Hydraulic machine and method of controlling the same

A hydraulic machine comprising:

• a hydraulic motor;
• a high pressure line connected to the hydraulic motor to allow working fluid to flow into the hydraulic motor;
• a low pressure line connected to the hydraulic motor to allow working fluid to flow out of the hydraulic motor;
• a high pressure line valve configured to open and close the high pressure line;
• a low pressure line valve configured to open and close the low pressure line;
• an operator input device configured to input a command to control movement of the hydraulic motor;
• and
• a control unit configured to receive the command from the operator input device and control the high pressure line valve and the low pressure line valve to be opened and closed in response to the command,
• wherein the control unit:
• controls the high pressure line valve to have a degree of opening corresponding to a normalized flow factor KvHP;
• controls the low pressure line valve to have a degree of opening corresponding to a normalized flow factor KvLP;
• and
• in response to each of a rotation of the hydraulic motor being initiated and a deceleration of the hydraulic motor being initiated, prevents a pressure shock in the hydraulic motor by controlling the line valves to exhibit KvLP<KvHP when a normalized flow factor Kvcmd corresponding to the command is 0<Kvcmd<1.