针对轴向柱塞马达的轴向液压力不平衡、瞬态扭矩脉动、低速稳定性差等问题，本项目提出并设计了一种磁预紧滑靴副双侧驱动轴向柱塞马达，并以此为研究对象。建立配流副的力学模型，研究柱塞数目及分布、斜盘斜面倾角、柱塞孔压力分布、配流盘结构等对轴向液压力的影响，确立轴向液压力平衡的耦合机理；建立瞬态扭矩脉动方程，考察马达本身结构参数与外部因素对其影响，确立低扭矩脉动的多排柱塞、斜盘斜面及配流盘之间的耦合机理；建立传动轴的力学模型，确定最优启动特性下的内外排耦合机理，进一步分析其低速稳定性。建立磁预紧滑靴副的物理模型和力学模型，分析滑靴作用面积、阻尼孔、磁性力三者之间的关系，优化其油膜特性。研制双侧驱动轴向柱塞马达样机，试验研究其各项特性。最终为双侧驱动轴向柱塞马达的设计与制造提供良好的理论基础。

The dual-drive axial piston motor based on slipper pair using magnetic preload is put forward and is used as research object in this project, for the problems of the axial piston motors in existence such as the unbalanced axial hydraulic pressure, the torque ripple, the poor low-speed stability. The mechanical model of the valve plate pair is established, the impact of the number and the distribution of the pistons, the dip angel of the bevel, the pressure in the column holes, the structure of the valve plate pair on the axial hydraulic pressure is studied, and the coupling mechanism of balanced axial hydraulic pressure is established. The transient torque ripple equation is given, with considering itslef structural parameters and external factores, the coupling mechanism of dual-ring pistons, the bevel of the swash plate, the structure of the valve plate is established in the case of the low torque ripple. The mechanical model of the shaft is established, the coupling mechanism of the inside ripple and outside ripple is established in the case of the optimal start-up characteristic, and the low-speed stability is studied. The physical model and the mechanical model are established, the relationship of the action area of the slippe, diamagnetic force and the damping hole is analyzed, and it will optimize the oil film performance. The dual-drive axial piston motor’s prototype is developed and the experiments on the different parameters are carried out. At last the design princple and the evaluation methodology for the design and the manufacture of the dual-drive axial piston motor is put forward.