Except for valve type flow distribution, axial piston pumps can generally be used as hydraulic motors in other forms, that is, axial piston pumps and axial piston motors are reversible. The working principle of an axial piston motor is that the oil distribution plate and swashplate are fixed, and the motor shaft is connected to the cylinder body to rotate together. When the pressure oil enters the plunger hole of the cylinder block through the window of the oil distribution plate, the plunger extends under the action of the pressure oil, and tightly adheres to the swashplate to generate a normal reaction force p on the plunger. This force can be decomposed into axial component force and vertical component force Q. Q is in balance with the hydraulic pressure on the plunger, while Q causes the plunger to generate a torque towards the center of the cylinder block, driving the motor shaft to rotate counterclockwise. The instantaneous total torque generated by the axial piston motor is pulsating. If the direction of motor pressure oil input is changed, the motor shaft rotates clockwise. The change in inclination angle a of the swashplate, also known as the change in displacement, not only affects the torque of the motor, but also its speed and steering. The larger the inclination angle of the swashplate, the greater the torque generated and the lower the rotational speed.