
as a viable alternative to oil in fluid power transmission. Water hydraulic systems have been used in the farm-
ing, forestry, food, pharmaceutical and paper industries [1–3].
The axial piston motor is commonly applied to provide high torque and performance for water hydraulic
system. Axial piston swash-plate type hydraulic motor is comprised of a discrete number of pistons that recip-
rocate in a sinusoidal fashion for the purposes of torque output. The basic force within axial piston pump
is analyzed and summarized. The instantaneous torque exerted on the shaft is computed and its resonant

*
Corresponding author. Fax: +65 6791 1859.
E-mail address: mghlim@ntu.edu.sg (G.H. Lim).

0094-114X/$ - see front matter  2005 Elsevier Ltd. All rights reserved.
doi:10.1016/j.mechmachtheory.2005.09.002
488 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

Nomenclature

A piston cross-section area

CHZ damping coefficient of the interface between piston and cylinder port
CSh damping coefficient of the interface between shaft and valve cover and outer shell
CSw damping coefficient of the interface between piston and swash plate
CVa damping coefficient in the interface between valve cover (valve port plate) and cylinder block
fp fundamental frequency of the hydraulic pump
fm(=5f0 = 1/Tm) fundamental frequency of the water hydraulic motor
f0 fundamental frequency of the motor piston
FCz exciting force on the cylinder block in Z-axis
Finertia inertia-related force
FPz exciting force on the piston in Z-axis
ICx moment of inertia of the cylinder block around XC-axis
ICy moment of inertia of the cylinder block around YC-axis
IFx moment of inertia of the outer shell and swash plate around XF-axis
IFy moment of inertia of the outer shell and swash plate around YF-axis
IPx moment of inertia of the piston and retaining ring around XP-axis
IPy moment of inertia of the piston and retaining ring around YP-axis
KSw stiffness of the interface between piston and swash plate
KBo stiffness of the bolt between outer shell and valve cover (port flange)
KSh stiffness of the motor shaft bearing
KHZ stiffness of the interface between piston and cylinder port
KP spring stiffness
KVa stiffness of the interface between valve port plate and cylinder block
lx equivalent center coordinates of the exerting force FCz in the direction of YC-axis in the cylinder
block cross-section
ly equivalent center coordinates of the exerting force FCz in the direction of XC-axis in the cylinder
block cross-section
LPF distance between the point OP and the point OF, referred to Fig. 5
LF1, LF2 lengths, refer to Fig. 5
LC1, LC2 lengths, refer to Fig. 5
Lb, LSh lengths, refer to Fig. 5
MC cylinder masses
MP piston and retaining ring masses
MF masses of the outer shell and the swash plate
n number of piston
p inlet pulsation pressure in the piston
r radius of the spring port circle
R radius of the cylinder port circle, refer to Fig. 5
R0 radius of the accelerometer position of the outer shell
RV radius of force point circle between cylinder and valve cover (valve port plate), refer to Fig. 5
TCx torque on the cylinder around XC-axis
TCy torque on the cylinder around YC-axis
Ti the instantaneous torque of one piston
T0 period of the piston
Tm period of the water hydraulic motor
Tp period of the pump
TPx the torque on the piston and retaining ring around axis XP
TPy the torque on the cylinder block around axis YP
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 489

TP the piston torque

d0 angle of swash plate
x0 hydraulic motor angular velocity
/ circular motion around axis X
h circular motion around axis Y
# anger between the radius and +YF-axis

frequencies of the pump that occur at even-multiple of the ‘‘piston-pass’’ frequency has been discussed by
Manring [4]. The mathematical equations describing swash-plate model are derived from the general hydraulic
and mechanical considerations [5]. Kaliafetis et al. [6] studied the model of an axial piston variable displace-
ment pump with pressure control.
The fluctuating aspects of the discharge flow have been addressed in the published literature. Manring [7]
derived the closed-form expressions to describe the characteristics of the flow ripple. The ripple height and the
pulse frequency of the flow ripple are described. Harrison and Edge [8] achieved a novel timing mechanism to
reduce the source flow ripple in hydraulic systems in order to reduce the pressure ripple and system noise.
Kojima and Shinada [9] investigated the fluid-borne noise characteristics in the fluid pump. The second source
method on model and detection of the fluid noise characteristics have been studied. Some researchers
proposed the test method for the measurement of the pump fluid-borne noise characteristics, pump pressure
ripple and flow ripple characteristics [10,11]. Edge and Darling [12] proposed a theoretical model of the axial
piston pump flow ripple.
The dynamic behaviour of the axial piston motor is non-linear and the factors that influenced the perfor-
mance of the axial piston motor are complicated. The vibration energy transmission characteristics from the
cylinder to a swash-plate within an axial piston pump had been studied [13]. Qi and Lu [14] investigated the
vibration of oil hydraulic axial piston pumps. Investigations showed that the main source of vibration is
the impact between the slipper and swash plate when the piston/slipper moved into a pre-compression process.
This impact force may excite a resonant vibration of the pump shell. Bahr et al. [15] developed a mathematical
model to investigate the vibration characteristics of the pumping mechanism of oil hydraulic constant-power
axial piston pumps with conical cylinder blocks. Nishimura et al. [16] analyzed the dynamic response of a
swash-plate type hydraulic piston pump.
The purpose of this research work is to analyze the dynamic response of water hydraulic motor. A model
consisting of three masses and 14 DOF is developed. This model includes swash plate and outer shell, piston
and retaining ring and cylinder block that generate rotary and reciprocal motion. The dynamic kinematic
equations are formulated for analyzing the vibration characteristics of this model in numerical simulation.
The results of numerical simulation were compared with experimental results to verify the model developed.
It presents the vibration characteristics of the components in water hydraulic motor.

2. Water hydraulic motor description

The modern water hydraulic system installed in the School of Mechanical and Production Engineering,
Nanyang Technological University, was acquired from Danfoss Inc. [17]. Fig. 1 showed the water hydraulic
motor test setup system. The water hydraulic system consists of electrical motor, water hydraulic pump, four
kinds of valves, pressure sensors, flow rate sensors and water hydraulic motor. The water hydraulic motor is
fixed-displacement swash plate. The water hydraulic pump was 5-piston axial piston pump. The water hydrau-
lic system was connected by the rubber hose to the water hydraulic motor.
The output torque and flow rate of the water hydraulic motor were 2 N m and 0.12 l/s. The angular speeds
of hydraulic motor and pump were 630 rev/min and 1450 rev/min. The flow rate of the water hydraulic system
was 0.12 l/s.
The vibration signals were acquired by the accelerometer, which was mounted on the outer shell near the
inlet of the water hydraulic motor.
490 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

Fig. 1. Schematic hardware architecture of modern water hydraulic system.

The actuator studied here is a five piston axial piston motor used in a water hydraulic system. A MAH 12.5
water hydraulic motor and water hydraulic system manufactured by Danfoss Inc. were used to measure the
vibration and the inlet pressure pulsation of water hydraulic motor. Fig. 2 shows the structure of water
hydraulic motor. An axial piston motor consists mainly of a valve port plate with inlet and outlet ports, a
swash plate, an outer shell, a cylinder block, pistons with shoes, a bias spring, a port flange and a shaft.
The piston fits within bores of the cylinder barrel and is on the same axis as output shaft. The swash plate
is positioned at an angle and acts as a surface on which piston shoes travel. The shoes are held in contact with
the swash plate by the retaining ring and the bias spring. The port plate separates incoming fluid from dis-
charging fluid. The output shaft is connected to the cylinder barrel.
As the water enters the inlet and exits at the outlet of the hydraulic motor, the pressure in the cylinder hole
alternates from high pressure to low pressure. This causes the pressure pulsation to occur. The total cylinder
area inside a delivery port is variable as a result of the cycle variations of the piston number passing through
the delivery port. It generates the variations of the axial output moment. The variation of force is applied from
the piston to the swash plate and the valve cover. The force between the support for the swash plate and the
valve cover is opposite. The hydraulic motor body vibrates.

3. Characteristics of pressure ripple in water hydraulic system

A hydraulic system generates more complicated vibration (noise) on account of the interaction between the
two pressure pulsations produced by the motor and pump. The fluidborne vibration causes structureborne
vibration that has negative effect on the hydraulic motor and pump. Kojima and Shinada [18] and Edge
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 491

Fig. 2. Structural parts of an axial piston motor.

Fig. 3. Water hydraulic motor inlet pressures waveform.

et al. [19] investigated the fluidborne vibration in a combination circuit consisting of a pump, a motor and a
connecting pipe. The pressure ripple is characteristic of a fundamental component at piston frequency
obtained in a general hydraulic system. The pressure ripples in piston pumps and motor are mostly due to
an intermittent impulsive back flow into the cylinder chamber in the neighborhood of the bottom and top
492 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

Fig. 4. The spectrum of the pressure ripple in the inlet of hydraulic motor.

dead center. The characteristic frequencies of fluidborne vibration in hydraulic system have two flow and
pressure pulsating sources that the pump and motor generate respectively.
Fig. 3 shows the typical experimental inlet pressure ripples of water hydraulic motor in water hydraulic sys-
tem that consists of axial piston pump, swash-plate type water hydraulic motor and connection. The pressure
ripple in the inlet of motor is affected predominantly by the fundamental component of the pumpÕs harmonic
frequency (fp) and the motorÕs harmonic frequency (fm and f0). Fig. 4 shows the spectrum of the pressure ripple
in the inlet of the water hydraulic motor.
One revolution of the motor occurs in T0(1/f0). During this period, there are five pulses to be generated as
direct result of the unsteady flow produced by the water hydraulic motor. Each pulse produced by each piston
of water hydraulic motor occurs in Tm(1/fm). The inter-cylinder pulse variation is negligibly small. The wave-
form is periodic over each revolution and the period of the waveform covers one cycle of motor. The delivery
pulse associated with axial piston pump occurs in Tp(1/fp). There is the small-amplitude and high-frequency
decaying oscillation in the pressure ripple. It is directly resulted from the flow pulse. The flow pulsation
interacts with the fluid in the delivery line to create a pressure pulsation which propagates at local acoustic
velocity.

4. Theoretical model of water hydraulic motor

Fig. 5 shows the dynamic model of a swash-plate type water hydraulic motor. The model has three masses
and 14 DOF including outer shell and swash plate, cylinder block, piston and retaining ring as well as valve
cover (valve port plate and port flange). The overall coordinate system O–XYZ is set on the valve cover. The
origin O is set at the intersection of the centerline of the motor shaft and the internal plane of the valve cover.
The axis Z is along the centerline of the motor shaft. The axis X is on the perpendicular plane. The axis Y is on
the horizontal plane. The coordinate systems of each mass are defined with the subscripts F, P and C. These
subscripts are added to the symbols X, Y and Z that represent the translational motion along the x, y and z
axial directions. These subscripts are also added to the symbols / and h which represent the circular motion
around axes X and Y. These symbols represent the freedom of movement for each mass.

4.1. Exciting force on cylinder block, piston and swash plate

The pressure pulsation in the inlet of hydraulic motor produces the exciting force that causes the hydraulic
motor to vibrate. The exciting force from the pressure pulsations act on the piston and the inlet port of the
cylinder. It creates the force on the contact surface between the piston and cylinder inside the hydraulic motor
in opposing manner. The geometrical relation of the piston and cylinder coordinate system is shown in Fig. 6.
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 493

Fig. 5. Dynamic model of a water hydraulic motor.

δ0
F′Cz
XP XC

ly X
a
FPz ZP
R
lx α
Y Torque
arm ZC
O

Cylinder

Fig. 6. Geometrical relation of the load force and torque in the piston coordinate system and cylinder coordinate system.

The exerting force FCz on the cylinder along the Z-axis, the torque TCx on the cylinder around XC-axis and the
torque TCy on the cylinder around YC-axis in the coordinate system OC–XCYCZC can be expressed by
494 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

F Cz ¼ pA; T Cx ¼ ly F Cz T Cy ¼ lx F Cz ð1Þ

where p is the pulsation pressure in the piston as shown in Fig. 3, A is the cross-sectional area of the piston
inside the inlet port of hydraulic motor, lx and ly are the equivalent center coordinates in the cylinder block
cross-section of the exerting force FCz. The counterforce of F 0Cz on the piston is expressed by F Cz ¼ F 0Cz .
There is angle d0 between the coordinate system OC–XCYCZC of the cylinder and OP–XPYPZP of the piston
and retaining ring. The force from the pressure pulsation on the cylinder along X-axis equals to zero and the
exerted force on the piston from the pressure pulsation along the X-axis equals to zero [20]. The exerting forces
FPz and FPx on the piston and retaining ring along the axis Z and X, the torque TPx on the piston and retaining
ring around axis XP and the torque TPy on the cylinder block around axis YP can be expressed in the coordi-
nate system OP–XPYPZP by
F Pz ¼ F Cz = cos d0 F Px ¼ 0 T Px ¼ T Cx = cos d0 T Py ¼ T Cy ð2Þ
where d0 is the angle of the swash plate.

4.2. Shaft torque

Fig. 6 shows the geometrical relation between the piston and swash plate. The friction force between the
piston and swash plate is small and can be neglected. The force produced by the pressure pulse is FPz. The
torque arm is R sin a  a sin d0 = cos d0 , where R is the radius of cylinder port circle. Therefore, the piston
torque is expressed by
T P ¼ F Pz ðR sin a þ a sin d0 Þ= cos d0 ð3Þ
Bahr studied the characteristics of the pump mechanism by the partial mathematically modeling and
analyzed the dynamic motion of the pump piston [21]. Considering the inertia force of the moving piston,
the inertia-related force along the Z-axis is shown as:
F inertia ¼ M P x20 R tan d0 sin a þ 2x0  V P ð4Þ
where x0 is the angular velocity of the hydraulic motor and VP is the velocity of the piston. The first term is the
derivative of the piston vector along the z-axis. The second term is the coriolis acceleration and equals to zero.
Hence the instantaneous torque of one piston is expressed by
T i ¼ ðF Pz þ M P x2 R tan d0 sin a= cos d0 ÞððR sin a þ a sin d0 Þ= cos d0 Þ ð5Þ
The equation of torque shows that the torque is related to the inlet pressure of hydraulic motor and angular
velocity of hydraulic motor. When the inlet pressure and angular velocity of hydraulic motor increases, the
torque increases.

4.3. Dynamic model of swash-plate support and outer shell

The coordinate system of the outer shell and swash plate is defined as OF–XFYFZF. The origin point OF is
set on the gravity center of the outer shell and swash plate. The ZF-axis of the coordinate system OF–XFYFZF
is along the centerline of the motor shaft. (XF, YF) axes are parallel to the (X, Y) coordinates. The dynamic
equilibrium equation of the motion of the outer shell and swash plate along the direction of the XF can be
expressed by
M F X€ F þ C Sw sin d0
   
RB2 _ RB2 _
 ðX_ F sin d0 þ Z_ F cos d0  Z_ P Þ  RB1 ð/_ F cos d0  /_ P Þ  LPF sin d0 þ hF  hP
cos d0 cos d0
þ K Sw sin d0
   
RB2 RB2
 ðX F sin d þ Z F cos d0  Z P Þ  RB1 ð/F cos d0  /P Þ  LPF sin d0 þ hF  hP
cos d0 cos d0
þ 4K Box ðX F þ LF2 hF Þ þ K Shx fðX F  LF1 hF Þ  ðX C  LC1 hC Þg þ C Shx fðX F  LF1 hF Þ  ðX C  LC1 hC Þg ¼ 0
ð6Þ
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 495
Pn1 Pn1
where B1 ¼ i¼0 cosðx0 t þ igÞ, B2 ¼ i¼0 sinðx0 t þ igÞ, g = 2p/n. KSw is the stiffness of the piston. CSw is the
damping coefficient of the interface between the piston and the swash plate. KBox is the stiffness of the bolt
between the outer shell and the valve cover in the direction of the XF-axis. KShx is the stiffness of the motor
shaft in direction of the XF-axis. CShx is the damping coefficient of the interface between the shaft, valve cover
and outer shell in the direction of XF-axis and n is the number of pistons.
The dynamic equation of the motion in the direction of YF is expressed as:
M F Y€ F þ 4K Boy  ðY F  LF2 /F Þ þ K Shy fðY F þ LF1 /F Þ  ðY C þ LC1 /C Þg
þ C Shy fðY_ F þ LF1 /_ F Þ  ðY_ C þ LC1 /_ C Þg ¼ 0 ð7Þ
where KBoy is the stiffness of the bolt between the outer shell and the valve cover in direction of axis YF. KShy is
the stiffness of the motor shaft in the direction of the YF-axis. CShy is the damping coefficient of the interface
between the shaft and valve cover and outer shell in the direction of the YF-axis.
In the direction of the ZF, the equation of motion is
M F Z€ F þ C Sw cos d0
   
RB2 _ RB2 _
 ðX_ F sin d0 þ Z_ F cos d0  Z_ P Þ  RB1 ð/_ F cos d0  /_ P Þ  LPF sin d0 þ hF  hP
cos d0 cos d0
þ K Sw cos d0
   
RB2 RB2
 ðX F sin d0 þ Z F cos d0  Z P Þ  RB1 ð/F cos d0  /P Þ  LPF sin d0 þ hF  hP
cos d0 cos d0
þ 4K Boz Z F ¼ 0 ð8Þ
where KBoz is the stiffness of the bolt between the outer shell and the valve cover in direction of ZF-axis.
The dynamic equations of rotation around XF and YF can be respectively expressed as follows:

€  C Sw cos d0 R B1 ðX_ F sin d0 þ Z_ F cos d0  Z_ P Þ þ RB3 ð/_ cos d0 þ /_ Þ
I Fx / F F P
   
RB5 _ RB5 _
þ  LPF B1 sin d0 þ hF þ hP  K Sw cos d0 R
cos d0 cos d0

 B1 ðX F sin d0 þ Z F cos d0  Z P Þ þ RB3 ð/F cos d0 þ /P Þ
   
RB5 RB5
þ  LPF B1 sin d0 þ hF þ  4K Boy LF2 ðY F  LF2 /F Þ
cos d0 cos d0
þ 4K Boz L2b /F þ K Shy  LF1 fðY F þ LF1 /F Þ  ðY C  LC1 /C Þg
þ C Shy LF1 fðY_ F þ LF1 /_ F Þ  ðY_ C  LC1 /_ C Þg ¼ 0 ð9Þ
Pn1 2 Pn1
where B3 ¼ i¼0 cos ðx0 t þ igÞ, B5 ¼ i¼0 sinðx0 t þ igÞ cosðx0 t þ igÞ. IFx is the inertia of mass of the outer
shell and swash plate about the XF-axis.
I Fy €
hF þ 4K Box LF2 ðX F þ LF2 hF Þ þ 4K Boz L2b hF
    
RB2 RB5
 C Sw ðX_ F sin d0 þ Z_ F cos d0  Z_ P Þ LPF sin d0 þ  Rð/_ F cos d0  /_ P Þ LPF sin d0 B1 þ
cos d0 cos d0
 2   2  
R B 4 R B 4
þ C Sw L2PF sin2 d0 þ 2LPF RB2 tg d0 þ h_ F  RB2 tg d0 LPF þ h_ P
cos2 d0 cos2 d0
    
RB2 RB5
 K Sw ðX F sin d0 þ Z F cos d0  Z P Þ LPF sin d0 þ  Rð/F cos d0  /P Þ LPF sin d0 B1 þ
cos d0 cos d0
 2   2  
R B4 R B4
þ K Sw L2PF sin2 d0 þ 2LPF RB2 tg d0 þ hF  RB2 tg d0 LPF þ hP
cos2 d0 cos2 d0
 K Shx LF1 fðX F  LF1 hF Þ  ðX C  LC1 hC Þg  C Shx LF1 fðX_ F  LF1 h_ F Þ  ðX_ C  LC1 h_ C Þg ¼ 0 ð10Þ
Pn1 2
where B4 ¼ i¼0 sin ðx0 t þ igÞ. IFy is the inertia of mass of the outer shell and swash plate around the YF-axis.
496 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

4.4. Dynamic model of piston and swash plate

OP–XPYPZP is the coordinate system of the piston and swash plate. The origin point OP is set on the gravity
center of the piston and swash plate. The ZP-axis of the coordinate system OP–XPYPZP is along the centerline
of the motor shaft. (X, Y) coordinates are on (XP, YP)-axis. Because the surface between the piston and swash-
plate support is smooth, the friction between them is very small. As shown in Fig. 5, the swash-plate supports
the pistons by the shoes. The interface between the swash plate and piston shoe is very smooth. The friction of
the interface along the Y-axis is very small. The swash-plate interface is symmetrical about the X-axis. The
damping, stiffness and friction coefficients of the interface between the swash plate and piston along the Y-axis
are zero. The motion and force in the direction of YP are zero to simplify the model calculation [20]. The
dynamic equilibrium equation of the motion of the swash-plate support and outer shell along the direction
of the XP and ZP can be respectively expressed by
n o
M P X€ P  C HZ sin d0 nðZ_ P cos d0  X_ P sin d0  Z_ C Þ þ RB1 ð/_ P cos d0 þ /_ C Þ  RB2 ðh_ P  h_ C Þ

 K HZ sin d0 fnðZ P cos d0  X P sin d0  Z C Þ þ RB1 ð/P cos d0 þ /C Þ  RB2 ðhP  hC Þg

 K P sin d0 fnðZ P cos d0  X P sin d0  Z C Þ þ RA1 ð/P cos d0 þ /C Þ  RA2 ðhP  hC Þg ¼ 0 ð11Þ
Pn Pni
where A1 ¼ i¼0 cosðx0 t þ 1:5igÞ, A2 ¼ i¼0 sinðx0 t þ 1:5igÞ. CHZ is the damping coefficient of the interface
between the piston and the cylinder port. KHZ is the stiffness in the interface between the piston and the
cylinder port and KP is the stiffness of the spring.

M P Z P  C Sw nðX_ F sin d0 þ Z_ F cos d0  Z_ P Þ  RB1 ð/_ F cos d0  /_ P Þ
€

   
RB2 _ RB2 _
 LPF sin d0 þ hF  hP  K Sw nðX F sin d0 þ Z F cos d0  Z P Þ
cos d0 cos d0
  
RB2 RB2
RB1 ð/F cos d0  /P Þ  LPF sin d0 þ hF  hP
cos d0 cos d0
n o
þ C HZ cos d0 nðZ_ P cos d0  X_ P sin d0  Z_ C Þ þ RB1 ð/_ P cos d0 þ /_ C Þ  RB2 ðh_ P  h_ C Þ

þ K HZ cos d0 fnðZ P cos d0  X P sin d0  Z C Þ þ RB1 ð/P cos d0 þ /C Þ  RB2 ðhP  hC Þg

þ K P cos d0 fnðZ P cos d0  X P sin d0  Z C Þ þ RB1 ð/P cos d0 þ /C Þ  RB2 ðhP  hC Þg ¼ F PZ ð12Þ

The rotation around XP and YP can be respectively expressed as below:

n o
€  C HZ R cos d0 B1 ðZ_ P cos d0  X_ P sin d0  Z_ C Þ þ RB3 ð/_ cos d0 þ /_ Þ  RB5 ðh_ P  h_ C Þ
I Px /P P C

 K HZ R cos d0 fB1 ðZ P cos d0  X P sin d0  Z C Þ þ RB3 ð/P cos d0 þ /C Þ  RB5 ðhP  hC Þg

    
RB5 _ RB5 _
þ C Sw R nB1 ðX_ F sin d0 þ Z_ F cos d0  Z_ P Þ þ B3 Rð/_ F þ /_ P Þ þ  LPF B1 sin d0 þ hF þ hP
cos d0 cos d0
    
RB5 RB5
þ K Sw R nB1 ðX F sin d0 þ Z F cos d0  Z P Þ þ B3 Rð/F þ /P Þ þ  LPF B1 sin d0 þ hF þ hP
cos d0 cos d0

 K P r cos d0 fA1 ðZ P cos d0  X P sin d0  Z C Þ þ A3 ð/P cos d0 þ /C Þ  rA5 ðhP  hC Þg ¼ T Px ð13Þ

Pn1 Pn1
where A3 ¼ i¼0 cos2 ðx0 t þ 1:5igÞ, A5 ¼ i¼0 sinðx0 t þ 1:5igÞ cosðx0 t þ 1:5igÞ. IPx is the inertia of mass of the
piston and swash plate around XP-axis.
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 497

I Py €
hP  C HZ R cos d0 fB2 ðZ_ P cos d0  X_ P sin d0  Z_ C Þ þ RB5 ð/_ P cos d0 þ /_ C Þ  RB4 ðh_ P  h_ C Þg
 K HZ R cos d0 fB2 ðZ P cos d0  X P sin d0  Z C Þ þ RB5 ð/P cos d0 þ /C Þ  RB4 ðhP  hC Þg

þ C Sw ðR= cos d0 Þ B2 ðX_ F sin d0 þ Z_ F cos d0  Z_ P Þ þ B5 Rð/_ F cos d0 þ /_ P Þ
   
RB4 _ RB4 _
þ  LPF B2 sin d0 þ hF þ hP
cos d0 cos d0

þ K Sw ðR= cos d0 Þ B2 ðX F sin d0 þ Z F cos d0  Z P Þ þ B5 Rð/F cos d0 þ /P Þ
   
RB4 RB4
þ  LPF B2 sin d0 þ hF þ hP  K P r cos d0 fA2 ðZ P cos d0  X P sin d0  Z C Þ
cos d0 cos d0

þ rA5 ð/P cos d0 þ /C Þ  rA4 ðhP  hC Þg ¼ T Py ð14Þ

Pn1 2
where A4 ¼ i¼0 sin ðx0 t þ 1:5igÞ. IPy is the inertia of mass of the piston and swash plate around the YP-axis.

4.5. Dynamic model of cylinder block

The coordinate system of the cylinder block is OC–XCYCZC. The original point OC is at the gravity center
of the cylinder block. The ZC-axis is on the centerline of the motor shaft. (XC, YC)-axis are parallel to the
(X, Y) coordinates. The dynamic equilibrium equation of the motion of the cylinder block in the direction
of the XC, YC and ZC can be respectively expressed as follows:
M C X€ C  K Shx fðX F  LF1 hF Þ  ðX C  LC1 hC Þg  C Shx fðX_ F  LF1 h_ F Þ  ðX_ C  LC1 h_ C Þg ¼ 0 ð15Þ
M C Y€ C  K Shy fðY F þ LF1 /F Þ  ðY C þ LC1 /C Þg þ K Shy ðY C  LC2 /C Þ  C Shy fðY_ F þ LF1 /_ F Þ
 ðY_ C þ LC1 /_ C Þg þ C Shy ðY_ C  LC2 /_ C Þ ¼ 0 ð16Þ
M C Z€ C  C HZ fnðZ_ P cos d0  X_ P sin d0  Z_ C Þ þ RB1 ð/_ P cos d0 þ /_ C Þ  RB2 ðh_ P  h_ C Þg
 K HZ fnðZ P cos d0  X P sin d0  Z C Þ þ RB1 ð/P cos d0 þ /C Þ  RB2 ðhP  hC Þg
 K P fnðZ P cos d0  X P sin d0  Z C Þ þ RA1 ð/P cos d0 þ /C Þ  RA2 ðhP  hC Þg
þ C Vaz Z_ C þ K Vaz Z C ¼ F Cz ð17Þ
where KVa and CVa is the stiffness and damping coefficient in the interface between the valve cover and the
cylinder block respectively.
The equation of rotation about XC and YC can be respectively expressed by
€ þ C HZ RfB1 ðZ_ P cos d0  X_ P sin d0  Z_ C Þ þ RB3 ð/_ cos d0 þ /_ Þ  RB5 ðh_ P  h_ C Þg
I Cx / C P C

þ K HZ RfB1 ðZ P cos d0  X P sin d0  Z C Þ þ RB3 ð/P cos d0 þ /C Þ  RB5 ðhP  hC Þg

C Vaz 2 _ K Vaz 2
þ K P rfA1 ðZ P cos d0  X P sin d0  Z C Þ þ rA3 ð/P cos d0 þ /C Þ  rA5 ðhP  hC Þg þ RV / C þ R /
2 2 V C
 K Shy LC1 fðY F þ LF1 /F Þ  ðY C þ LC1 /C Þg  C Shy LC1 fðY_ F þ LF1 /_ F Þ  ðY_ C þ LC1 /_ C Þg ¼ T Cx ð18Þ
I Cy €
hC þ C HZ RfB2 ðZ P cos d0  X P sin d0  Z C Þ þ B5 ð/P cos d0 þ /C Þ þ B4 ðhP þ hC Þg
þ K HZ fB2 ðZ P cos d0  X P sin d0  Z C Þ þ B5 ð/P cos d0 þ /C Þ þ B4 ðhP þ hC Þg
þ K Shx LC1 fðX F  LF1 hF Þ  ðX C  LC1 hC Þg þ C Shx LC1 fðX_ F  LF1 h_ F Þ  ðX_ C  LC1 hÞg
_ ¼ T Cy ð19Þ

where ICx is the inertia of mass of the cylinder block about the XC-axis. ICy is the inertia of mass of the cylinder
block about YC-axis.
498 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

5. Generalized system equations of motion

The equation of motion for the hydraulic motor can be written in matrix form as
½Mf€
qg þ ½Cfqg
_ þ ½Kfqg ¼ fQðtÞg ð20Þ
where
T
fqg ¼ fX F ; Y F ; Z F ; /F ; hF ; X P ; Z P ; /P ; hP ; X C ; Y C ; Z C ; /C ; hC g ;
fQðtÞg ¼ f0; 0; 0; 0; 0; 0; F Pz ; T Px ; T Py ; 0; 0; F Cz ; T Cx ; T Cy g.
By incorporating the equivalent viscous modal damping, the equation in the form of modal components is
expressed as fqg ¼ ½~ufgðtÞg, where ½~
u is the orthonormal modal matrix. The generalized force is given by
T
fN ðtÞg ¼ ½~
u fQðtÞg. By applying the orthogonal condition to simplify the above couple equations and trans-
pose of the orthonormal modal matrix, the following modal forced vibration equations can be obtained.
gr þ 2nr pr g_ þ p2r gr ¼ N r ðtÞ
€ ð21Þ
where nr is the equivalent modal damping ratio.
The applicable Matlab [22] simulation program has been developed based on the above approaches.

6. Hydraulic motor numerical simulation and vibration analysis

The numerical simulation result of this dynamic model can be obtained using the parameter value in
Table 1. The stiffness of the spring is defined as K = Gd4/8ND3. The contact surfaces between the cylinder
block and outer shell, and between the cylinder block and valve cover can be consider as the fluid film bearings
[23], which were modeled by the damping and stiffness coefficients. LeeÕs book [23] shows the stiffness coeffi-
cients and damping coefficients for the rotational speed dependent bearing properties. The stiffness coefficient
is 1.04 · 107 N/m and the damping coefficient is 1.04 · 107 N s/m when the angular speed of the fluid film
bearing was 630 rpm. Nishimura et al. [20] defined and provided the other stiffness and damping coefficients
in the model of the swash-plate type hydraulic piston pump such as swash-plate support stiffness KSwz, KSwx
and KSwy, bolt stiffness KBox, KBoy and KBoz, interface stiffness between piston and cylinder port KHZ, interface
damping coefficient between piston and cylinder port CHZ, and interface damping coefficient between valve

Table 1
Parameters used in the model
Parameter value Parameter value
4 2
A 2 · 10 (m ) KShy 1.04 · 107 (N/m)
CHZ 3.4 · 104 (N s/m) KSw 4.3 · 107 (N/m)
CShx 1.0 · 105 (N s/m) KVa 9.8 · 108 (N/m)
CShy 1.0 · 105 (N s/m) lx 2.1 · 102 (m)
CSw 1.8 · 106 (N s/m) ly 4 · 105 (m)
CVa 3.6 · 106 (N s/m) Lb 3.6 · 102 (m)
ICx 9.4 · 104 kg m2 LC1 7.7 · 102 (m)
ICy 9.4 · 104 kg m2 LC2 4 · 102 (m)
IFx 2.26 · 103 kg m2 LF1 5 · 102 (m)
IFy 2.26 · 103 kg m2 LF2 5.5 · 102 (m)
IPx 1.291 · 104 kg m2 LSh 1.17 · 101 (m)
IPy 1.291 · 104 kg m2 MC 1.515 kg
KBox 6.5 · 108 (N/m) MF 1.012 kg
KBoy 6.5 · 108 (N/m) MP 3.53 · 101 kg
KBoz 2.3 · 109 (N/m) n 5
KHZ 1.2 · 107 (N/m) r 1.2 · 102 (m)
KP 4.444 · 103 (N/m) RV 3 · 102 (m)
KShx 1.04 · 107 (N/m) R 2.2 · 102 (m)
d0 17
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 499
P
plate and cylinder block CVaz. The moment of inertia of the whole shape is given by the equation I ¼ mi r2i ,
where it is the sum of all the elemental particles masses multiplied by their distance from the rotational axis
squared [24].
In coordinate system OF–XFYFZF of the outer shell, the outer shell is circular as shown in Fig. 5. The upper
part of the outer shell in the direction of +XF is more sensitive to the vibration signal than the other directions
of the outer shell in the X and Y axes, which was excited by the inlet pressure of the motor. The structure of the
out shell in the exact direction of +XF is very strong and the vibration of the outer shell in the exact direction
of +XF is not sensitive. The accelerometer is mounted on the equivalent center coordinates (R0 cos #; R0 sin #Þ
of the outer shell, where R0 is the radius of the accelerometer position of the outer shell and # is the anger
between the radius and +YF-axis, the anger is about 60. The accelerometer position is the nearest point of
the outer shell to the inlet point of the motor. The place is most sensitive to the vibration signal, which is
excited by the inlet pressure.
In order to confirm the validity of the dynamic model, the numerical simulation of the vibration waveform
in the equivalent center coordinates (R0 cos #; R0 sin #) of the outer shell was compared with the experimental
vibration waveform. Fig. 7 shows the comparison result of the radial acceleration waveform of the equivalent
center coordinates (R0 cos #; R0 sin #) between the simulated signal and the experimental signal. It can be seen
that there is a high degree of correlation between the numerical analysis results and experimental results for

Fig. 7. The vibration waveform comparison between the simulation results and the experimental results.

Fig. 8. Comparison of vibration spectrum between the simulation results and experimental results.
500 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

both the cycle period and amplitude of the vibration. Fig. 8 shows the spectrum comparison of the simulated
acceleration signal and the experimental signal. The fundamental frequencies are approximately same which
are the hydraulic motor rotational speed (f0 and fm) and hydraulic pump speed (fp). The integer multiples of
the fundamental frequency are also approximately the same. The result of the above comparison confirms the
validity of the dynamic analysis presented.
In order to clarify the vibration response characteristics for the total water hydraulic motor, the vibration
responses from each mass of the hydraulic motor were obtained from the above simulated dynamic mode.
Fig. 9 shows the result of the acceleration of the outer shell in the direction of XF, YF and ZF axes. The ampli-
tudes of the acceleration in XF-axis are the largest among the three axes. The amplitudes of the acceleration in
YF are smallest. This was as a result of the external force produced by the pressure pulse in the ZF-axis. The
external force tends to warp the swash-plate support and the outer shell in a downward direction in the
XF-axis and pushes the outer shell in the opposite direction in the ZF-axis. Because the stiffness of the outer
shell in the ZF-axis is larger than the stiffness in the XF-axis, the magnitudes of the vibration acceleration in the
ZF-axis are smaller than that in the XF-axis. Fig. 10 shows the angular acceleration around the XF-axis and the
YF-axis. The vibration characteristics around the XF and YF axes are similar.
Fig. 11 shows the acceleration of the piston and swash plate in the direction of the XP-axis and the ZP-axis.
The vibration characteristics in the XP-axis are different from that in the ZP-axis. The vibration characteristics
in the XP-axis are as a result of the piston frequency and the vibration characteristics in the ZP-axis are as a
result of the external load force including the hydraulic motor frequency and pump frequency. Compared with
the vibration characteristics of outer shell and swash plate, the amplitudes of the vibration in the pistons are
large. This was due to the direct external force on the pistons from the pressure pulse and the small stiffness of
the piston coordinate system.

Fig. 9. Simulated acceleration of the outer shell in the direction of XF, YF and ZF axes.
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 501

Fig. 10. Simulated angular acceleration of the outer shell XF and YF axes.

Fig. 11. Simulated acceleration of the piston and swash plate in the directions of XP and ZP axes.

Fig. 12 shows the results of the acceleration of the cylinder in the direction of the XC-axis, the YC-axis and
the ZC-axis. The vibration in the ZC-axis was generated by the direct pressure pulse in the inlet of hydraulic
motor. The amplitudes of the vibration in the ZC-axis are higher than those in the XC-axis and the YC-axis.
Because the stiffness in the XC-axis is larger than that in the YC-axis, the influence of the pressure pulse on the
vibration of the cylinder XC-axis is smaller that in the YC-axis. The amplitudes of the vibration of the cylinder
in the XC-axis are lowest.
Fig. 13 shows the simulated acceleration of the radial vibration of the outer shell under the different output
torque of hydraulic motor. When the output torque of hydraulic motor increased from 2 N m to 5 N m, the
amplitude of vibration clearly increased. The vibration characteristics are the same.
502 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504

Fig. 12. Simulated acceleration of the cylinder in the direction of XC, YC and ZC axes.

Fig. 13. Simulated acceleration of the radial vibration of the outer shell. (a) Torque = 2 N m. (b) Torque = 5 N m.
 H.X. Chen et al. / Mechanism and Machine Theory 41 (2006) 487–504 503

7. Conclusion

A mathematical model was developed to investigate the vibration characteristics of the swash-plate water
hydraulic motor in a water hydraulic system. The three mass and 14 DOF model was applied to represent the
complete hydraulic motor which consisted of components, such as a outer shell and a swash plate, piston and
retaining ring and cylinder block. The dynamic equilibrium equations of motion were formulated to analyze
the response with the pressure pulsation as the excitation force. The obtained simulation results revealed the
vibration characteristics of each component in the water hydraulic motor. The validity of the analysis was con-
firmed by comparing it with experimental results. The results showed that the frequency of the harmonic is at
the hydraulic motor rotational speed and hydraulic pump rotational speed. The frequencies of the higher har-
monics are integer multiples of the hydraulic motor and pump rotational speed. The study includes investiga-
tion of the influence of torque on the vibration of the outer shell in the water hydraulic motor. The simulation
results showed that the amplitude of vibration increased with the increase of output torque of the water
hydraulic motor and the frequencies are almost similar.

Acknowledgments

The authors wish to thank the School of Mechanical and Production Engineering at Nanyang Techno-
logical University for providing the funding and technical support for this research.

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