This example shows a hydromechanical hoist lifting a payload. An ideal hydraulic motor is driven by the pressure commanded by a controller. The controller estimates the current height of the payload by reading the angular velocity from the motor's flexible shaft. The rope is represented as a spring and damper, and the payload is modeled as a mass with gravitational force.
The plot below shows the height of a payload lifted by a hydromechanical hoist. The torque on the hoist shaft is also shown.