Industrial system with synthetically commutated variable displacement fluid working machine

An industrial system comprising:

• a hydraulic fluid working machine, a controller for controlling the at least one fluid working machine, at least one fluid consumer and a hydraulic circuit,
• the fluid working machine comprising a plurality of working chambers of cyclically varying volume, a rotatable shaft which rotates in phase with the cyclically varying volume of the plurality of working chambers, each said working chamber operable to displace a volume of working fluid which is selectable by the controller on each cycle of working chamber volume,
• wherein the hydraulic circuit comprises at least first and second fluid retaining bodies,
• wherein the fluid circuit directs hydraulic fluid outputted from the fluid working machine to at least one said fluid consumer via the first or second fluid retaining body, and further directs hydraulic fluid from at least one said fluid consumer to the machine via the first or the second fluid retaining body, characterised in that
• the machine is operable in a pumping mode to supply energy in the form of pressurised fluid flow to at least one said fluid consumer via one of the fluid retaining bodies in order that at least one said fluid consumer may perform work, and the machine is also operable in a regeneration mode operating as a motor such that it receives energy by way of pressurised fluid flow from at least one said fluid consumer via one of the fluid retaining bodies and converts it to fluid working machine shaft torque, and wherein the machine has at least two fluid outputs, whereby the piston cylinder assemblies which provide the drive mechanism of the machine can be dynamically allocated to the fluid outputs such that the fraction of assemblies allocated to each output is variable during machine operation.