Field oriented control in fluid converters using valving arrangement

Abstract

A method and system for controlling a valving arrangement in a fluid converter are provided. The valving arrangement includes electronically controlled valves that regulate fluid flow to and from fluid chambers within the converter. The system monitors predefined parameters, including working fluid parameters and shaft rotational parameters, to dynamically adjust valve timing and control fluid flow. This enables precise control over the fluid converter's operation, allowing it to respond effectively to changing demands and operating conditions. The invention also encompasses the valving arrangement itself and a fluid power system incorporating multiple fluid converters and a shared valving arrangement.

Description

[0001] FIELD ORIENTED CONTROL IN FLUID CONVERTERS USING VALVING ARRANGEMENT

[0002] FIELD OF INVENTION

[0003] The presently disclosed subject matter relates to the technological field of fluid power systems and, more particularly, to methods and systems for controlling fluid converters such as hydraulic pumps and motors.

[0004] • BACKGROUND ART US 4,945,816

[0005] • EP 2,386,026

[0006] • EP 4,317,684

[0007] • US 11,649,727

[0008] BACKGROUND

[0009] Modem fluid power systems are lacking precise control, efficient operation, and adaptable performance across various applications. While electrical motors have achieved sophisticated control through Field Oriented Control (FOC), fluid power systems have traditionally lacked comparable precision and flexibility in their operation. The main advantage of many types of electrical motors is its Field Oriented Control (FOC) feature, also known as variable-frequency drive (VFD). This kind of control method also applies on servo electrical motors and it is based upon timing, which allows almost any type of electrical motor to generate full torque at zero speed, and have high dynamic range of performance including fast acceleration and deceleration while the electrical motor rotates at constant and / or variable speeds.

[0010] This control capability in electrical systems has enabled precise management of torque, speed, and position. However, electrical motors face fundamental limitations in power density and torque maintenance, particularly in applications requiring high force or extended operation periods.

[0011] Moreover, it is possible to control almost any type of electrical motor and its angular position, velocity and acceleration using the right power electronics device that may modify the waveform of the electrical power drives of the motor. This electrical control method may suit any type of electrical motor such as self-commutated (mechanical or electrical) and / or externally commutated (asynchronous or synchronous) and / or using direct or alternating current (DC or AC) as a power input. Hence, different types of electrical motors may result in a better speed resolution and speed response to an external load. Other may have a better torque dynamic range over Revolution Per Minute (RPM). Similar, electrical generator may be connected to the right power electronics device and method, when required to convert the kinetics energy of the rotating mechanical shaft of the motor into an electrical power and / or energy.

[0012] However, electrical motors suffer from such important parameters as power density and limited time of torque maintenance, as well as a need for working with high RPM. Also, electric motors suffer from very limited time of maintaining the angular acceleration.

[0013] GENERAL DESCRIPTION

[0014] The present disclosure provides an approach to fluid power control through continuous monitoring of predefined parameters, particularly working fluid instantaneous parameters and shaft rotational instantaneous parameters. This monitoring enables precise control comparable to electrical FOC systems while taking advantage of fluid power's higher power density. The working fluid instantaneous parameters include pressure, flow rate, and temperature of the working fluid in real time, while shaft rotational instantaneous parameters include angular position, velocity, acceleration, and vibration characteristics of the rotating shaft. This comprehensive parameter monitoring enables selection between control strategies that were previously impossible in fluid power systems.

[0015] This disclosure relates to a method and system for controlling a valving arrangement that regulates fluid flow to and from a fluid converter, such as a hydraulic pump or motor. The presently disclosed subject matter also encompasses the valving arrangement itself and a fluid power system incorporating multiple fluid converters and a shared valving arrangement.

[0016] The described technology aims to improve the efficiency, performance, and controllability of fluid converters by dynamically adjusting valve timing based on realtime monitoring of various parameters. This includes parameters related to the working fluid, such as pressure and temperature, and parameters related to the rotation of the fluid converter's shaft, such as angular position, velocity, and acceleration.

[0017] By actively managing fluid flow based on these monitored parameters, the presently disclosed subject matter enables precise control over the fluid converter's operation, allowing it to respond effectively to changing demands and operating conditions. This adaptability can lead to benefits such as improved energy efficiency, reduced wear and tear, and enhanced overall system performance.

[0018] According to an aspect of the presently disclosed subject matter, there is provided a method for controlling a valving arrangement connected to a fluid converter and a power train. The method involves monitoring parameters related to the working fluid and the rotation of the fluid converter's shaft. Based on these monitored parameters, the electronically controlled valves in the valving arrangement are adjusted to regulate fluid flow into and out of the fluid converter's chambers, thereby achieving desired operational characteristics.

[0019] The presently disclosed subject matter further details methods for defining timing windows for valve control, dynamically adjusting these windows, and controlling interconnection valves between fluid chambers. It also describes methods for determining desired instantaneous values for the monitored parameters, performing real-time calibration of valve timing, and synchronizing a controller's internal clock with the fluid converter's shaft rotation.

[0020] Additionally, the application covers methods for controlling fluid flow from multiple pressurized sources, utilizing monitored parameters for various control purposes, and defining valve state matrices to achieve specific operational requirements.

[0021] The presently disclosed subject matter also includes a fluid control system comprising the fluid converter, the valving arrangement, sensors for monitoring predefined parameters, and a controller for controlling the valves based on the described methods.

[0022] Furthermore, the application details a valving arrangement for a fluid converter, including a housing with electronically controlled valves, internal fluid passages, and various configurations of inlet and outlet ports. Finally, the presently disclosed subject matter encompasses a fluid converter comprising a housing, a rotatable shaft, fluid chambers, and the described valving arrangement. It also includes a fluid power system with multiple fluid converters sharing a valving arrangement and a control system for coordinating their operation.

[0023] Overall, and as will be explained in detail hereinafter, the control system of the presently disclosed subject matter implements a hierarchical approach to fluid power control. At the primary control layer, the system continuously monitors basic operational parameters including pressure levels, shaft position, and velocity. This layer implements fundamental valve timing and handles real-time responses to changing conditions. The primary layer ensures stable basic operation of the fluid converter.

[0024] Building upon the primary layer, a secondary control layer optimizes system performance through sophisticated energy distribution algorithms. This layer coordinates the operation of multiple chambers to achieve desired power conversion characteristics while maintaining optimal efficiency. The secondary layer continuously adjusts operational parameters based on feedback from the primary layer.

[0025] At the highest level, a supervisory control layer implements advanced control strategies. This layer handles fault detection, manages transitions between operational modes, and ensures overall system stability. The supervisory layer can modify control strategies based on changing operational requirements or detected system conditions.

[0026] The control system implements timing windows that define specific angular segments of shaft rotation during which particular valve configurations are applied. Each timing window associates a set of valve states with a specific flow pattern optimized for the current operational requirements. The system dynamically adjusts these windows based on monitored shaft speed, load conditions, pressure requirements, and efficiency targets.

[0027] The timing windows are synchronized with shaft position in real-time, enabling precise coordination of valve actuation. The system manages transitions between windows to ensure smooth changes in flow patterns and pressure distributions. This approach enables sophisticated control over fluid power conversion while maintaining stable operation across varying conditions. The fluid-mechanical energy conversion process occurs through well-defined physical relationships. The pressure (P) acting on the piston area (A) generates a force F = P*A, which varies with shaft angle according to F(9) = PxAxcos(9). This force, acting at an effective moment arm r, produces a torque T = Fxr that drives or is driven by the rotatable shaft.

[0028] The volume of each chamber varies with shaft position according to V(0) = VO + (Axrx(l-cos(9))), where VO is the minimum chamber volume. The resulting flow rate follows the relationship Q = dV / dt = Axrxcoxsin(9). Each valve exhibits a characteristic pressure-flow relationship approximated by P(Q) = kxQ2, where k is a valve- specific constant.

[0029] The control system can implement precise valve timing through a synchronization mechanism that coordinates valve operations with shaft rotation. A timing reference derived from the monitored shaft position enables accurate valve actuation at specific angular positions. This synchronization accounts for both steady-state rotation and dynamic changes in shaft speed.

[0030] The timing control system divides each shaft revolution into discrete angular segments, with each segment associated with specific valve states. These angular segments are defined based on the mechanical configuration of the fluid converter and the desired fluid flow patterns. The system can dynamically adjust segment boundaries to optimize performance under varying operating conditions.

[0031] For each angular segment, the controller determines optimal valve timing by considering multiple factors including:

[0032] • Instantaneous chamber volumes and their rates of change

[0033] • Current and target pressure levels

[0034] • Required flow rates between chambers

[0035] • System efficiency targets

[0036] • Load conditions from the external machinery

[0037] The controller can implement predictive timing adjustments based on monitored acceleration and load variations. These adjustments compensate for mechanical delays in valve actuation and ensure precise fluid control even during rapid changes in operating conditions.

[0038] The fluid converter implements coordinated chamber operation through sophisticated flow management between adjacent chambers. Internal fluid passages enable controlled fluid transfer between chambers, with electronically controlled interconnection valves regulating this flow. This inter-chamber flow control enables advanced operating modes including:

[0039] Sequential pressure building, where fluid is progressively pressurized through multiple chambers to achieve efficient high-pressure operation. The controller manages the timing of fluid transfer between chambers to optimize energy conversion while maintaining stable operation.

[0040] Parallel flow distribution, where multiple chambers operate simultaneously to handle high flow rates. The system balances flow distribution among chambers to maintain uniform loading and optimal efficiency.

[0041] Mixed-mode operation, where different chambers simultaneously perform different functions such as pressurization, fluid transfer, and energy recovery. This operational flexibility enables the system to adapt to varying load requirements while maintaining efficient operation.

[0042] The controller monitors pressure distribution across all chambers and implements coordinated valve timing to maintain desired pressure profiles. This coordination includes:

[0043] • Balancing pressure levels between chambers

[0044] • Managing pressure ripple through controlled fluid transfer

[0045] • Optimizing pressure distribution for current operating mode

[0046] • Coordinating pressure transitions during mode changes

[0047] The control system implements real-time parameter derivation and adaptation through a multi-layer monitoring approach. At the fundamental level, physical sensors directly measure critical parameters including pressure, temperature, and shaft position. Building upon these direct measurements, the system derives additional operational parameters through computational methods, enabling comprehensive system monitoring without requiring sensors for every variable.

[0048] This parameter derivation utilizes physical models of the fluid-mechanical system to compute unmeasured states. For example, the system can derive chamber- specific flow rates by combining measured pressure differentials with known valve characteristics and chamber volume variations. Similarly, mechanical parameters such as instantaneous torque can be derived from pressure measurements and geometric relationships.

[0049] The adaptation system continuously updates these computational models based on observed system behavior. This adaptation process includes:

[0050] Real-time calibration of valve timing based on observed flow characteristics and pressure responses. The system monitors the actual timing of pressure changes relative to commanded valve operations and adjusts timing parameters to optimize performance.

[0051] Dynamic updating of fluid property models based on temperature and pressure measurements. These updates account for changes in fluid characteristics that affect system performance, such as variations in viscosity and compressibility.

[0052] Continuous refinement of mechanical response models based on observed dynamic behavior. The system tracks relationships between command inputs and mechanical responses, updating control parameters to maintain optimal performance as operating conditions change.

[0053] This adaptive capability enables the system to:

[0054] • Compensate for wear-related changes in component characteristics

[0055] • Adjust for variations in fluid properties

[0056] • Optimize performance across different operating conditions

[0057] • Maintain precise control despite changing system dynamics

[0058] • Identify and adapt to changing load characteristics

[0059] The adaptation system maintains historical performance data to identify long-term trends and anticipate required adjustments. This predictive capability enables proactive optimization of control parameters based on learned system behavior patterns.

[0060] EMBODIMENTS

[0061] Embodiment 1. A method of operating a valving arrangement being fluidly coupled to both: a fluid converter comprising a plurality of fluid chambers with variable swept volumes and a rotatable shaft being coupled to external rotary machinery; and a power train comprising at least one working fluid line; the valving arrangement comprising a plurality of electronically controlled valves, each valve being fluidly coupled to at least one respective fluid chamber and to at least one fluid line to selectively permit working fluid from that at least one fluid line to flow into or out from that at least one respective fluid chamber, the method comprising: - monitoring predefined parameters comprising at least one of: working fluid instantaneous parameters; and shaft rotational instantaneous parameters; and - controlling the plurality of electronically controlled valves based on the monitored predefined parameters to selectively permit working fluid into or out from the respective fluid chamber to bring at least one of: the monitored shaft rotational parameters; and the monitored working fluid parameters; to a desired instantaneous value. Embodiment 2. The method according to embodiment 1, comprising: - defining a timing window corresponding to an angular segment of rotation of the rotatable shaft; and - controlling a subset of the electronically controlled valves designated as outlet valves based on the timing window. Embodiment 3. The method according to embodiment 2, comprising dynamically adjusting the timing window based on the monitored parameters of the fluid converter. Embodiment 4. The method according to embodiment 2 or 3, wherein the valving arrangement further comprises interconnection valves fluidly coupled between adjacent fluid chambers, the method comprising: - controlling said interconnection valves to enable fluid transfer between said adjacent fluid chambers based on at least one of: the monitored working fluid instantaneous parameters; and the monitored shaft rotational instantaneous parameters. Embodiment 5. The method according to any one of embodiments 1 to 4, comprising: - determining the desired instantaneous value based on fluid dynamics parameters of the fluid chambers, said fluid dynamics parameters being derived from the monitored working fluid instantaneous parameters. Embodiment 6. The method according to any one of embodiments 1 to 5, comprising: - monitoring operation parameters of the valving arrangement; and - performing real-time calibration of valve timing based on said monitored operation parameters in relation to the monitored predefined parameters. Embodiment 7. The method according to any one of embodiments 1 to 6, comprising: - defining multiple timing windows, each corresponding to a different group of fluid chambers; and - independently shifting each timing window relative to an angular position of the rotatable shaft to control fluid mixing between the fluid chambers. Embodiment 8. The method according to any one of embodiments 1 to 7, comprising: - generating angular position data from the monitored shaft rotational instantaneous parameters; and - synchronizing a controller internal clock with said angular position data. Embodiment 9. The method according to any one of embodiments 1 to 10, wherein the power train comprises a plurality of working fluid lines and the method further comprises controlling fluid flow from multiple pressurized fluid sources to different chambers to achieve predetermined fluid mixing ratios. Embodiment 10. The method according to any one of embodiments 1 to 9, wherein the shaft rotational parameters include at least two of: angular position, angular velocity, and angular acceleration. Embodiment 11. The method according to any one of embodiments 1 to 10, comprising: - monitoring both working fluid instantaneous parameters and shaft rotational instantaneous parameters; - determining relationships between the parameters of the shaft and of the working fluid; and - adjusting valve timing based on the determined relationships. Embodiment 12. The method according to any one of embodiments 1 to 10, wherein the shaft rotational instantaneous parameters include vibration characteristics of the rotatable shaft during rotation, and wherein said method comprises monitoring the shaft rotational instantaneous parameters and analyzing relationships between said vibration characteristics and said shaft rotational instantaneous parameters; and - controlling said electronically controlled valves based on the analyzed relationships. Embodiment 13. The method according to embodiment 10 or 11, comprising: - receiving operational requirements from the external rotary machinery; - determining relationships between said operational requirements and the monitored predefined parameters; and - controlling the electronically controlled valves to achieve said operational requirements. Embodiment 14. The method according to any one of embodiments 1 to 13, comprising: - monitoring multiple operational parameters simultaneously comprising at least three of: fluid pressure within individual fluid chambers; fluid temperature within individual fluid chambers; fluid flow rates between fluid chambers; shaft vibration characteristics; power train pressure levels; and mechanical load characteristics; - generating composite monitoring data from said multiple operational parameters; and - adjusting timing of the electronically controlled valves based on said composite monitoring data. Embodiment 15. The method according to any one of embodiments 1 to 14, comprising: - utilizing the monitored shaft rotational instantaneous parameters for multiple control purposes comprising: determining instantaneous angular position; profiling torque requirements; analyzing vibration patterns; synchronizing multiple fluid converters; and optimizing power distribution between fluid chambers; - dynamically control the electronically controlled valves based on at least three of said control purposes simultaneously. Embodiment 16. The method according to any one of embodiments 1 to 15, wherein controlling the plurality of electronically controlled valves comprises: - defining a valve state matrix corresponding to available configurations of said valves; - defining an operational requirement matrix based on at least one of: the monitored shaft rotational instantaneous parameters; required fluid flow patterns between the fluid chambers; and required pressure distributions in the fluid chambers; - computing a desired valve configuration by matching the valve state matrix to the operational requirement matrix; and - implementing said desired valve configuration across multiple electronically controlled valves simultaneously. Embodiment 17. The method according to embodiment 16, comprising: - maintaining multiple predefined valve matrix configurations; - dynamically switching between said configurations based on at least one of: the monitored predefined parameters; required fluid mixing between the fluid chambers; and - implementing transitional matrices between configurations to ensure smooth operation changes. Embodiment 18. The method according to embodiment 16 or 17, wherein implementing the desired valve configuration comprises: - assigning groups of electronically controlled valves to respective timing windows; - synchronizing matrix transitions with said timing windows; and - implementing different valve configurations within each timing window based on the operational requirement matrix. Embodiment 19. The method according to any one of embodiments 16 to 18, comprising: - generating a fluid distribution matrix representing current values of the monitored working fluid instantaneous parameters in each fluid chamber; - comparing said fluid distribution matrix with target parameter values; and - adjusting the valve state matrix based on identified differences from said comparison. Embodiment 20. The method according to any one of embodiments 16 to 19, wherein: - the valve state matrix defines interconnections between adjacent fluid chambers through respective electronically controlled valves; - the operational requirement matrix includes required fluid transfer sequences between said adjacent fluid chambers; and - implementing the desired valve configuration includes enabling sequential fluid transfer based on the monitored shaft rotational instantaneous parameters. Embodiment 21. The method according to any one of embodiments 16 to 20, comprising: - defining multiple simultaneous valve state matrices, each corresponding to a different operational objective comprising: torque control; fluid mixing; and pressure regulation; and - weighting and combining said matrices based on current operational priorities derived from the monitored predefined parameters. Embodiment 22. The method according to any one of embodiments 16 to 21, wherein the valve state matrix enables: - establishing simultaneous fluid paths between multiple fluid chambers; - distributing working fluid from the working fluid line among selected fluid chambers according to predetermined ratios; and

[0062] - maintaining different pressure levels in different groups of fluid chambers simultaneously. Embodiment 23. The method according to any one of embodiments 16 to 22, comprising: - storing historical valve state matrices with their corresponding operational conditions; - identifying matching historical conditions based on current monitored predefined parameters; - adapting said historical valve state matrices to current operational requirements; and - implementing the adapted matrices to achieve similar operational results.. Embodiment 24. The method according to any one of embodiments 16 to 23, comprising: - defining failure mode matrices for predetermined fault conditions;

[0063] - monitoring implementation of the valve state matrix; - automatically switching to an appropriate failure mode matrix upon detecting deviation from desired operational parameters. Embodiment 25. The method according to any one of embodiments 16 to 24, wherein defining the valve state matrix comprises: - dividing rotation of the rotatable shaft into multiple angular segments based on the monitored shaft rotational instantaneous parameters; - assigning different matrix configurations to said angular segments; and - dynamically shifting said angular segments based on: monitored shaft speed; monitored load conditions from the external rotary machinery; and monitored fluid pressure in the fluid chambers. Embodiment 26. A fluid control system comprising: - a fluid converter comprising: a plurality of fluid chambers with variable swept volumes; a rotatable shaft configured for coupling to external rotary machinery; - a power train comprising at least one working fluid line; - a valving arrangement fluidly coupling the fluid converter to the power train, comprising: a plurality of electronically controlled valves; each valve being fluidly coupled to at least one respective fluid chamber and at least one fluid line for selective bidirectional fluid flow; - at least one sensor configured to monitor predefined parameters comprising at least one of: working fluid instantaneous parameters; and shaft rotational instantaneous parameters; and - a controller configured to: receive said monitored predefined parameters; control said valves based on the method according to any one of embodiments 1 to 25. Embodiment 27. A valving arrangement for a fluid converter having a plurality of fluid chambers with variable swept volumes, the valving arrangement comprising: - a housing having electronically controlled outlet valves mounted therein; - said housing being fluidly connectable between: a power train comprising at least one working fluid line; and said fluid chambers; - each outlet valve being fluidly connectable to a respective fluid chamber to selectively permit working fluid flow thereinto; - said housing comprising at least one internal fluid passage arranged to permit fluid flow between adjacent fluid chambers through respective adjacent valves. Embodiment 28. The valving arrangement according to embodiment 27, wherein the housing comprises at least one inlet port configured for fluid connection to the working fluid line. Embodiment 29. The valving arrangement according to embodiment 28, wherein: - the housing comprises a plurality of outlet ports; and - each electronically controlled outlet valve is mounted in a respective one of said outlet ports. Embodiment 30. The valving arrangement according to embodiment 28 or 29, comprising an electronically controlled inlet valve mounted in said inlet port for controlling working fluid flow therethrough. Embodiment 31. The valving arrangement according to any one of embodiments 27 to 30, wherein the housing comprises a mixing chamber arranged between: - the at least one inlet port; and - the plurality of outlet ports; for mixing working fluid flows between said ports. Embodiment 32. The valving arrangement according to any one of embodiments 27 to 31, wherein: - the housing comprises multiple inlet ports; - each inlet port is fluidly connectable to a different working fluid line of the power train; and - the power train comprises at least three working fluid lines operating at different pressure levels. Embodiment 33. The valving arrangement according to any one of embodiments 27 to 32, wherein each fluid chamber is associated with a valve arrangement comprising: - an electronically controlled outlet valve; - an electronically controlled inlet valve; and - at least one electronically controlled interconnection valve; wherein each of said valves is independently controllable to regulate fluid flow into, out of, and between the fluid chambers. Embodiment 34. The valving arrangement according to embodiment 27, wherein: - each internal fluid passage connects a pair of adjacent fluid chambers; and - at least one electronically controlled interconnection valve is mounted along each internal fluid passage to selectively control fluid flow between the connected chambers. Embodiment 35. The valving arrangement according to any one of embodiments 27 to 34, comprising: - a controller configured to: monitor the shaft rotational instantaneous parameters of the rotatable shaft; and control at least the electronically controlled outlet valves based on said monitored parameters. Embodiment 36. The valving arrangement according to embodiment 35, comprising a sensor configured to be mounted on the rotatable shaft to monitor at least part of said shaft rotational instantaneous parameters. Embodiment 37. The valving arrangement according to any one of embodiments 30, 35 or 36, comprising an electronically controlled inlet valve, wherein the controller is configured to control said inlet valve based on: - the monitored shaft rotational instantaneous parameters; and - the monitored working fluid instantaneous parameters. Embodiment 38. The valving arrangement according to any one of embodiments 35 to

[0064] 37, wherein: - the valving arrangement comprises electronically controlled interconnection valves mounted between adjacent fluid chambers; and - the controller is configured to control said interconnection valves to enable bidirectional fluid transfer between said adjacent chambers based on the monitored predefined parameters. Embodiment 39. The valving arrangement according to any one of embodiments 35 to

[0065] 38, wherein the controller is configured to: - define a timing window corresponding to a predetermined angular segment of rotation based on the monitored shaft rotational instantaneous parameters; and - control the electronically controlled valves according to said timing window. Embodiment 40. The valving arrangement according to embodiment

[0066] 39, wherein the controller is configured to: - monitor operational conditions of the fluid converter through said predefined parameters; and - dynamically adjust the timing window based on said monitored operational conditions. Embodiment 41. The valving arrangement according to embodiment 39 or 40, wherein the controller is configured to: - define multiple timing windows, each for a different group of fluid chambers; and - independently shift each timing window based on the monitored predefined parameters to control fluid mixing between chambers. Embodiment 42. The valving arrangement according to any one of embodiments 35 to 41, wherein the controller is configured to selectively operate the valving arrangement in: - a motor mode wherein controlled working fluid flow drives rotation of the rotatable shaft; and - a pump mode wherein monitored shaft rotation drives working fluid flow. Embodiment 43. The valving arrangement according to any one of embodiments 35 to 42, wherein the controller is configured to: - monitor working fluid instantaneous parameters in multiple working fluid lines; and - selectively control fluid flow between the fluid chambers and said working fluid lines to manage energy storage and release. Embodiment 44. The valving arrangement according to any one of embodiments 35 to 43, wherein the controller is configured to: - monitor vibration characteristics as part of the shaft rotational instantaneous parameters; and - adjust valve timing based on said monitored vibration characteristics. Embodiment 45. The valving arrangement according to any one of embodiments 35 to 44, wherein the controller is configured to: - monitor operational conditions through the predefined parameters; and - perform real-time calibration of valve timing based on changes in said monitored conditions. Embodiment 46. The valving arrangement according to any one of embodiments 35 to 45, wherein the controller is configured to synchronize an internal clock with the monitored shaft rotational instantaneous parameters. Embodiment 47. The valving arrangement according to any one of embodiments 35 to 46, wherein the controller is configured to: - operate the electronically controlled valves using pulse-width modulation; and - regulate working fluid flow based on the monitored predefined parameters. Embodiment 48. The valving arrangement according to any one of embodiments 35 to 47, wherein the controller is configured to: - detect rotation direction (CW, CCW) from the monitored shaft rotational instantaneous parameters; and - apply different valve timing schemes based on the detected rotation direction. Embodiment 49. The valving arrangement according to any one of embodiments 35 to 48, wherein the controller is configured to: - monitor operational requirements of the external rotary machinery through the monitored shaft rotational instantaneous parameters; and - adjust valve timing to meet said operational requirements. Embodiment 50. The valving arrangement according to any one of embodiments 27 to 49, wherein the electronically controlled valves are configured to: - selectively activate different portions of piston working surfaces within each fluid chamber; and - thereby dynamically change effective piston areas during operation to control at least one of: angular forces acting on the rotatable shaft; and pressure distribution of the working fluid within the fluid chambers. Embodiment 51. The valving arrangement according to any one of embodiments 27 to 50, wherein the controller is configured to: - control fluid dwell time within the fluid chambers independently of valve states; and - vary interaction time between working fluid and piston surfaces while maintaining constant valve configurations. Embodiment 52. A fluid converter comprising: - a housing; - a rotatable shaft mounted within the housing; - a plurality of fluid chambers arranged around the rotatable shaft, each chamber having a variable swept volume determined based on rotation of the shaft; and - a valving arrangement according to any one of embodiments 27 to 51. Embodiment 53. The fluid converter according to embodiment 52, comprising: - a swash plate mounted on the rotatable shaft; and - a plurality of pistons coupled to the swash plate and arranged to vary the swept volumes of the fluid chambers based on shaft rotation. Embodiment 54. The fluid converter according to embodiment 52 or 53, wherein the housing comprises a reference azimuth map marked thereon for mechanical and operational alignment. Embodiment 55. The fluid converter according to any one of embodiments 52 to 54, comprising a coupling adaptor configured to: - connect the rotatable shaft to the external rotary machinery; and - maintain alignment between the housing and said machinery in three dimensions. Embodiment 56. The fluid converter according to any one of embodiments 52 to 55, wherein different fluid chambers have different piston areas for variable fluid.

[0067] BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to better understand the subject matter that is disclosed herein and to exemplify how it may be carried out in practice, embodiments will now be described, by way of non-limiting examples only, with reference to the accompanying drawings, in which: FIG.1 - A side view of a mechanical apparatus that may acts as a fluid convertor (FC) 100, connected to the robotics application 145, managed by a Fluid Oriented Controller (FOC) 300 or variable-frequency drive (VFD), Tensor Valving 400 and cloud of information and platform real-time data 600. FIG.1 also shows the Tensor Moment and Energy 200 linked to the mechanical and moving parts of the system 100 which computed and updated in finite element method (FEM) manners 500 within the 300. FIG.l also outlines the connection between the fluid convertor (FC) 100 mechanical cross section with the power-train 450 and the map connection of the number of tensor valving device 400 and / or a typical fluid power-train 450. The FIG outlines the power-train 450 connected to number of Fluid Accumulator (FA) 490491, 492, 493, with a fluid convertor 100 and additional pipes / lines 402, and fluid connectors 401, and 499 which is end line, sensor, and other power-train 450 elements and accessories 499.

[0069] FIG.2A - a top view of a mechanical apparatus 100 that may acts as a fluid convertor (FC) 100 with similar 180a, 180b, 180c ... area of pistons 180 and dissimilar areas 185, 186, 187 of the piston 180.

[0070] FIG.2B - A side view of a vane pump / motor mechanism that may acts as a fluid convertor (FC) 100, showing a vane configuration which changes the piston 180 area and swept volume 171 with relation to the shaft 110 angular position 210 on the angular map 250. The inlets and / or outlets ports of Tensor Valving 400 of the convertor 100, are at a fixed position on the chamber 170.

[0071] FIG.2C - shows different types of mechanical rotational shafts 100 and their linear geometrical relationship with the piston 180 motion and the creations of fluid chamber 170 and swept volume 171. Some of the chambers 170 are connected with the tensor valving device 400. The Top Dead Center (TDC) and bottom Dead Center (BDC) are also marked, part of the 180 linear motion within cylinder 170.

[0072] FIG 3 A - A graph shows on the angular map 250 vs the angular position 210 of the shaft 110. The FIG also shows the total mass of the working fluid in each swept volume 171. The FIG represents an example of multi stage pump and / or variable torque 240 configuration using number of chambers 170 at different tensor valving configuration 400. FIG.3B - A graph performances of an angular window 355 follows a swept volume 172 of a single chamber 170 and piston 180 operation within a multi stage fluid convertor (FC) 100 apparatus. The example in this figure demonstrates a convertor 100 that gets rotational power from shaft 110, and compresses at a multi stages configuration compressible gas 356, while the shaft rotates CW direction 240.

[0073] FIG. 4 shows a schematic diagram of the fluid converter integrated into a powertrain system. The diagram illustrates how the fluid converter interacts with various fluid power applications and industrial processes, such as mixing, separation, and heat transfer.

[0074] FIG. 5 shows a schematic diagram of the fluid converter coupled to an internal combustion engine (ICE). The diagram illustrates how the fluid converter's controller and valving arrangement adapt to the ICE's operating cycles and torque profile.

[0075] DETAILED DESCRIPTION OF EMBODIMENTS

[0076] The presently disclosed subject matter relates to methods and systems for controlling fluid converters, such as hydraulic pumps and motors, through advanced valving arrangements. These arrangements utilize electronically controlled valves to precisely regulate fluid flow into and out of the fluid converter's chambers, thereby optimizing performance and efficiency. By monitoring various parameters related to both the working fluid and the rotational characteristics of the fluid converter's shaft, the disclosed systems can dynamically adjust valve timing to achieve desired operational outcomes. This adaptability allows the fluid converter to respond effectively to changing demands and operating conditions, leading to improvements in energy efficiency, reduced wear and tear, and enhanced overall system performance.

[0077] The fluid converter 100 is configured to be coupled to external rotary machinery, which refers to any device or system that operates through rotational motion. This includes, but is not limited to, robotic applications 145, power-plant engines, and various external mechanical appliances. Specifically, the external rotary machinery may be a power-generating device such as an engine that converts potential energy, gravitational field, chemical energy, electrical energy, heat energy, nuclear fusion and / or mechanical energy into rotational power output. Alternatively, the external rotary machinery may be a power-consuming device such as a robot arm, a wheel, a flywheel, continuous track, tracked vehicle, aerial vehicle disc-loading mechanism, power tool, or other mechanical system requiring controlled rotational power input. When connected to the fluid converter 100, such external rotary machinery may act as either a power source driving the fluid converter in pump mode, or as a load being driven by the fluid converter in motor mode, with the fluid converter dynamically adapting its operation based on the monitored parameters of both the working fluid and the rotatable shaft.

[0078] Also, the present disclosure provides a novel a fluid convertor (FC) is configured and operable as a fluid motor and / or pump or hybrid mechanism of motor and pump within a single enclosure that has multi mechanical elements within. The Fluid Convertor (FC) may convert a working fluid into rotational kinetics energy and vice versa. In additional, the Fluid Convertor (FC) may convert a working fluid at one state into a working fluid at a different state using hybrid mechanism of fluid motors and fluid pumps and / or a mechanical gear system and / or planetary arrangement that couples numbers of fluids pump with number of fluids motors and with variates of gear mechanisms. The coupling may take place in pumping or pushing in multi-stage manner and / or in parallel way and / or in serial arrangement.

[0079] As will be described below in more details with reference to the figures, the fluid convertor 100 of the present disclosure is a mechanical apparatus that has a rotating shaft 110 and at any instant angular of rotation 210 it can act and operate as a fluid pump or as a fluid motor or both at the same time. This maybe done by Fluid Oriented Controller (FOC) 300 feature / mechanism, such as variable-frequency drive (VFD) 300.

[0080] The control system of the fluid converter centers around a controller 300, which implements different control strategies inspired by electrical motor Field Oriented Control (FOC). This controller, which may be implemented as an embedded computer with appropriate software, manages the valving arrangement to achieve variable- frequency-drive-like (VFD-like) control of fluid power. The controller processes the monitored instantaneous parameters and generates control signals for the electronically controlled valves, enabling precise regulation of fluid flow and power conversion. The fluid convertor (mechanical apparatus 100 having the rotating shaft 110 and at any instant angle of rotation 210 energises the working fluid within or de-energises the working fluid, or energises the shaft’s rotational kinetics energy or absorbs the shaft’s rotational kinetics energy or performs a number of energy transfer tasks or performs partiality of these actions at the same moment in time within a single mechanical enclosure and / or by derived tensor information 200, as will be later discussed in detail, relative to the instance shaft angular position 210 of the fluid convertor (FC) 100.

[0081] It should be appreciated that the presently disclosed fluid power control system utilizes a structured parameter framework to enable precise control over fluid power conversion. This framework systematically organizes and processes mechanical and fluid parameters to achieve optimal system performance.

[0082] The mechanical parameters of the rotatable shaft are organized into a structured parameter set referred to as the shaft tensor 240. This includes the instantaneous angular position 9 of the shaft, its angular velocity co, angular acceleration a, and torsional stress r. Additionally, the shaft tensor incorporates vibrational components that characterize the dynamic behavior of the shaft during operation. These vibrational components provide crucial information about system performance and potential fault conditions.

[0083] Similarly, the fluid parameters are organized into what is referred to as the fluid tensor 280. This parameter set captures the complete state of the working fluid throughout the system, including pressure (P) measurements from each chamber, the volume (V) as it varies with shaft position, and flow rates (Q) through each valve. The fluid tensor also tracks temperature (T) distribution and mass flow rates (rh) to enable comprehensive control over the fluid power conversion process.

[0084] The fluid converter 100 performs sophisticated power conversion between mechanical and fluid power domains. Fluid power conversion encompasses the bidirectional transformation between fluid energy and mechanical energy through the controlled interaction of fluid with the pistons 180 in the chambers 170. During power input, mechanical energy from the rotatable shaft 110 is converted to fluid power through controlled pressurization. During power output, pressurized fluid drives the pistons to generate mechanical power at the shaft. The system manages these conversions through precise control of fluid flow and pressure, optimizing the conversion efficiency based on operational requirements. Most mobile electrical applications use electrical batteries as an energy storage, the electrical batteries connect to Field Oriented Control (FOC) or a variable-frequency drive (VFD) in order to drive and / or regenerate the mobile application kinetic and / or potential energies. During regeneration process the mobile application creates a shaft rotation on the electrical motor / generator, while the variable-frequency drive (VFD) charges the battery by harvesting the electrical energy created across the motor. Hence, mobile applications are sensitive to the Specific Power of the batteries onboard. These days, electrical batteries have a range of Specific Power between lOOW / kg and up to IkW / kg while keeping the 100-300kJ / kg Specific Energy.

[0085] According to the present disclosure, the fluid convertor (FC) 100 may be coupled with Fluid Accumulator (FA) 490 or a number Accumulators 491, 492, 493 and / or with a power-train 450 and / or with any fluid device or fluid-mechanical accessories 499. In some embodiments, a tensor valving electro-mechanism device 400, being a part of the fluid convertor (FC) 100, may manage and navigate the regeneration process and / or the harvesting mission by energy converted across the fluid convertor (FC) 100 using the Fluid Oriented Controller (FOC) 300 and / or variable-frequency drive (VFD) power electronic techniques. In other cases, the mobile application wasted energy and / or unwanted energy may be harvested by the fluid convertor (FC) 100.

[0086] The valving arrangement disclosed herein provides a flexible and responsive interface between the fluid converter and the power train. It can comprise a plurality of electronically controlled valves, each capable of regulating fluid flow to and from individual fluid chambers within the converter. The valves can be selectively actuated to permit bidirectional flow, enabling precise control over the timing and volume of fluid transfer. This arrangement allows for sophisticated control strategies, such as dynamic adjustment of timing windows, management of fluid mixing between chambers, and implementation of complex valve state matrices to achieve specific operational objectives. Moreover, the valving arrangement can be configured to accommodate multiple working fluid lines with varying pressure levels, further enhancing the system's adaptability and controllability.

[0087] The valving arrangement 400 comprises multiple electronically controlled valves organized in a sophisticated configuration that enables precise fluid control. This arrangement includes electronically controlled outlet valves 471-480 for controlling fluid flow from the power train to the fluid chambers, electronically controlled inlet valves for controlling fluid return flow, and electronically controlled interconnection valves enabling fluid transfer between adjacent chambers. Together, these valves form what may be referred to as a tensor valving electro-mechanism device or tensor valving mechanism, where "tensor" refers to the multi-dimensional nature of the valve control system that considers multiple parameters and flow paths simultaneously. The valving arrangement operates as an integrated electro -mechanic al system, with each valve being independently controllable based on monitored parameters to achieve desired fluid flow patterns.

[0088] Additionally, or alternatively, the fluid convertor (FC) 100 may energise the working fluid of a power-train 450 by converting the rotational energy output and / or the power output from a power-plant 145 engine and / or from any generated power device that may have a shaft 140, as shown in FIG.l. In other embodiments, the application 145 is a power-plant 145 that may include as an engine that converts potential energy, gravitation field, chemical energy, electrical energy, heat energy, nuclear fusion and / or mechanical energy, into a power output such as rotational kinetical energy of a shaft 140. Referring now to FIG.l, the application 145 with a shaft 140 may be a power-plant 145 according to a broad aspect of the present invention that may connected with the rotating shaft 110 of the fluid convertor (FC) 100 with or without the coupling mechanism 130.

[0089] Since, mobile applications are sensitive to the Specific Power of the batteries onboard, the Tensor valving electro-mechanism device 400, being part of the fluid convertor (FC) 100, allows the use of Fluid Accumulator (FA) 490 onboard, part of the powertrain 450. These days, Fluid Accumulator (FA) may have a range of Specific Power between lOkW / kg and up to 15kW / kg while just keeping a maximum of lOOkJ / kg Specific Energy.

[0090] Thus, according to the present disclosure, the fluid convertor (FC) 100 may be connected with a Tensor Valving mechanism 400, allowing converting, harvesting, taping and / or charging and storing energy into a Fluid Accumulator (FA) or Number of Fluid Accumulator (FA) 491, 492, 493 and / or fluid mechanical accessories 499 by converting the mobile application 145 output energy and / or the power-plant 145 output shaft 140 kinetical energy into energised working fluid 280 using Fluid Oriented Controller (FOC) 300, part of the fluid convertor (FC) 100. Further, according to the present disclosure, the fluid convertor (FC) 100 converts the fluid energy stored within the Fluid Accumulator (FA) or Number of Fluid Accumulator (FA) 491, 492, 493 and / or a fluid device 499, part of the power-train 450 in order to generate rotating kinetical energy on the shaft 110 of the fluid convertor (FC) 100. Thus, the rotating kinetical energy on the shaft 110 is then transferred mechanically to the robotic application 145 via shaft 140.

[0091] The fluid converter 100 can operate in a multi-stage configuration, where multiple fluid chambers 170 work in coordinated sequence to achieve sophisticated fluid power conversion. In this configuration, working fluid undergoes sequential processing through multiple chambers, with each stage contributing to the overall pressure or flow transformation. The multi-stage operation may involve sequential fluid transfer between adjacent chambers 170, enabling progressive pressure building or controlled pressure reduction. This staged approach allows for more precise control over fluid power conversion and enables optimization of efficiency across different operating conditions.

[0092] Similar, 100 may receive uncompress fluid enters from the power-train 450 into the multi stages convertor 100. Hence, the convertor 100 drives the shaft 110 with picked torque 357, when the shaft 110 rotates 240 CCW.

[0093] A fluid convertor (FC) 100 apparatus is a fluid motor and / or pump or hybrid mechanism of motors and pumps within a single enclosure that has multi mechanical elements and moving parts within, power electronics module 370, electro-mechanical valving device 400 and embedded computing 300, software 500 and communication 600.

[0094] Referring now to FIG.l, a mechanical cross section view of the Convertor (FC) 100 apparatus is shown, where a primary mechanical rotating shaft 110 rotates in Clockwise (CW) and / or Counter Clockwise (CCW) directions. The primary mechanical rotating shaft 110 has well-known instant angular position 210, angular velocity 220 and angular acceleration 230. The measurement of instant angular 210,220, and 230 may be achieved by using encoder sensor 310 attached to the primary mechanical rotating shaft 110. Hence, the output data from this sensor 310 may be derived from the Tensor Moment and Energy 200 and / or from sub-tensor 240, as outlined in FIG.l.

[0095] The fluid converter can implement comprehensive monitoring across multiple operational aspects simultaneously. This includes monitoring of fluid parameters (pressure, temperature, flow rate), mechanical parameters (position, velocity, vibration), and system states (valve positions, operational mode). The controller 300 combines these various monitored parameters into composite monitoring data, enabling sophisticated analysis of system behavior. This comprehensive monitoring extends to implementation success of control commands and overall system health. The breadth of monitoring enables the system to maintain optimal operation while quickly identifying and responding to any operational anomalies.

[0096] In the present example, the fluid converter 100 incorporates comprehensive monitoring capabilities through various sensors 320. An encoder 310 may be mounted on the rotatable shaft 110 to monitor shaft rotational instantaneous parameters. Additional sensors may monitor working fluid instantaneous parameters within the chambers 170, the power train 450, and other system components. These sensors may be implemented as a coordinated sensor bus 320 providing comprehensive monitoring data to the controller 300. The monitoring system enables real-time tracking of all critical operational parameters, forming the basis for sophisticated control strategies. The monitored parameters drive various control decisions including valve timing, flow control, and mode selection.

[0097] The fluid converter's operation is controlled based on continuous monitoring of the instantaneous parameters, which include both working fluid instantaneous parameters and shaft rotational instantaneous parameters. The shaft rotational instantaneous parameters comprise the immediate values of shaft position, velocity, acceleration, and other rotational characteristics at any given moment, previously referred to as instant angular properties. Similarly, working fluid instantaneous parameters include immediate values of fluid pressure, temperature, flow rate, and other fluid properties within the chambers. These instantaneous parameters, formerly described as instant values or instance measurements, provide real-time information about the system's state, enabling precise dynamic control.

[0098] In some embodiments of the present disclosure, the primary shaft 110 drives or gets driven and / or creates rotational breaking, damping and / or free wheeling by the mechanical motion of piston 180, as shown for example and for demonstration preposes in FIG.l. In some embodiments, the primary shaft 110 is coupled with the coupling adaptor 130 and / or fixed directly with a mechanical rotating shaft 140 that represents the external rotational load 145 requirements and / or the power, torque and external kinetics energy of the shaft 140, part of the robotics application 145 and / or part of the power-plant 145 rotational power output. Hence, these requirements of the shaft 140 are represented as sub-tensor 260.

[0099] The fluid converter 100 continuously adapts to the requirements of the external rotary machinery it serves. The system monitors torque requirements and operational requirements through the shaft rotational instantaneous parameters, enabling dynamic response to changing load conditions. These requirements may vary from steady-state torque maintenance to dynamic power delivery or absorption. The controller 300 processes these monitored parameters to adjust valve timing and flow patterns, ensuring the fluid converter meets the instantaneous power and torque demands of the external rotary machinery while maintaining optimal efficiency.

[0100] In some embodiments, the fluid converter 100 is configured to be coupled to an internal combustion engine (ICE) as the external rotary machinery 145, exemplified in FIG 5. The ICE may exhibit a well-known torque profile as a function of its crankshaft's angular position 210 per stroke and / or may have a known torque and power profile over a specific RPM range of the shaft 140. The four- stroke ICE cycle may act as a power plant 145 coupled 130 with the Fluid Converter (FC) 100. The Fluid Oriented Controller (FOC) 300 may arrange, in real-time 350, the tensor valving configuration 400 connected with the powertrain 450 to dynamically adjust the fluid converter's operation to match the ICE's torque characteristics, similar to how it adapts to other types of external rotary machinery. This arrangement involves adjusting the valving arrangement 400 to tap rotational kinetic energy from the ICE shaft 140 and transfer this energy to the powertrain 450 as energized working fluid 280. The controller 300 can adjust the valving configuration 400 throughout the four-stroke ICE cycle to optimize energy transfer and efficiency.

[0101] Building on the concept of timing windows discussed earlier, the controller may employ a timing window method synchronized with the ICE's operation. This timing window 355 can be dynamically adjusted, including changes to its size and position, to correspond to the ICE's varying torque profile at different RPM ranges, as illustrated in FIG 3B. This dynamic adjustment allows the fluid converter 100 to provide virtual rotational counterweight and real-time dynamic balancing to the ICE, compensating for any eccentricities and ensuring smoother operation across varying speeds.

[0102] In other embodiments, the coupling adaptor 130 connects between the fluid convertor (FC) 100 and the external mechanical appliances 145 and / or acts as the application 145 itself and may include or act as a coupler adaptor, friction or sharing surfaces, clutch plates, external shaft, mechanical gear assembly, a wheel, flywheel, continuous track, tracked treads, tracked vehicle, aerial vehicle disc-loading, power tool, robot arm, friction and sharing or discs, rotating electrical elements, magnetic field devices, detraction belts, mechanical vices, engines, motors and / or other external pumping devices of heat, fluids and solids. Hence, these rotational mechanical forces and dynamical properties of the coupler 130 are represented as sub-tensor 245, as shown in FIG.l.

[0103] Additionally, or alternatively, the primary shaft 110 of the fluid convertor (FC) 100 may be connected directly with the shaft 140 of the load application 145 and / or the primary shaft 110 may be an integral part of the external mechanical appliance 145 and / or may be a single solid element of the robotic system 145.

[0104] In other embedded of the current invention, the Fluid Convertor (FC) 100 may have part of its mechanism used as a fluid pump and other part may be used as a fluid motor configuration. Hence, the Fluid Convertor (FC) 100 may achieve a fully fluid motor mode or a fully pumping mode and / or between both modes such as dumping, breaking, freewheeling and / or to act as an absorber when activating the tensor valving device 400 controlled and managed by embedded computer onboard 300.

[0105] The fluid converter 100 can operate in multiple modes, primarily as a motor where fluid flow drives rotation of the rotatable shaft 110, or as a pump where shaft rotation drives fluid flow. Beyond these basic modes, the system can operate in hybrid configurations combining both motor and pump functionalities simultaneously in different chambers 170. The fluid converter can also function in auxiliary modes such as damping, braking, or energy absorption, where fluid flow is controlled to achieve specific mechanical effects. The mode of operation is dynamically selected and controlled based on monitored parameters and operational requirements of the external rotary machinery. In some cases as shown in FIG.l, the Fluid Convertor (FC) 100 is an hydraulic or pneumatics motor / pump or other type of working fluid mechanism and / or combination of all. In other cases the Fluid Convertor (FC) 100 is piston, duplex Pump / motor, triplex Pump / motor, Inline axial piston pump / motor or Bent axis pump / motor or Axial piston pump / motor or Multi-lobe Cam Radial Piston pump / motor.

[0106] Alternatively, in configurations of as illustrated schematically in FIG.l and FIG.2A, an axis pump / motor is represented. The specific arrangement of the fluid chambers 170 within the fluid converter 100 is determined by the chosen configuration, ensuring optimal performance for the intended application. Alternatively, in configurations of as illustrated schematically in FIG.2A, 2B and 2C, Fluid Convertor (FC) 100 may be achieved using different mechanism and moving elements such as found in fluid Gear pump / motor, Vane pump / motor, Screw pump / motor and Pistons (Bent, Radial, Inline) motor / pump, whereas the swept volume 171 or the displacement volume 171 within the swept chamber 170 is changing with relation to the primary shaft 110 rotational motion 240 and / or with relation to the instant angular properties 210, 220 and 230 of the shaft 110.

[0107] According to the present disclosure, the rotation of the primary shaft 110 may change the swept volume 171 of each swept chamber 170 in a linear manner. Thus, the swept chamber 170 may be a cylinder, cavity, housing and / or opening within a solid element. Each fluid chamber 170 of the fluid converter 100 comprises a variable swept volume 171, representing the changeable volume within the chamber that varies with shaft rotation. These fluid chambers 170 may be implemented as cylinders, cavities, or other enclosed spaces within the fluid converter housing 190. The term "swept volume" 171 specifically refers to the volume that is acted upon by the piston 180 or equivalent displacement mechanism during operation. This precisely controlled volume variation within each fluid chamber 170 enables the fluid converter to function in various modes, including pumping, motoring, or hybrid operations, by precisely controlling the amount of fluid displaced during each shaft rotation. During operation, these variable swept volumes 171 enable the fluid chambers 170 to function in various modes including pumping, motoring, or hybrid operations. The volume variation in each fluid chamber 170 is precisely controlled through the mechanical coupling to the rotatable shaft 110, whether through a swash plate 150, cam mechanism, or other mechanical arrangement. Hence, the fluid-dynamics and thermodynamics properties of the working fluid within each chamber 170 and / or within the variable swept volume 171 are represented as sub-tensor 280 as shown in FIG.1. The working fluid flowing through the fluid converter 100 may exist in different states and conditions. When supplied from the power train 450, it enters as pressurized fluid through the inlet ports 421, 422. This working fluid may be either compressible (such as gas) or non-compressible (such as hydraulic fluid), with the fluid converter 100 being adaptable to both types. As the working fluid flows through the fluid chambers 170, it may be further pressurized or depressurized, with its energy state being modified according to operational requirements. The working fluid flow between chambers is precisely controlled by the electronically controlled valves 471-480, enabling sophisticated energy conversion and transfer processes.

[0108] Alternatively, in configurations of as illustrated schematically in FIG.2B, a Vane type Fluid Convertor (FC) 100 mechanism is presented, whereas number of Tensor valving electro-mechanism devices 400 are attached on the 190 casing, each represents a swept volume 171 or displacement volume 171 within the swept chamber 170 as the primary shaft 110 is rotated. According to some embodiments, when the fluid convertor (FC) 100 apparatus may operate as a turbine machinery (Impulse, Reaction, centrifugal, Velocity triangles) pump / motor, the primary shaft 110 angular properties 210,220,230 may provide linear relation to the instant pressure and / or velocity of the working fluid that passes or reacts with the blades, buckets, impeller or exiting the nozzle. Hence, the stators and / or the turbo-machinery mechanical stages may act and / or connected with number of Tensor valving electro-mechanism devices 400 in order to tape and control with the working fluid and its instant pressure and / or velocity across the turbine machinery stages. In other embodiments of the present disclosure, the fluid convertor (FC) 100 apparatus has motor / pump rotational mechanism that has a primary shaft 110 that may operate similar to Axial piston pump with Mating surfaces and / or Protruding pistons and / or Reciprocating motion and / or with pistons Effect of precession changes and / or has Variable displacement mechanism.

[0109] According to the present disclosure as shown in FIG.2C, the displacement created by the piston 180 may alter the volume of the swept chamber 170. Thus, according to the present disclosure as shown in FIG.l, while primary shaft 110 of the Fluid Convertor (FC) 100 is rotating, the swash-plate 150 angle 155 may change and as a result, the Fluid Convertor (FC) 100 may operate as a motor and / or in a pump mode. Alternatively, in configurations illustrated schematically in FIG.l, FIGs.2A-2C and FIGs.3A-3B, each piston 180 within a chamber 170 is attached with a tensor valving mechanism 400. In other embodiments as shown in FIG.2A each piston 180 may have different area 180, 185, 186, 187 that energises the working fluid 280. In other embodiments as shown in FIG.2A, each piston 180a, 180b, 180c, 180h has an identical area which interacts with the working fluid 280 within each chamber 170.

[0110] Thus, according to the present disclosure, the Fluid Convertor (FC) 100 provides a fluid displacement pump / motor mechanism with different piston areas, whereas each piston interacts with the working fluid 280 at range of mechanical forces coupled with the primary shaft 110 rotational power and torque 240. The fluid converter 100 utilizes variable effective piston areas to enhance control over fluid power conversion. Different chambers 170 may have pistons 180 with different piston areas 185, 186, 187, providing varied force multiplication capabilities. This variation in piston areas 185, 186, 187 allows for the dynamic control of effective piston areas during operation, as the controller can selectively activate different portions of the piston working surfaces to optimize force generation and fluid flow characteristics based on monitored parameters and operational requirements. Additionally, piston working surfaces may be selectively activated through controlled fluid distribution, effectively changing the active piston area during operation. This dynamic control over effective piston areas enables optimization of force generation and fluid flow characteristics, allowing the system to adapt to varying load conditions while maintaining efficient operation.

[0111] When the different pistons are attached to a primary shaft 110, the instance angular motion of the shaft 110 may create different flow rates and pressures in a repeatable way for each piston 180 area of interaction while the shaft 110 is in rotational motion.

[0112] In some embodiments of the present disclosure, and as shown in FIG.1, the swashplate 150 or the slant disc 150 is fixed to the primary shaft 110 or the plate 150 rotates independently of the primary shaft 110 relative to the casing or enclosure 190 of the fluid convertor (FC) 100. In similar embodiments of the present disclosure, and as shown in FIG.2C, the swash-plate 150 or the slant disc 150 may act as a crankshaft attached to the primary shaft 110 and / or any off-centre rotating mechanical system which transfers rotational motion 210, 220 and 230 into a linear motion and vice versa. Alternatively, as demonstrated in FIG.2A, each piston 180 may have a different area of interaction 185, 186 and 187, creating different volumes of chambers 170, whereas each chamber 170 is connected with a tensor valving mechanism 400. As shown in the case of FIG.2A, in some embodiments of the present disclosure, the interaction area of the pistons 185, 186 and 187, on the fluid convertor (FC) 100 may be different but with a fixed volume of chamber 170. In other cases as shown in FIG.2B, a vane type mechanism may a changed the chamber 170 volume as the angular properties 210 of the primary shaft 110 changes.

[0113] The present disclosure provides a fluid displacement pump / motor mechanism that may have different and fixed volume in each chamber 170 and / or a variable chamber volume as rotation takes place on shaft 110. The fluid chambers 170 of the converter 100 can be organized and controlled in various logical groups to achieve specific operational objectives. Adjacent chambers share direct fluid connections through internal passages, enabling controlled fluid transfer between neighboring chambers. Different groups of chambers may be defined based on their role in the current operational mode, with some groups handling pressure building while others manage fluid transfer or mixing. The chamber grouping strategy may be dynamically adjusted based on operational requirements and monitored parameters, enabling flexible and efficient fluid power conversion.

[0114] Whereas each chamber 170 may have a tensor valving mechanism 400 as part of the inlet outlet port 405 of the chamber 170. When the primary shaft 110 rotates 210,220 and 230, the instance angular motion 240 of the shaft 110 may create different flow rates and pressure in a repeatable manner, while the device 400 may manage and control the working fluid 280 that enters and leaves the chamber 170.

[0115] The fluid converter 100 precisely controls fluid dwell time - the duration that working fluid remains within each chamber 170 during operation. This includes controlling both the total time fluid remains in a chamber and the interaction time between working fluid and piston surfaces. The dwell time control is achieved through sophisticated timing of valve operations, independent of basic valve states. By varying fluid dwell time, the system can optimize pressure build-up, energy transfer, or mixing operations while maintaining other operational parameters constant.

[0116] In some embodiments, in configurations of as illustrated schematically in FIG.l, FIGS.2A-2C and FIGS.3A-3B, the fluid convertor (FC) 100 may have a mark and / or a drawn map on the stationary encloser 190, which indicates the orientation of the azimuth reference map 250 relative to the primary rotating shaft 110 of the fluid convertor (FC) 100. The fluid converter 100 utilizes a comprehensive angular reference system centered on the azimuth reference map 250 marked on the housing 190. This reference map provides angular coordinates for precise position tracking of the rotatable shaft 110. The angular position domain is divided into predetermined angular segments for control purposes, with each segment corresponding to specific operational requirements. The angular map serves as both a physical reference for system assembly and calibration, and as a digital reference for real-time control, enabling precise synchronization of mechanical position with valve operations.

[0117] The azimuth reference map 250 may be used as the angular coordinates of the primary shaft 110, whereas the shaft’s instance angular properties 210, 220 and 230 can be derived using the time domain 350 and / or by implementing Real Time Clock (RTC) 350. Similar, the angular values of the primary shaft 110 may be used to calculate and compute the primary shaft tensor 240 shown in details in FIG.3A.

[0118] According to some embodiments, the primary shaft 110 angular position 210 may be compared with the reference azimuth map 250 in order to compute and calculate the instant motion and position of the fluid convertor (FC) 100 other internal mechanical parts such as 180, 150, 155, 171 and / or other gear elements, bearings and internal moving parts. Additionally, or alternatively, the azimuth map 250 provided (printed) on the casing 190 of the fluid convertor (FC) 100 may be used to align in a digital manner between the application load tensor 260 and the primary shaft tensor 240 and / or to calibrate with the shaft coupler 130 degree of freedom (DOF) 245 and / or by using the coupler tensor 245 as reaction tensor between tensor 240 and 260.

[0119] The present disclosure provides for marking the reference azimuth map 250 of the fluid convertor (FC) 100 outside and inside the FC casing. This map 250 may be used as a vector and / or N-order-Tensor, in order to align together the tensors 240, 245 and 260 with coefficient and calibration methods found in tensor 270.

[0120] In other embodiments of the present invention, the reference azimuth map 250 may be printed on the apparatus casing 190 in order to align currently and physically with the application 145 solid frame and with the application’s shaft 140 in all 3 dimensions (3D) 195. Additionally, or alternatively, the alignment process between the frame 145 and the casing 190 on the 3 dimensional (3D) coordinates 195 may include additional alignment between the axes of rotation of primary shaft 110, the coupling adaptor 130 and with the load application shaft 140.

[0121] Thus, according to the present disclosure, the Finite Element Method (FEM) 500 algorithm may use the tensor 270 as a reaction tensor for the use of calibration, alignment, keep alive, watch dog and health check tensor for tensors 240, 245, 260, 280 and 290. The global reaction tensor 270 may act as a tensor-order and / or a vector metrics of tensor 200 with real-time 350 capabilities, referring to the angular map 250, location, axis, plane, volume and / or any geometry shape in coordinates 195 and / or 3D solid dimension part and / or surface definition.

[0122] In some embodiments, the reference azimuth map 250 may be marked and / or orientated on the fluid convertor (FC) 100 casing in order to create the tensor calibration and alignment 270 between the primary shaft tensor 240 and the state of each working fluid 280, represented as different thermodynamics state and / or additional N-tensor-order within each chamber 170 of the fluid convertor (FC) 100. In some embodiments, the azimuth map 250 is used as reference vector for all tensors 240, 245, 260, 270, 280, 290 and 200. In some embodiments, the azimuth map 250 is paired with the time domain 350 in order to create a real-time snapshot of the tensor 200.

[0123] According to the present disclosure, the azimuth map 250 may be used on the factory assembly line, during factory calibration and / or during health check which may take place repeatedly and indefinitely in real time 350, part of FOC 300 computing task. The fluid converter 100 incorporates comprehensive safety and protection features throughout its operation. Safe operation is maintained through continuous monitoring of system parameters and implementation of protective measures when needed. The system performs regular health checks to verify proper operation of all components, including valve function, sensor readings, and control responses. When fault conditions are detected, the system implements appropriate corrective actions while maintaining stable operation within safe limits. This may include switching to reduced capability modes or implementing specific protection protocols while maintaining essential functions.

[0124] Additionally, or alternatively, as shown in FIG.3A, the computing digital process of FOC 300 may operate on high sampling rate or at fast tensor Frame Per Second (FPS), creating a real-time 350 snapshot of the globe tensor 200 which represents in angular properties, 210, 220 and 230 and by algebraic means, physical scalar and vector values, mechanical, electrical, fluid-dynamics and thermodynamical relations and links between sub-tensors and / or the other tensors 240, 245, 260, 270, 280, 290.

[0125] Similar, the azimuth map 250 may be used part of FOC 300 computing task and during operation of the primary shaft 110. The shaft 110 tensor 240 may be compared repeatedly and indefinitely by the real time clock 350, while receiving and sending data and information from and to the application 145 requirements which are represented by its tensor 260 and / or from the platform internal and external server and / or network 600.

[0126] According to the present disclosure, the tensor calibration alignment and health check 270 may be used for aligning between the rotational shafts and their tensors 240, 245, 260 and / or as a reaction tensor to the internal fluid tensor 280 based on the orientated map 250. The fluid converter 100) incorporates continuous calibration and adjustment capabilities through real-time monitoring and control. Real-time calibration involves ongoing adjustment of valve timing and control parameters based on monitored operational parameters. The system dynamically adjusts its operation to maintain optimal performance, with adjustments being made based on comparison between monitored parameters and desired operational characteristics. This continuous calibration process includes regular health checks and alignment verification, ensuring consistent and reliable operation across varying conditions.

[0127] Similar, while in operation or during real-time 350 computation process, adjustments may take place between the application tensor requirements 260 and / or external servers 600. The fluid converter 100 implements real-time adaptations referred to as dynamic adjustments across multiple aspects of operation. Dynamic adjustment refers to the system's ability to modify its operation continuously based on monitored parameters without interrupting fluid power conversion. This includes dynamically adjusting valve timing, dynamically shifting timing windows, and dynamically allocating valve resources. The term "dynamic" specifically indicates that these adjustments occur in real-time while the system maintains operation, as opposed to static or pre-programmed changes. This dynamic capability enables the system to continuously optimize its operation in response to changing conditions or requirements.

[0128] It should be noted that the factory calibration and / or mechanical assembly of fluid pump / motor, factory setting is kept within the calibration tensor 270 and / or as a vector, part of the map 250. The tensor 270 may keep calibration factory, links, algorithm and embedded code which includes sub-tensors, calibration matrixes and reaction tensors and may represent the physical interaction and coefficients between the shaft 110 and working fluid 280 , between the calibration link of the sensors 320 with their tensor 200 , between the tensor 200 to the controller FOC 300 , between the controller FOC 300 and the logic valving400, between the fluid logic valving 400 and the interaction of the working fluid 280, the working fluid 280 and the shaft 110 and between the update calibration tensor 270 with the application information 260, while maintaining the state of the communication link 600 of the fluid convertor (FC) 100.

[0129] According to the present disclosure, the tensor 240 of the primary shaft 110 may include information such as physical properties of the shaft, material type and values such as yield, surface properties, volume, weight, distributed forces, constrains, polar moment of inertia, diameter and dimensions of a solid shaft or hollow shaft, torsion angular values, maximum and minimum values of moment, torque, thermal expansion, strain and stress, whereas, all physical values are represented in 3D vector within the tensor 240 and then aligned to coordinates 195 and 250 within the reaction tensor 270, which is used later in the Finite Element Method (FEM) 500 algorithm. The Finite Element Method (FEM) 500 algorithm may solve differential equations and the fluid convertor (FC) 100 mathematical modelling around the shaft 110 operational fields such as structural analysis, heat transfer, fluid flow, mass transport, electromagnetic potential, robotics application tasks, noise and vibration in real time 350 within the embedded computer 390 and / or by communicate with remote server 600.

[0130] The tensor 240 may have an additional tensor dimension and / or an additional N-Tensor- Order which represents the noise and vibration behaviour of the shaft 110 during the rotation and / or at a motionless state of the shaft 110. The fluid converter 100 incorporates sophisticated vibration analysis as part of its monitoring and control strategy. The system monitors vibration characteristics of the rotatable shaft 110, including harmonic values that indicate specific operational conditions. These vibration patterns may arise from mechanical interactions, fluid dynamics, or external loads. By analyzing repeatable frequencies in the vibration spectrum, the system can identify normal operational patterns and detect deviations that might indicate developing issues. This vibration analysis contributes to both operational control and system health monitoring.

[0131] Hence, these harmonic values of noise and vibration during the rotation of shaft 110 may include the shaft’s eccentric affect, gyro affect and / or bearings and other mechanical elements attached with the shaft 110 properties . Similar, additional harmonic values registered within the tensor 240 may indicate moving parts and elements within the fluid convertor (FC) 100 and / or of external solid moving parts outside the casing 190 of the rotating shaft 110. Hence, these repeatable frequencies generated by the moving parts may get broadcasting as a noise and vibration through the shaft 110 itself. Hence, the tensor 240 computing methods 500 may include wavelet, FFT and other well-known transformation, tensor products and tensor spaces.

[0132] According to the present disclosure, the tensor 240 may include physical values of the shaft 110 as a vector within the tensor 240 itself and / or as a N-Tensor-Order real time updated information communicated as a tensor reaction 245. The fluid converter 100 operation involves multiple interrelated parameters represented through tensor relationships. The primary shaft tensor 240 and working fluid tensor 280 represent the complex relationships between mechanical and fluid parameters respectively. These relationships extend beyond simple correlations, encompassing multiple physical properties and their interactions. For example, the relationship between fluid dynamics parameters and physical parameters of the shaft 110 involves multiple variables including pressure, flow rate, angular position, and velocity, all interacting simultaneously. These relationships, represented mathematically as tensors of various orders, enable sophisticated control strategies that consider multiple parameter interactions simultaneously.

[0133] The tensor 240 may include noise and vibration algorithms 500 which are based on angular changes 210 and time domain 350 that may be used as a mirror N-tensor-order within tensor 270, which takes care on the calibration, alignment and health check of the fluid convertor (FC) 100.

[0134] It should be noted that using the shaft 110 as a transceiver and generator of noise and vibration 240 may allow to provide the tensor 270 capabilities in calibration, alignment and health check, when using 310, 350 and 500 sensing means as a vector references.

[0135] Additionally, or alternatively, the shaft 110 instant tensor 240 values may be updated by information and data received from the real time sensory measurements 320, the shaft encoder 310 and / or from the controller 300. These instant tensor 240 values may include the shaft 110 angular position 210, angular velocity 220 and the angular acceleration 230, using the time domain 350 as shown in FIGs.3A to 3B.

[0136] Thus, according to the present disclosure, the shaft encoder 310 may be a physical sensor device which is attached nearby and / or on the rotating shaft 110. These encoder sensors 310 may implement absolute and / or incremental angular position 210 readings, other may implement sensing technologies such as Radio frequencies (RF), optical, magnetics and / or rotating of different geometric shape and solids which are off axis and / or on axis. Hence, the algorithm 500 may use information received from remote information 600 servers, application 145 and / or the power-train 450 in order to create angular information 210 of the shaft 110.

[0137] In other embodiments of the present disclosure, the encoder 310 of the shaft 110 may represent as virtual digital vector and / or metrics of data within a tensor as a derivative or as a N-Tensor-Order of tensor using data derived from the fluid tensor 280 and / or data derived from the coupler tensor 245. The fluid converter 100 employs sophisticated parameter derivation methods as part of its monitoring system. Beyond directly monitored parameters, the controller 300 computes additional operational parameters through mathematical models and real-time analysis. These derived parameters provide comprehensive insight into system operation without requiring direct measurement of every variable. Parameter determination may utilize virtual monitoring techniques, where physical measurements are combined with computational models to derive additional system state information. This capability enables thorough system monitoring while optimizing sensor requirements. There are many ways to compute and calculate the virtual data of the encoder 310 angular values using measurements and data enquired from a range of sensors 320 connected to 300 and attached outside and / or inside and / or remotely to the fluid convertor (FC) 100. The tensors 280 and / or 245 may receive updated information while measuring in real time the swept value 171 of each fluid chamber 170 and / or by measuring a piston 180 position within the chamber 170. Hence, by computing these fluid-dynamic and / or thermodynamic states 280 within the convertor 100, it is possible to derive the mechanical position of all the parts within fluid convertor (FC) 100, and as a result to update the shaft 110 instant position 210 values and tensor 240 with a computing process 500 that acts as a virtual encoder 310 within the tensor 200.

[0138] While the fluid converter 100 may employ physical sensors like the encoder 310, it can also determine operational parameters through computational methods. The controller 300 can derive shaft rotational instantaneous parameters from fluid dynamics parameters monitored within the chambers 170, effectively creating a virtual monitoring system. This capability enables parameter determination without direct physical measurement, using mathematical models and real-time computation to establish system state. The virtual monitoring approach provides redundancy and can operate independently or in conjunction with physical sensors, enhancing system reliability and control capabilities.

[0139] The tensor 240 values may have a number of types of events. The time domain event is driven by 350 Real Time Clock (RTC) and / or the encoder 310 digital change 310 event which results in changes of instant angular position 210 of shaft 110.

[0140] The fluid converter 100 implements comprehensive synchronization across multiple time scales and operational aspects. The controller 300 maintains an internal clock 350 synchronized with the monitored shaft rotational instantaneous parameters, enabling precise timing of valve operations. This synchronization extends to matrix transitions in the valve control system, ensuring smooth changes in valve states. When multiple fluid converters operate together, the control system maintains synchronized operation between units through coordinated timing control. The synchronization system operates in real-time, with time domain events being coordinated with angular positionbased events to achieve precise operational control. According to the present disclosure, the tensor 245 may be used as a digital encoder 310, since the coupler adaptor 130 acts as an additional degree of rotational freedom between the fluid convertor (FC) 100 and the shaft 140 of the application 145. Whereas, the shaft 110 and / or shaft 140 may provide indication of the shaft 110 angular position 210 when mechanical symmetry and / or asymmetry and / or the coupler 130 mechanical flexibility of the rotating mass 130 vs the eccentric harmonics occurred. In some embodiments, an array of sensors 320, such as wireless and / or wired accelerometer sensor, strain-gage sensor, torque transducer, and / or capacitance sensor, may act as the shaft 110 encoder 310 and may be an integral part of the shafts 140, 110 and / or part of the coupler adaptor 130. The tensor 245 of the coupler 130 may update the primary shaft tensor 240 values with every change in instant angular position 210 and / or every tic or oscillation of the 350 Real Time Clock (RTC) part of the Fluid Oriented Controller (FOC) 300 and / or by real-time derivative of the operation software 500.

[0141] In other cases, the coupler 130 is acting as a solid part in order to provide a rotating joint alignment between the axis of shafts 110 and 140. In some embodiments, the coupler 130 may operate similar to a Split muff, U coupling, Universal joint, Oldham coupling, Rigid coupling, Gear device, Sleeve, Flexible coupling, muff coupling, Flange coupling and / or may act as a transmission device of power and energy between shaft 110 and shaft 140. The coupler 130 may transmit power and energy between the shafts 110 and 140 and its physical properties, scalar data and vector information are represented by tensor 245. Hence, tensor 245 is a tensor product and / or tensor space of tensors 240, 260 and / or may act as a tensor reaction within the algorithm 500 operable on the controller 300.

[0142] According to the present disclosure, the coupler 130 and / or its tensor 245 may represent torque damping and stiffness acts on the shaft 110, physical dimensions, eccentricity, second and inertia moment of area and / or other values of mechanical forces, energy and moment acting on the coupler 130 itself and / or on the 3 parts shafts 110, 130 and 140. Additionally, or alternatively, the coupler 130 and / or its tensor 240 may represent the linear vector derived between the primary shaft 110 and its tensor 240 and the platform application 145 shaft 140 and its tensor 260.

[0143] Additionally, or alternatively, the fluid convertor (FC) 100 may update its tensor 245 values with every change in instant angular position 210 and / or every tic or oscillation event of the 350 Real Time Clock (RTC) part of the Fluid Oriented Controller (FOC) 300 and / or from event originated in FEM real-time software 500.

[0144] The controller 300 implements comprehensive failure management strategies through predefined failure mode matrices. These matrices define valve configurations and control responses for various fault conditions that might occur during operation. The system continuously monitors implementation success of control commands and valve operations, detecting any deviations from expected behavior. Upon detecting implementation errors or fault conditions, the controller automatically switches to appropriate failure mode matrices that maintain safe operation while potentially operating with reduced capabilities. This structured approach to failure management ensures system reliability and safe operation even under abnormal conditions.

[0145] It should be noted that the coupler 130 and its tensor 245 may acts as a tensor reaction between the tensor 240 and the tensor 260.

[0146] According to the present disclosure, the tensor 280 represents the status of the working fluid within each chamber 170, part of the fluid convertor (FC) 100. In some embodiments as shown in FIG.l, the working fluid enters and / or leaves the fluid convertor (FC) 100 apparatus may get represented as a vector within the tensor 280. Similar, each swept volume 171 and 410 within the Convertor 100 may be represented as additional dimension in tensor 280 per a chamber 170. In other embodiments of the present disclosure, the tensor 280 may have a N tensor-order or an additional tensordimension per chamber 170, where each tensor-order represents algebraic object per thermodynamic or fluid-dynamic states of the working fluid within a single chamber 170. Each vector or order or space within the tensor 280 may represent physical values such as volume, maximum and minimum flow rate and / or pressures range of each of chamber 170. Hence, the reaction tensor 270 with the tensor 280 may get computed 300 in realtime 350 by the operational software 500.

[0147] Additionally, or alternatively, the pressure acts on the piston 180 creates a mechanical force on the rotating shaft 110 that may be derived by computing the changes in volume and / or pressure at each chamber 170. Other physical properties of the working fluid 280 at each chamber 170 may represented in 280 and may include information such as chamber clearance volume and swept volume, piston 180 stroke position, piston velocity and piston acceleration and / or additional instance value of temperature, heat capacity, heat expansion factor, specific heat of the instant mass of the fluid and / or instant thermodynamic measurements per mass of fluid per chamber 170.

[0148] Alternatively, as demonstrated in FIGs.3A to 3b, the tensor 280 may provide information about the primary shaft 110 instant angular properties 210, 220 and 230 and / or may provide real-time information sent to the Fluid Oriented Controller (FOC) 300, captured by 350 Real Time Clock (RTC) and computed by FEM 500. Hence, the tensor 280 represents all the working fluid information such as pressure, volume, mass temperature and entropy within all the chambers 170 at any time 350 within the fluid convertor (FC) 100. The fluid converter 100 implements control over fluid flow patterns through its valving arrangement 400. These patterns include required fluid transfer sequences between chambers 170, which define specific orders and timing of fluid movement through the system. The controller 300 manages fluid mixing ratios when combining flows from different sources or chambers, enabling precise control over fluid composition and properties. Flow patterns may be sequential, parallel, or combined, with specific fluid routing strategies selected based on operational requirements and monitored parameters. This sophisticated flow pattern control enables optimization of energy transfer and power conversion efficiency.

[0149] The tensor 280 may get updated every change in instant angular position 210 and / or every tic or oscillation event of the 350 Real Time Clock (RTC) part of the Fluid Oriented Controller (FOC) 300 and / or by instructions found in the FEM real-time algorithm 500. In some embodiments, the changes in fluid pressure, volume, temperature, fluid mass, fluid type of materials, fluid molecular state, fluid molecular photon / electron interaction and / or other fluid properties may get measured 320 or computed 500 by the Fluid Oriented Controller (FOC) 300. These thermodynamic and fluid-dynamic changes may trigger an event within the Fluid Oriented Controller (FOC) 300. These events are similar to the event that may get triggered by shaft 110 angular instant change or by event derived from the time domain event 350.

[0150] It should be noted that the tensor 280 represents the thermodynamic state of the working fluid entering and leaving the fluid convertor (FC) 100 and / or the working fluid at each chamber 170. The tensor 280 may trigger and activate the Fluid Oriented Controller (FOC) 300 tasks. In some embodiments as shown in details in FIG.l, the tensor valving device 400 has a chamber 410 and a pathway 405 and / or opening in different sizes and opening areas 405. Additionally, or alternatively, the chamber 170 may be a part of the chamber 410, whereas the pathway 405 may restrict the opening between the chambers 410, 170 in order to regulate the working fluid 280 flow rate and pressures values. Similar, the working fluid 280 may travel freely between the chambers 170 and 410. In other cases of the present embodiments, the partway 405 may have identical cross section of the chamber 170 and / or of the chamber 410.

[0151] Alternatively, in configurations illustrated schematically in FIG.l, the chambers 170 and 410 may have 2 types of ports connection line. Each type of port connection may have one or more lines of connection that may be represented as an inlet and / or as outlet fluid port and / or opening to the power-train 450 and / or opening to the rest of the chambers 170 within the apparatus 100. Whereas in some embodiments, the internal port connections 431, 432 and 433 may be linked with the chamber 170, 410. In other cased, according to the present disclosure, the internal lines of connection 441, 442 and 443 may be linked to the right with the chamber 170, as shown also in FIG.l. Hence, the internal lines of connection or the internal fluid ports 431, 432, 433 and the internal fluid ports 441, 442 and 443 may allow the working fluid 280 to travel and / or circulate and / or alternate between neighboring chambers 170 within the fluid convertor (FC) 100.

[0152] Thus, according to the present disclosure, the tensor valving device 400, part of the fluid convertor (FC) 100 may have one external connection line and / or more external connection lines between the apparatus 100 and power-train 450. The fluid converter 100 implements sophisticated fluid flow control through its valving arrangement 400. Working fluid flow may be directed through sequential fluid transfer between adjacent chambers 170, where fluid moves progressively through a series of chambers for staged pressure conversion. Alternatively, parallel fluid paths may be established, enabling simultaneous flow through multiple chambers. Fluid mixing operations involve controlled combination of fluid streams from different sources or chambers, achieved through precise timing of valve operations. The flow control strategy - whether sequential, parallel, or mixing - is selected and implemented based on monitored parameters and operational requirements. Alternatively, in configurations of as illustrated schematically in FIG.l, the tensor valving device 400 may have external ports with connection lines 421, 422, 423 and 424 which may be linked with a power-train 450. Hence, each of the external connection line as 471, 472, 473, 474... 480 has a fluid-mechanical and / or electro-mechanical and / or passive valving mechanism and / or active valving mechanism 400, as shown in FIG.l, FIGS.2A-2C and FIG.3A-3B. In other cases as shown in FIG.l, some internal connection fluid ports 431,432, 433, 441,442,443 and / or external connection lines 421, 422, 423, 424 between the apparatus 100 and the power-train 450 may have no valving mechanism attached. Additionally, or alternatively, the tensor valving mechanism 400 may have an electromechanically operated valve 471,472, 473, 474, 475... 480 that each electromechanic ally operated valve may operate and acts as a Normally Open (NL), Normally Close (NC), On / Off, Pulse-width modulation (PWM), One-Way and / or High- Speed On-Off valve(HSV) valve. Thus, according to the present disclosure, one or more electromechanically operated valves 471,472, 473. . . 480 may get their electrical power from the power electronics module 370 and / or from the connections 375, part of the fluid convertor (FC) 100 controller 300.

[0153] The fluid converter 100 implements comprehensive resource management across its operation. Valve resources, comprising the electronically controlled valves 471-480, are allocated based on current operational requirements. System resources include available fluid flow capacity, pressure generation capability, and valve switching capacity. The controller 300 manages these resources through optimal resource utilization strategies, allocating them according to operational priorities while maintaining system stability. Resource allocation is continuously optimized based on monitored parameters and operational demands.

[0154] As shown in details in FIG.l, in some embodiments of the present invention, the tensor valving device 400 may be included as part of the power-train 450, connected with number of Fluid Accumulator (FA) 490 (491, 492, 493) and / or connected to power-train 450 end of line 499, power-train sensory 499 and / or power-train fitting and accessory 499. Hence, the power-train 450 may have a single pressure line 402 and / or may have many pressure lines 402. In the case shown in FIG.l, there are 4 pressure lines 402, each connected to one or more tensor valving device 400 using connection point 401. When multiple fluid converters 100 operate together, they share common resources through a shared valving arrangement 400. Each converter monitors its own operational parameters while the control system coordinates their operation. Competing requirements between converters are managed through priority -based resource allocation. Synchronized operation is maintained through coordinated control of valve timing and fluid distribution, ensuring that multiple converters work harmoniously whether operating independently or in coordinated power conversion modes.

[0155] The power train 450 represents the external fluid power infrastructure connected to the fluid converter 100. It comprises at least one working fluid line 402 for fluid transfer, which may be implemented as pressure lines operating at different pressure levels. These working fluid lines connect to the fluid converter 100 through external connection points 401 and may include multiple pressurized fluid lines for different operational requirements. The power train 450 may also include fluid accumulators 491, 492, 493 and other fluid-mechanical accessories 499 that contribute to the overall fluid power system operation.

[0156] Thus, according to the present disclosure, the electromechanically operated valve 471, 472, 473. . . 480 may be fitted on the connection lines and / or placed on the internal or external ports and acts as a High-Speed On-Off Valves (HSV) mechanism which embedded within the tensor valving device 400. The fluid converter 100 manages various operational states through its control system. Valve states refer to the specific configurations of each electronically controlled valve 471-480, which can be maintained constant when steady-state operation is required. Operational conditions encompass the broader system status, including pressure levels, flow patterns, and power conversion requirements. The system can maintain constant valve states while other parameters may vary, or can transition between different operational conditions while maintaining stable power conversion. This state maintenance capability ensures smooth and efficient operation across various operational modes.

[0157] In some embodiments of the present invention, the electromechanically operated valve is part of a solid block with channels and ports, an integral part of the fluid convertor (FC) 100 and / or part of the power-train 450. In other embodiments the electromechanically operated valve may include different valve construction such as ball, rotary, poppet, seat, and / or spool. Hence, structure features may include self spinning spooling, moving magnet and coil actuator, magnetic and coil ring, crank and disc slider and / or moving sleeve with a fast opening and closing time of up to 0.15ms, in other cases the electromechanically operated valve may reach a switching frequency of 1kHz.

[0158] In some embodiments of the present disclosure, the time domain 350, the controller timing algorithm 350, the time span 350 and / or the output from the RTC 350 may oscillate and / or synchronised and / or derived by the shaft 110 angular position 210 when opening and closing one and / or all and / or only part of the electromechanically operated valve 471, 472, 473. . . 480 in different order on the time domain 350 and / or in a different manner when angular position 210 changes of the shaft 110 may take place.

[0159] In some embodiments, the operating software 500 on the controller 300 may create a digital bit event that may be converted into an electrical signal within the power module 350. The control system implements sophisticated valve state management through a matrix-based approach. A valve state matrix defines the available configurations of the electronically controlled valves 471-480, representing both the individual valve states and their permissible combinations. This matrix approach enables coordinated control of multiple valves while ensuring operational stability.

[0160] The system generates an operational requirement matrix based on monitored parameters and desired performance characteristics. This matrix captures required fluid flow patterns, desired pressure distributions, and target performance metrics. By comparing the valve state matrix with the operational requirement matrix, the controller determines optimal valve configurations for current operating conditions.

[0161] The fluid distribution matrix tracks actual conditions in each chamber, enabling real-time comparison between current and desired states. When transitioning between operational states, the system implements transitional matrices that ensure smooth changes in valve configurations while maintaining stable fluid flow and pressure characteristics.

[0162] Hence, the module 370 may generate and / or energise and / or modulate the digital signal of 500 into an electrical signal that drives the electromechanically operated valve 471, 472, 473... 480. Hence, the module 370 may send the energise electrical power signal directly to the valving tensor 400 electro-mechanical mechanism 471, 472, 473. . . 480 via a wiring setup 375. Hence, the module 370 may generate an energised Waveform, Frequencies and / or an analogue and / or digital electrical pulse / s with Voltage and Ampere. Hence, the controller software 500 may receive sensory data 320, process this data and compute the data into information as tensor 200, while activating and energising in electrical manner by the module 320 the electromechanic ally operated valve 471, 472, 473. . . 480, part of the tensor valving 400.

[0163] The fluid converter 100 continuously monitors implementation success of its control operations. Implementation success refers to the correct execution of commanded valve operations and achievement of desired fluid flow patterns. The controller 300 identifies implementation errors when actual system behavior, as determined from monitored parameters, deviates from desired operational parameters. Such deviations might include unexpected pressure levels, incorrect valve timing, or abnormal flow patterns. When abnormal conditions are detected, the system can implement corrective actions while maintaining safe operation.

[0164] Additionally, or alternatively, events derived from the tensor 200 may trigger the closing and opining of the electromechanically operated valve 470, 471, 472, 473. . . 480. The electronically controlled valves 471-480 of the valving arrangement 400 can be set in various valve configurations, each defining a specific combination of valve states. These configurations may be predefined based on common operational scenarios and stored as predefined valve matrix configurations in the controller 300. During operation, the controller can maintain constant valve states when steady-state operation is required, or dynamically switch between different configurations to adapt to changing operational requirements. The transition between configurations is managed through sophisticated control algorithms that ensure smooth operational changes while maintaining desired fluid flow patterns.

[0165] According to the present disclosure, the Fluid Oriented Controller (FOC) 300 may create the right conditions of the working fluid 280 within the fluid convertor (FC) 100 and / or outside of the power-train 450 when closing, opening and partially creating opening and / or flashing and / or activating the electromechanically operated valve 470, 471, 472, 473... 480 by the electrical connections and / or wires 375, which energies by the power electronics module 370.

[0166] Similar, the Fluid Oriented Controller (FOC) 300 may oscillate and / or synchronised and / or derived by the shaft 110 angular position 210 and / or by the tensor 200 when opening and closing one or more the electromechanically operated valve 470, 471, 472, 473... 480. The fluid converter 100 implements sophisticated energy management through controlled energy storage and release. Working fluid energy can be stored in fluid accumulators 491, 492, 493 during periods of excess power availability, and released when additional power is required. This energy management capability enables the system to harvest energy during braking or deceleration phases and store it for later use. The controller 300 manages these energy storage and release processes based on monitored parameters, optimizing overall system efficiency while meeting operational requirements of the external rotary machinery.

[0167] Beyond energy conversion, the fluid converter 100 can be integrated with various fluid power applications and industrial processes within a powertrain system 450, as depicted in FIG 4. The controller 300 can activate the fluid converter's shaft rotation 110 by adjusting the valving configuration 400. This shaft activation can drive fluid manipulation processes within the powertrain 450 even when the fluid converter 100 is not coupled to an external power plant 145, as shown in FIG 5. In such cases, the fluid converter's shaft 110 acts as a synchronization axis for coordinating fluid flow patterns and timing within the powertrain 450, effectively becoming a central control element for managing fluid-based processes.

[0168] The fluid converter's ability to precisely control fluid flow enables it to be integrated with a wide range of fluid power applications and industrial processes within a powertrain system 450.

[0169] These applications may include a wide range of fluid manipulation operations, such as fluid mixing, separation, heat transfer, homogenization, dissolving, stirring, mass and heat transfer, pumping, filtration, compression, heating, cooling, evaporation, centrifugation, spraying, throttling, degassing, flushing, distillation, absorption, extraction, reverse osmosis, adsorption, and refrigeration. The controller 300 can monitor and manage these processes by regulating fluid flow between the powertrain 450 and the fluid converter 100 through the valving arrangement 400.

[0170] According to the present disclosure, this valving management and operation by the Fluid Oriented Controller (FOC) 300 may result in the right rotational requirements of angular properties, torque, power and energy for the platform application 145 and / or for the tensor requirements 260 and / or for the reaction tensor 270 and / or to balance and act on the tensor 280.

[0171] The fluid converter 100 implements comprehensive response management to maintain optimal operation. System response characteristics are continuously monitored and adjusted to meet operational requirements. When deviations from desired operation are detected, the controller 300 implements appropriate corrective actions through valve timing adjustments and flow pattern modifications. Protective measures are automatically activated when operating conditions approach defined limits, ensuring safe operation while maintaining maximum possible functionality. The response management system ensures stable operation across varying conditions while protecting system components.

[0172] The fluid converter 100, particularly when operating in multi-converter configurations, implements sophisticated priority management through its control system. Operational priorities are established based on monitored predefined parameters and system requirements. When multiple demands compete for system resources, such as available fluid flow or valve capacity, the controller 300 determines priority based on predefined criteria and current operational conditions. This priority determination enables optimal allocation of system resources, ensuring critical functions are maintained while managing less critical operations according to available capacity. In multi-converter setups, the control system dynamically manages priorities between competing converter requirements to maintain optimal overall system performance.

[0173] Additionally, or alternatively, as shown in FIG.l, the tensor valving device 400 may have four external fluid connection lines 421, 422, 423 and 424 linked with pressure lines 402, 491, 492, 493 and 499, part of the power-train 450. However in other embodiments, as shown in FIG.3 A, there is an example with only 2 external ports 421 and 424 which have a connection with the power-train 450.

[0174] Hence, when the fluid convertor (FC) 100 energies and pressurises the working fluid 280 within the chamber 170 and / or 410, a high pressure timing window 355 is created as shown in FIG.3B. In some embodiments of the present disclosure, this timing window 355 rotates in a linear manner with the shaft 110 angular position 210.

[0175] The control of the fluid converter 100 employs timing windows 355 that define predetermined angular segments of shaft rotation during which specific valve control actions occur. A timing window 355 represents a controlled period corresponding to specific angular positions of the rotatable shaft 110 during which particular fluid flow patterns are implemented through the valving arrangement 400. Multiple timing windows may be defined simultaneously for different groups of fluid chambers 170, enabling sophisticated control schemes. Each timing window 355 can be dynamically adjusted in its angular position and duration based on monitored parameters, enabling adaptive control of fluid distribution and energy conversion. This timing window concept implements instruction-based control of fluid flow patterns synchronized with shaft rotation.

[0176] Further enhancing the control capabilities, the Fluid Oriented Controller (FOC) 300 can incorporate multiple torque profiles, including angular polar torque profiles and torque-power profiles on the RPM domain. The angular polar torque profile 355, as depicted in FIG 3B, represents torque changes in Nm and / or changes in the shaft's 110 rotational properties 220, 230 on the angular polar domain 250. By applying different valving configurations 400, the controller 300 can achieve specific angular polar torque profiles, enabling the fluid converter 100 to adapt to various power plants 145, such as 2- stroke or 4-stroke ICEs, each with its unique torque profile.

[0177] The torque-power profile on the RPM domain represents torque variations as a function of time 350 and shaft angular position 210. This profile can be used to optimize energy transfer when the fluid converter 100 is coupled 130 to turbo -machinery that maintains a constant rotational speed while varying its power output, as illustrated in FIG 5. The controller 300 can adjust the total effective piston area, for example by selectively activating different portions of the piston working surfaces 185, 186, 187, to match the varying power output of the turbo -machinery.

[0178] Thus, according to the present disclosure, as illustrated schematically in FIG.3B, the window 355 may follow a single piston 180 position in a multi stage pistons setup. This swept volume 172 represents the swept stage of a single chamber 170 creates a window 355 that follows the shaft 110 angular 210 position.

[0179] As shown in FIG.3B, it is assumed that the shaft 110 rotates CW, whereas the mass of a compressible fluid is transferred internally between the chambers 170 within the apparatus 100. Reference is made to FIG.3A, the working fluid flows between the chambers 170, while passing the internal discrete fluid ports 400 as 471, 474, 472, 475. While the working fluid is flowing between the chambers 170, it reaches the stage of completing the window 355 length at the CW direction 240, as shown in FIG.3B. Hence, a sudden peak event may take place as shown in graph 356. The maximum summit in the graph 356 may demonstrate a single discharge of the total fluid mass accumulated from number of chambers 170 over an angular distance or along the base of the window 355. As shown in FIG.3B, this sudden discharge on graph 356 may align with a single chamber 170 swept volume 171 that gets empty and / or its swept volume 171 is at minimum.

[0180] Additionally, or alternatively, the total mass of the working fluid accumulated within the apparatus 100 may be collected from the number of chambers 170 into a single chamber while the shaft 110 is rotating. This accumulation process may create a high pressure fluid that may exist the apparatus 100 and at the same time create a peak torque resistance on the shaft 110 of the apparatus 100.

[0181] Similar, this 356 graph shown on FIG.3B may demonstrate a torque output or power output of the shaft 110. In this example, it is assumed that high pressure fluid 280 enters the apparatus 100 via a single chamber 170 and at a later stage and / or at known angular length 250 of window 355, the fluid 280 now pressurised may exit the apparatus 100 only after the mass of the working fluid may internally distributed along numbers of chambers 170. Hence, the angular length of the window 355 may represent the mass distribution across the total swept volume 171 of the apparatus 100.

[0182] In other cases as demonstrated in FIG.3B, the timing window 355 may be used in order to create an alternating high pressure peak when sending and / or receiving working fluid between the apparatus 100 and the power-train 450. As shown for example in FIGs.3A-B and FIG.l, the arrangement of discrete logic valving 400 may allow all pressurised chambers 170 within the window 355 to get connected by the internal connection lines 431, 432, 433, 441, 442 and 443, in multi stage configuration and / or parallel manner, while assuming that only a single discrete valve 480 on external connection port 421 is linked and / or open and / or is at one-way-status with high pressure line 491 to the power-train 450. For this example and for demonstration preposes only, it is assumed that electromechanic ally operated valves 477, 478 and 479 are closed since they are within the window 355 as shown in FIG.3A. And so, it is assumed that the timing window 355 may travel on the angular map 250, whereas one or more internal fluid ports 400 may be fitted with passive mechanical One-Way-Valve and / or electromechanically operated valves 470, 471, 472, 473. . . 480 that when activated or when deactivated, these logic fluid ports 400 may act as One -Way- Valve in relation to the window 355 angular position 240 on the map 250.

[0183] Additionally, or alternatively, the window 355 may travel on the 250 angular map, in a CW 240 manner and / or in the CCW manner. In some cases the window 355 may follow a mechanical linear piston 180 motion and / or may follow other software 500 and tensor 200 events.

[0184] Thus, according to the present disclosure, as illustrated schematically in FIGs.3A- 3B, any angular events 220, 230 and changes in shaft 110 angular position 210 may activate a status change in one or more discrete valves 400 and / or these angular events may alter the window 355 size and movements across the angular map 250.

[0185] The fluid converter 100 manages operational transitions through sophisticated control strategies. Smooth operation changes are achieved through carefully controlled modification of valve timing and fluid flow patterns. When switching between operational modes or valve configurations, transitional matrices define intermediate valve states that prevent sudden changes in pressure or flow. These transitions are managed based on monitored parameters to ensure continuous, stable operation while moving between different operational states. Mode switching, whether between motor and pump modes or between different flow patterns, is executed through controlled transitions that maintain system stability.

[0186] It should be appreciated that the system can implement sophisticated energy management through controlled fluid distribution and storage. During operation, working fluid energy may be stored in accumulators 491, 492, 493 when excess power is available. This stored energy can be released when additional power is required, enabling efficient power management across varying load conditions.

[0187] The controller optimizes energy distribution by monitoring pressure levels across the system and implementing appropriate valve timing strategies. During energy recovery operations, such as when braking or decelerating, the system can harvest kinetic energy by controlling fluid flow through the valving arrangement. This recovered energy is stored in the accumulators for later use, improving overall system efficiency. Hence, the direction and the amount of flow of the working fluid within the internal connection lines 431, 432, 433, 441, 442 and 443 may synchronise with the shaft 110 angular position 210, velocity 220 and acceleration 203. As shown for example in FIG.3A, these internal fluid ports may connect all chambers 170 together and / or part of the chambers are within a single window 355, allowing the working fluid 280 to flow from one chamber 170 into another neighbouring chamber 170 in a serial manner from ‘say’ 480 to 477 or from 477 to 480, until discharge and / or uptake may take place on event driven algorithm 500. Once discharge to the powertrain 450 and / or uptake of apparatus 100 from the powertrain 450 has been triggered by the tensor valving management software 500, an opening and / closing and flashing of one or more valving devices 400 connected with the fluid external line which represents the connection between the fluid convertor (FC) 100 and the power-train 450. This process may take place while the window 355 travels on the 250 angular map, change its size and / or position at particular angular location on map 250.

[0188] In other embodiments of the present invention demonstrated in FIGs.3A-3B, a synchronised timing window 355 may have a large total area of pistons 180 at each clock tic 350 by controlling the tensor valving 400 only just when interaction with the working fluid 280 may take place across the apparatus 100. Hence, the window 355 may have a fixed size and at stationary position on the 250 map, while the shaft 110 may change continuously its direction of rotation 240 between CCW and CW.

[0189] Similar, the timing window 355 may activate the tensor valving array 400 only when number of pistons 180 has the same movements or motion vectors and / or only when it is possible to join together mechanical rotational forces 230 that may act together at the same time frame 355. In other cases as shown in FIG.3B graph 357, a torque output or a power output 240 of shaft 110 is represented while the shaft 110 rotates CCW and / or the graph 357 may represent a pressure within a swept volume 171 on the angular map 250, the graph 357indicates that the working fluid is likely to be a non compressible fluid. It should be appreciated that the fluid converter may be implemented in several configurations optimized for different operational requirements. In an axial piston configuration, particularly suited for high-pressure applications, the pistons are arranged parallel to the shaft axis. This configuration enables precise displacement control and efficient operation across a wide pressure range. The axial arrangement allows for compact design while maintaining high power density.

[0190] In a radial piston configuration, optimal for high-torque, low-speed applications, the pistons are arranged radially around the shaft. This arrangement provides excellent torque characteristics and precise control capabilities. The radial configuration is particularly advantageous in applications requiring sustained high-torque output.

[0191] A vane configuration, suitable for moderate pressure systems, utilizes vanes mounted on a rotor to create variable volume chambers. This arrangement provides smooth operation and good efficiency at moderate pressures. The vane configuration offers simplified construction and reduced mechanical complexity compared to pistonbased implementations.

[0192] List of reference numerals used in the description above:

[0193] 100 - fluid convertor (FC)

[0194] 110 - primary shaft of the FC

[0195] 130 - coupling adaptor between 110 and 140.

[0196] 140 - shaft of the 145,

[0197] 145 - Robotics application, external mechanical appliances, required torque and speed, an external rotational load and / or external kinetics energy of the shaft 140

[0198] 150 - Swash-plate and / or crank shaft of piston 180

[0199] 155 - swash-plate 150 angle

[0200] 170 - swept chamber cylinder, cavity, housing and / or barrel, stator casing

[0201] 171 -swept volume

[0202] 180 - piston, blade angular volume

[0203] 185 - large piston area applied on the working fluid top view

[0204] 186 - mid piston area applied on the working fluid top view

[0205] 187 - small piston area applied on the working fluid top view

[0206] 190 - casing or enclosure of FC 100

[0207] 195 - 3-dimensional (3D) coordinates, goes with 250

[0208] 200 - Moment and energy tensor

[0209] 210 - Angular position of the primary shaft 110 of FC 100

[0210] 220 - Angular velocity of the primary shaft 110 of FC 100

[0211] 230 - Angular acceleration of the primary shaft 110 of FC 100

[0212] 240 - tensor of the primary shaft 110 of FC 100

[0213] 250 - orientation of azimuth reference map 250 of FC 100, goes with 195

[0214] 260 - tensor of the application load 145 of the application shaft 140

[0215] 280 - tensor of the working fluid

[0216] 290 - calibration and alignment tensor of all tensors of 100

[0217] 300 - Fluid Oriented Control (FOC) or variable-frequency drive (VFD)

[0218] 310 - Encoder sensor of shaft 110

[0219] 320 - set of sensors or sensor bus

[0220] 390 - FPGA / GPU or any type of computing apparatus

[0221] 370 - Power electronics, open and close the electro-mechanical mechanism of 400 and provide power to 300 - Tensor valving electro-mechanism device - the inlets and / or outlets ports (401, 402, 403. . . ) - swept chamber / volume - powertrain linked with the 400 device -> 480 - electro-mechanical mechanism, powered by 370 and controller by 300 -> 470 electro-mechanical mechanism, powered by 370 and controller by 300 - Fluid Accumulator (FA) (491, 492, 493) - connector, end line, sensor, and other power-train device - Finite element method

Claims

CLAIMS1. A method of operating a valving arrangement (400) being fluidly coupled to both: a fluid converter (100) comprising a plurality of fluid chambers (170) with variable swept volumes (171) and a rotatable shaft (110) being coupled to external rotary machinery; and a power train comprising at least one working fluid line; the valving arrangement comprising a plurality of electronically controlled valves, each valve being fluidly coupled to at least one respective fluid chamber and to at least one fluid line to selectively permit working fluid from that at least one fluid line to flow into or out from that at least one respective fluid chamber, the method comprising:- monitoring predefined parameters comprising at least one of: working fluid instantaneous parameters; and shaft rotational instantaneous parameters; and- controlling the plurality of electronically controlled valves based on the monitored predefined parameters to selectively permit working fluid into or out from the respective fluid chamber (170) to bring at least one of: the monitored shaft rotational parameters; and the monitored working fluid parameters; to a desired instantaneous value.

2. The method according to claim 1, comprising:- defining a timing window (355) corresponding to an angular segment of rotation of the rotatable shaft (110); and- controlling a subset of the electronically controlled valves designated as outlet valves (471-480) based on the timing window.

3. The method according to claim 2, comprising dynamically adjusting the timing window (355) based on the monitored parameters of the fluid converter.

4. The method according to claim 2 or 3, wherein the valving arrangement further comprises interconnection valves (471-480) fluidly coupled between adjacent fluid chambers, the method comprising:- controlling said interconnection valves to enable fluid transfer between said adjacent fluid chambers based on at least one of: the monitored working fluid instantaneous parameters; and the monitored shaft rotational instantaneous parameters.

5. The method according to any one of claims 1 to 4, comprising:- determining the desired instantaneous value based on fluid dynamics parameters of the fluid chambers (170), said fluid dynamics parameters being derived from the monitored working fluid instantaneous parameters.

6. The method according to any one of claims 1 to 5, comprising: - monitoring operation parameters of the valving arrangement; and - performing real-time calibration of valve timing based on said monitored operation parameters in relation to the monitored predefined parameters.

7. The method according to any one of claims 1 to 6, comprising: - defining multiple timing windows (355), each corresponding to a different group of fluid chambers (170); and - independently shifting each timing window relative to an angular position of the rotatable shaft (110) to control fluid mixing between the fluid chambers.

8. The method according to any one of claims 1 to 7, comprising: - generating angular position data from the monitored shaft rotational instantaneous parameters; and - synchronizing a controller internal clock (350) with said angular position data.

9. The method according to any one of claims 1 to 8, wherein the power train comprises a plurality of working fluid lines and the method further comprises controlling fluid flow from multiple pressurized fluid sources to different chambers (170) to achieve predetermined fluid mixing ratios.

10. The method according to any one of claims 1 to 9, wherein the shaft rotational parameters include at least two of: angular position (210), angular velocity (220), and angular acceleration (230).

11. The method according to any one of claims 1 to 10, comprising:- monitoring both working fluid instantaneous parameters and shaft rotational instantaneous parameters;- determining relationships between the parameters of the shaft and of the working fluid; and- adjusting valve timing based on the determined relationships.

12. The method according to any one of claims 1 to 10, wherein the shaft rotational instantaneous parameters include vibration characteristics of the rotatable shaft (110) during rotation, and wherein said method comprises monitoring the shaft rotational instantaneous parameters and analyzing relationships between said vibration characteristics and said shaft rotational instantaneous parameters; and - controlling said electronically controlled valves based on the analyzed relationships.

13. The method according to claim 10 or 11, comprising:- receiving operational requirements from the external rotary machinery (145);- determining relationships between said operational requirements and the monitored predefined parameters; and- controlling the electronically controlled valves to achieve said operational requirements.

14. The method according to any one of claims 1 to 13, comprising:- monitoring multiple operational parameters simultaneously comprising at least three of: fluid pressure within individual fluid chambers; fluid temperature within individual fluid chambers; fluid flow rates between fluid chambers;shaft vibration characteristics; power train pressure levels; and mechanical load characteristics;- generating composite monitoring data from said multiple operational parameters; and- adjusting timing of the electronically controlled valves based on said composite monitoring data.

15. The method according to any one of claims 1 to 14, comprising:- utilizing the monitored shaft rotational instantaneous parameters for multiple control purposes comprising: determining instantaneous angular position; profiling torque requirements; analyzing vibration patterns; synchronizing multiple fluid converters; and optimizing power distribution between fluid chambers;- dynamically control the electronically controlled valves based on at least three of said control purposes simultaneously.

16. The method according to any one of claims 1 to 15, wherein controlling the plurality of electronically controlled valves comprises:- defining a valve state matrix corresponding to available configurations of said valves;- defining an operational requirement matrix based on at least one of: the monitored shaft rotational instantaneous parameters; required fluid flow patterns between the fluid chambers (170); and required pressure distributions in the fluid chambers (170);- computing a desired valve configuration by matching the valve state matrix to the operational requirement matrix; and- implementing said desired valve configuration across multiple electronically controlled valves simultaneously.

17. The method according to claim 16, comprising:- maintaining multiple predefined valve matrix configurations;- dynamically switching between said configurations based on at least one of: the monitored predefined parameters; required fluid mixing between the fluid chambers (170); and- implementing transitional matrices between configurations to ensure smooth operation changes.

18. The method according to claim 16 or 17, wherein implementing the desired valve configuration comprises:- assigning groups of electronically controlled valves (471-480) to respective timing windows (355);- synchronizing matrix transitions with said timing windows; and- implementing different valve configurations within each timing window based on the operational requirement matrix.

19. The method according to any one of claims 16 to 18, comprising:- generating a fluid distribution matrix representing current values of the monitored working fluid instantaneous parameters in each fluid chamber (170);- comparing said fluid distribution matrix with target parameter values; and- adjusting the valve state matrix based on identified differences from said comparison.

20. The method according to any one of claims 16 to 19, wherein:- the valve state matrix defines interconnections between adjacent fluid chambers (170) through respective electronically controlled valves;- the operational requirement matrix includes required fluid transfer sequences between said adjacent fluid chambers; and- implementing the desired valve configuration includes enabling sequential fluid transfer based on the monitored shaft rotational instantaneous parameters.

21. The method according to any one of claims 16 to 20, comprising:- defining multiple simultaneous valve state matrices, each corresponding to a different operational objective comprising: torque control; fluid mixing; and pressure regulation; and- weighting and combining said matrices based on current operational priorities derived from the monitored predefined parameters.

22. The method according to any one of claims 16 to 21, wherein the valve state matrix enables:- establishing simultaneous fluid paths between multiple fluid chambers (170);- distributing working fluid from the working fluid line among selected fluid chambers according to predetermined ratios; and- maintaining different pressure levels in different groups of fluid chambers simultaneously.

23. The method according to any one of claims 16 to 22, comprising:- storing historical valve state matrices with their corresponding operational conditions;- identifying matching historical conditions based on current monitored predefined parameters;- adapting said historical valve state matrices to current operational requirements; and- implementing the adapted matrices to achieve similar operational results.

24. The method according to any one of claims 16 to 23, comprising:- defining failure mode matrices for predetermined fault conditions;- monitoring implementation of the valve state matrix;- automatically switching to an appropriate failure mode matrix upon detecting deviation from desired operational parameters.

25. The method according to any one of claims 16 to 24, wherein defining the valve state matrix comprises:- dividing rotation of the rotatable shaft into multiple angular segments based on the monitored shaft rotational instantaneous parameters;- assigning different matrix configurations to said angular segments; and- dynamically shifting said angular segments based on: monitored shaft speed; monitored load conditions from the external rotary machinery; and monitored fluid pressure in the fluid chambers (170).

26. A fluid control system comprising:- a fluid converter (100) comprising: a plurality of fluid chambers (170) with variable swept volumes (171); a rotatable shaft (110) configured for coupling to external rotary machinery;- a power train comprising at least one working fluid line;- a valving arrangement (400) fluidly coupling the fluid converter to the power train, comprising: a plurality of electronically controlled valves; each valve being fluidly coupled to at least one respective fluid chamber and at least one fluid line for selective bidirectional fluid flow;- at least one sensor configured to monitor predefined parameters comprising at least one of: working fluid instantaneous parameters; and shaft rotational instantaneous parameters; and- a controller configured to: receive said monitored predefined parameters; control said valves based on the method according to any one of claims 1 to 25.

27. A valving arrangement (400) for a fluid converter (100) having a plurality of fluid chambers (170) with variable swept volumes (171), the valving arrangement comprising:- a housing (410) having electronically controlled outlet valves (471-480) mounted therein;- said housing being fluidly connectable between: a power train (450) comprising at least one working fluid line; and said fluid chambers;- each outlet valve being fluidly connectable to a respective fluid chamber to selectively permit working fluid flow thereinto;- said housing comprising at least one internal fluid passage (431, 432, 433, 441, 442, 443) arranged to permit fluid flow between adjacent fluid chambers through respective adjacent valves.

28. The valving arrangement (400) according to claim 27, wherein the housing (410) comprises at least one inlet port (421) configured for fluid connection to the working fluid line.

29. The valving arrangement (400) according to claim 28, wherein:- the housing (410) comprises a plurality of outlet ports (422, 423, 424); and- each electronically controlled outlet valve (471-480) is mounted in a respective one of said outlet ports.

30. The valving arrangement (400) according to claim 28 or 29, comprising an electronically controlled inlet valve (471) mounted in said inlet port (421) for controlling working fluid flow therethrough.

31. The valving arrangement (400) according to any one of claims 27 to 30, wherein the housing (410) comprises a mixing chamber arranged between:- the at least one inlet port; and- the plurality of outlet ports; for mixing working fluid flows between said ports.

32. The valving arrangement (400) according to any one of claims 27 to 31, wherein:- the housing comprises multiple inlet ports (421, 422);- each inlet port is fluidly connectable to a different working fluid line of the power train (450); and- the power train comprises at least three working fluid lines operating at different pressure levels.

33. The valving arrangement according to any one of claims 27 to 32, wherein each fluid chamber (170) is associated with a valve arrangement comprising:- an electronically controlled outlet valve;- an electronically controlled inlet valve; and- at least one electronically controlled interconnection valve; wherein each of said valves is independently controllable to regulate fluid flow into, out of, and between the fluid chambers.

34. The valving arrangement (400) according to claim 27, wherein:- each internal fluid passage connects a pair of adjacent fluid chambers; and- at least one electronically controlled interconnection valve (471-480) is mounted along each internal fluid passage to selectively control fluid flow between the connected chambers.

35. The valving arrangement (400) according to any one of claims 27 to 34, comprising:- a controller (300) configured to: monitor the shaft rotational instantaneous parameters of the rotatable shaft (110); and control at least the electronically controlled outlet valves (471-480) based on said monitored parameters.

36. The valving arrangement (400) according to claim 35, comprising a sensor (310) configured to be mounted on the rotatable shaft (110) to monitor at least part of said shaft rotational instantaneous parameters.

37. The valving arrangement (400) according to any one of claims 30, 35 or 36, comprising an electronically controlled inlet valve (471), wherein the controller (300) is configured to control said inlet valve based on:- the monitored shaft rotational instantaneous parameters; and- the monitored working fluid instantaneous parameters.

38. The valving arrangement (400) according to any one of claims 35 to 37, wherein:- the valving arrangement comprises electronically controlled interconnection valves (471-480) mounted between adjacent fluid chambers; and- the controller (300) is configured to control said interconnection valves to enable bidirectional fluid transfer between said adjacent chambers based on the monitored predefined parameters.

39. The valving arrangement (400) according to any one of claims 35 to 38, wherein the controller (300) is configured to:- define a timing window (355) corresponding to a predetermined angular segment of rotation based on the monitored shaft rotational instantaneous parameters; and- control the electronically controlled valves according to said timing window.

40. The valving arrangement (400) according to claim 39, wherein the controller (300) is configured to:- monitor operational conditions of the fluid converter through said predefined parameters; and- dynamically adjust the timing window (355) based on said monitored operational conditions.

41. The valving arrangement (400) according to claim 39 or 40, wherein the controller (300) is configured to:- define multiple timing windows (355), each for a different group of fluid chambers (170); and- independently shift each timing window based on the monitored predefined parameters to control fluid mixing between chambers.

42. The valving arrangement (400) according to any one of claims 35 to 41, wherein the controller (300) is configured to selectively operate the valving arrangement in:- a motor mode wherein controlled working fluid flow drives rotation of the rotatable shaft; and- a pump mode wherein monitored shaft rotation drives working fluid flow.

43. The valving arrangement (400) according to any one of claims 35 to 42, wherein the controller (300) is configured to:- monitor working fluid instantaneous parameters in multiple working fluid lines; and- selectively control fluid flow between the fluid chambers (170) and said working fluid lines to manage energy storage and release.

44. The valving arrangement (400) according to any one of claims 35 to 43, wherein the controller (300) is configured to:- monitor vibration characteristics as part of the shaft rotational instantaneous parameters; and- adjust valve timing based on said monitored vibration characteristics.

45. The valving arrangement (400) according to any one of claims 35 to 44, wherein the controller (300) is configured to:- monitor operational conditions through the predefined parameters; and- perform real-time calibration of valve timing based on changes in said monitored conditions.

46. The valving arrangement (400) according to any one of claims 35 to 45, wherein the controller (300) is configured to synchronize an internal clock (350) with the monitored shaft rotational instantaneous parameters.

47. The valving arrangement (400) according to any one of claims 35 to 46, wherein the controller (300) is configured to:- operate the electronically controlled valves using pulse-width modulation; and- regulate working fluid flow based on the monitored predefined parameters.

48. The valving arrangement (400) according to any one of claims 35 to 47, wherein the controller (300) is configured to:- detect rotation direction (CW, CCW) from the monitored shaft rotational instantaneous parameters; and- apply different valve timing schemes based on the detected rotation direction.

49. The valving arrangement (400) according to any one of claims 35 to 48, wherein the controller (300) is configured to:- monitor operational requirements of the external rotary machinery through the monitored shaft rotational instantaneous parameters; and- adjust valve timing to meet said operational requirements.

50. The valving arrangement according to any one of claims 27 to 49, wherein the electronically controlled valves are configured to:- selectively activate different portions of piston working surfaces (185, 186, 187) within each fluid chamber (170); and- thereby dynamically change effective piston areas during operation to control at least one of: angular forces acting on the rotatable shaft (110); and pressure distribution of the working fluid within the fluid chambers.

51. The valving arrangement according to any one of claims 27 to 50, wherein the controller (300) is configured to:- control fluid dwell time within the fluid chambers (170) independently of valve states; and- vary interaction time between working fluid and piston surfaces while maintaining constant valve configurations.

52. A fluid converter (100) comprising:- a housing (190);- a rotatable shaft (110) mounted within the housing;- a plurality of fluid chambers (170) arranged around the rotatable shaft, each chamber having a variable swept volume (171) determined based on rotation of the shaft; and- a valving arrangement (400) according to any one of claims 27 to 51.

53. The fluid converter (100) according to claim 52, comprising:- a swash plate (150) mounted on the rotatable shaft (110); and- a plurality of pistons (180) coupled to the swash plate and arranged to vary the swept volumes of the fluid chambers based on shaft rotation.

54. The fluid converter (100) according to claim 52 or 53, wherein the housing (190) comprises a reference azimuth map (250) marked thereon for mechanical and operational alignment.

55. The fluid converter (100) according to any one of claims 52 to 54, comprising a coupling adaptor (130) configured to:- connect the rotatable shaft (110) to the external rotary machinery; and- maintain alignment between the housing and said machinery in three dimensions (195).

56. The fluid converter (100) according to any one of claims 52 to 55, wherein different fluid chambers (170) have different piston areas (185, 186, 187) for variable fluid-mechanical energy conversion.

57. The fluid converter (100) according to any one of claims 52 to 56, configured as any one of:- an axial piston pump / motor;- a bent axis pump / motor;- a radial piston pump / motor; or- a vane pump / motor; whereby the fluid chambers (170) are arranged according to the selected configuration.

58. The fluid converter (100) according to any one of claims 52 to 57, comprising a mechanical gear system coupled to the rotatable shaft (110) for mechanical power transmission.

59. The fluid converter (100) according to any one of claims 52 to 58, wherein the fluid chambers (170) are arranged in a multi-stage configuration for sequential fluid pressure conversion.

60. The fluid converter (100) according to any one of claims 52 to 59, wherein the fluid chambers (170) are arranged symmetrically around the rotatable shaft (110) for balanced operation.

61. A fluid power system comprising:- multiple fluid converters according to any of claims 52 to 60;- a shared valving arrangement according to any of claims 27 to 51 fluidly connected to all said fluid converters; and- a control system configured to coordinate operation of all said fluid converters through the shared valving arrangement.

62. The fluid power system according to claim 61, wherein the control system is configured to:- monitor predefined parameters from each fluid converter;- generate control commands based on monitored parameters from each fluid converter; and- coordinate said control commands to manage the shared valving arrangement.

63. The fluid power system according to claim 61 or 62, wherein:- the shared valving arrangement (400) comprises a valve matrix configurable to selectively connect fluid chambers of different fluid converters; and- the control system is configured to: determine operational priorities between the fluid converters based on their monitored predefined parameters; dynamically allocate valve resources based on determined priorities; and maintain synchronized operation between the fluid converters.

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