Hydraulic motor with radial pistons and control by cylinder

A hydraulic motor having radial pistons, and including:

• a cylinder block, in which each cylinder has a chamber in which a piston is mounted to slide;
• a cam, on which each of the pistons can exert pressure in order to generate torque, the cam having at least two lobes, each lobe having a rising ramp and a falling ramp, the cylinder block being mounted to rotate relative to the cam;
• at least two main ducts, via which the motor can receive or send fluid;
• a fluid distributor for distributing the fluid from said main ducts to the cylinders, which distributor includes, for each cylinder, a distribution valve suitable for connecting the chamber of the cylinder to one or the other of said main ducts, so as to enable fluid to enter into or to exit from said chamber;
• and
• a control system including an angular position sensor for sensing the angular position of the cam relative to the cylinder block, for controlling the distribution valves wherein:
• a) the motor includes at least two elementary motors;
• b) the control system is suitable for operating the distribution valves in such a manner that the motor has a plurality of states, in which states, in each elementary motor, each of the cylinders is put into communication on the rising ramps with a first main duct and on the falling ramps with a second main duct that is distinct or not distinct from the first main duct, any changes to these communications taking place when the cylinder passes substantially facing a top or bottom dead center, on the basis of the information delivered by the angular position sensor;
• and
• c) a first elementary motor is driving when the motor is in a first one of said states, and is inactive or opposing when said motor is in a second one of said states, the control system operating the remainder of the hydraulic motor in the same way in said first and second states.