The hydraulic motor model described here has two bondgraphic inputs: the two load flows, qL1 and qL2. It has a signal output: the angular velocity, omegam, of the motor. The bondgraphic interface is designed such that the hydraulic motor can be directly connected to the servo valve without either a set of bonds or a set of junctions in between.
The two chambers of the hydraulic motor are at the pressures p1 and p2, respectively.
The model also contains an internal leakage flow, qi, and two external leakage flows, qe1 and qe2. The leakage flows are assumed to be laminar flows.
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