Hydraulic motor with self-compensation function and self-compensation method thereof

The invention discloses a hydraulic motor with a self-compensation function and a self-compensation method thereof.The hydraulic motor comprises a main shell, a valve plate set, a rotor and stator assembly and a rear cover which are sequentially arranged from front to back, a main shaft is arranged in the main shell, the front end of the main shaft penetrates through the main shell, and the rear end of the main shaft is connected with a rotor of the rotor and stator assembly through a linkage shaft; a self-compensation structure is arranged on the rotor, and when oil enters the port A or the port B of the hydraulic motor, the front end face of the rotor and the valve plate set can be pressed tightly all the time through the self-compensation structure. By improving the structure of the rotor, a compensation plate can be omitted, clearance compensation between the front end face of the rotor and the valve plate set can be achieved through the self-compensation structure of the rotor, the rotor cannot be in the