Abstract
This article reflects a study of the operation of a hydraulic drive with nonlinear characteristics of an axial piston hydraulic motor, which operates at the lower limit of the speeds of the executive bodies. A nonlinear frictional moment arises in the end valve of the hydraulic motor connected to the actuator and leads to movement with stops. The mathematical models of the dynamics of the hydraulic drive, proposed in this study, are linearized by the method of harmonic linearization and allow engineering calculations of the parameters of the modes of non-stop motion. Evaluation of the dynamic properties of the hydraulic drive, corresponding to the onset of an unstable mode, makes it possible to determine the minimum value of the constant component of the speed of the executive body.
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