Article(id=1241394830820044937, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241394830056681606, articleNumber=null, orderNo=null, doi=10.16579/j.issn.1001.9669.2025.05.006, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1691510400000, receivedDateStr=2023-08-09, revisedDate=1701014400000, revisedDateStr=2023-11-27, acceptedDate=null, acceptedDateStr=null, onlineDate=1773901191668, onlineDateStr=2026-03-19, pubDate=1747238400000, pubDateStr=2025-05-15, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773901191668, onlineIssueDateStr=2026-03-19, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773901191668, creator=13701087609, updateTime=1773901191668, updator=13701087609, issue=Issue{id=1241394830056681606, tenantId=1146029695717560320, journalId=1227999626482147330, year='2025', volume='47', issue='5', pageStart='1', pageEnd='158', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773901191486, creator=13701087609, updateTime=1773901239759, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1241395032599613636, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241394830056681606, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1241395032599613637, tenantId=1146029695717560320, journalId=1227999626482147330, issueId=1241394830056681606, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=46, endPage=54, ext={EN=ArticleExt(id=1241394831038148748, articleId=1241394830820044937, tenantId=1146029695717560320, journalId=1227999626482147330, language=EN, title=Research on nonlinear dynamics of marine rotor-bearing system under complex transport motions, columnId=1228282191914926752, journalTitle=Journal of Mechanical Strength, columnName=Vibration·Noise·Monitoring·Diagnosis, runingTitle=null, highlight=null, articleAbstract=

In order to reveal the nonlinear dynamics behavior of the marine rotor-bearing system under complex transport motions (heaving, swaying, yawing and pitching), the dynamical model of the rotor-bearing system with the nonlinear oil film force and transport inertial forces was built based on, Lagrange’s equation.The effects of the rotating speed and transport motion parameters on the nonlinear dynamics behaviors of the system were mainly analyzed. The results show that the amplitude and oil film whirl interval of the system are larger when considering the coupling motion of heaving, swaying,yawing and pitching than those when not considering this motion. Affected by the coupled transport motion, the rotor will deflect obviously at a lower speed. At a certain rotational speed, with the increase of heaving amplitude, swaying frequency or swaying amplitude, the amplitude jump phenomenon caused by the oil whirl appears in the vibration response of the system,and the motion state of the system undergoes quasi-periodic and chaos. With the increase of swaying frequency, yawing amplitude, yawing frequency, pitching amplitude or pitching frequency, the system is always in a quasi-periodic vibration state,but the vibration amplitude of the rotor increases in varying degrees.

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LI Ming, E-mail:
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为揭示复杂牵连运动(垂荡、横荡、艏摇和纵摇)下船用转子-轴承系统的非线性动力学行为,基于Lagrange方程建立了包含非线性油膜力和牵连惯性力的转子-轴承系统的动力学模型。主要分析了转子转速和牵连运动参数对系统非线性动力学行为的影响。结果表明,考虑垂荡、横荡、艏摇、纵摇耦合运动后,比不考虑此运动时系统的振幅及油膜涡动区间要大;受耦合牵连运动的影响,转子会在较低转速下发生明显偏转;在一定转速下,随着垂荡幅值、横荡频率或横荡幅值的增加,系统振动响应出现由油膜涡动引起的幅值突跳现象,系统运动状态历经准周期和混沌,而随横荡频率、艏摇幅值、艏摇频率、纵摇幅值或纵摇频率的增加,系统始终处于准周期振动状态,但转子的振动幅值有不同程度的增大。

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李明,男,1963年生,江苏苏州人,教授,博士研究生导师;主要研究方向为转子动力学、非线性振动;E-mail:
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杜宝祥,男,1996年生,山东滕州人,硕士研究生;主要研究方向为转子动力学;E-mail:

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杜宝祥,男,1996年生,山东滕州人,硕士研究生;主要研究方向为转子动力学;E-mail:

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Shock and Vibration2019(1):7683952., articleTitle=Nonlinear dynamic characteristics of marine rotor-bearing system under heaving motion, refAbstract=null)], funds=[Fund(id=1241400395327656324, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, awardId=11972282, language=EN, fundingSource=National Natural Science Foundation of China(11972282), fundOrder=null, country=null), Fund(id=1241400395415736713, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, awardId=11972282, language=CN, fundingSource=国家自然科学基金项目(11972282), fundOrder=null, country=null)], companyList=[AuthorCompany(id=1241400388901982361, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, xref=null, ext=[AuthorCompanyExt(id=1241400388906176666, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, companyId=1241400388901982361, language=EN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=Department of Mechanics, School of Science, Xi’an University of Science and Technology, Xi’an 710054, China), AuthorCompanyExt(id=1241400388910370972, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, companyId=1241400388901982361, language=CN, country=null, province=null, city=null, postcode=null, companyName=null, departmentName=null, remark=西安科技大学 理学院 力学系,西安 710054)])], figs=[ArticleFig(id=1241400391842189559, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.1, caption=Schematic diagram of the marine rotor-bearing system under the transport motion, figureFileSmall=DdUksHbMdA/Py3o1HZXwCw==, figureFileBig=VQpw7nEZR5DlzfLwQsvF+Q==, tableContent=null), ArticleFig(id=1241400391955435772, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图1, caption=牵连运动下船用转子-轴承系统示意图, figureFileSmall=DdUksHbMdA/Py3o1HZXwCw==, figureFileBig=VQpw7nEZR5DlzfLwQsvF+Q==, tableContent=null), ArticleFig(id=1241400392060293379, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.2, caption=Bifurcation diagram and spectrum waterfall diagram of the system(exchuding ship motions), figureFileSmall=mkBZoap3IlvREl0UFsG+bQ==, figureFileBig=1K6osqRjMPZy5FPw6ge2sw==, tableContent=null), ArticleFig(id=1241400392160956682, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图2, caption=系统的分岔图和频谱瀑布图(不考虑船舶的运动), figureFileSmall=mkBZoap3IlvREl0UFsG+bQ==, figureFileBig=1K6osqRjMPZy5FPw6ge2sw==, tableContent=null), ArticleFig(id=1241400392270008594, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.3, caption=Axis orbit and Poincaré section of the system under different speeds, figureFileSmall=LIp7yzVDg8rqWKq86IlKOg==, figureFileBig=20V3jTeucfbZ1JtYMP9oIw==, tableContent=null), ArticleFig(id=1241400392383254811, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图3, caption=不同转速下系统的轴心轨迹及庞加莱截面, figureFileSmall=LIp7yzVDg8rqWKq86IlKOg==, figureFileBig=20V3jTeucfbZ1JtYMP9oIw==, tableContent=null), ArticleFig(id=1241400392500695335, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.4, caption=Bifurcation diagram and spectrum waterfall diagram of the system(corsidering ship motions), figureFileSmall=VwaN+2lZBmNBJptN7ATGGw==, figureFileBig=Q7Rn8ysb95pNlFVOk3eZsQ==, tableContent=null), ArticleFig(id=1241400392597164334, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图4, caption=系统的分岔图和频谱瀑布图(考虑船舶运动), figureFileSmall=VwaN+2lZBmNBJptN7ATGGw==, figureFileBig=Q7Rn8ysb95pNlFVOk3eZsQ==, tableContent=null), ArticleFig(id=1241400392710410551, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.5, caption=Steady-state response of the system under different speeds, figureFileSmall=Tq5gh51Vd0NPZEjPgBhW4Q==, figureFileBig=3/8+u1ZZteSQF4KA2UJ1Ow==, tableContent=null), ArticleFig(id=1241400392802685248, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图5, caption=不同转速下系统的稳态响应, figureFileSmall=Tq5gh51Vd0NPZEjPgBhW4Q==, figureFileBig=3/8+u1ZZteSQF4KA2UJ1Ow==, tableContent=null), ArticleFig(id=1241400392894959940, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.6, caption=Relation of system vibration amplitudes with speeds, figureFileSmall=5XJc0KgF6eGhainTNyUs5w==, figureFileBig=ZsZlOy4p9GFdJBCpf1xYqQ==, tableContent=null), ArticleFig(id=1241400392999817547, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图6, caption=系统振幅和转速关系, figureFileSmall=5XJc0KgF6eGhainTNyUs5w==, figureFileBig=ZsZlOy4p9GFdJBCpf1xYqQ==, tableContent=null), ArticleFig(id=1241400393108869456, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.7, caption=Variation curves of the system amplitude varying with the rotor speed increasel decrease, figureFileSmall=4yWtC1TZHoaJAfH5qNLJjA==, figureFileBig=mypx0r0+owxBat4gZP57HA==, tableContent=null), ArticleFig(id=1241400393196949845, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图7, caption=系统振幅随转子升降速变化曲线, figureFileSmall=4yWtC1TZHoaJAfH5qNLJjA==, figureFileBig=mypx0r0+owxBat4gZP57HA==, tableContent=null), ArticleFig(id=1241400393268253017, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Fig.8, caption=Bifurcation diagram of the system displacement changing with parameters of the transport motion, figureFileSmall=ChPyJhg3HM+lKqMQFHLNxg==, figureFileBig=y9U9O6MniGl0QO4baOOF+w==, tableContent=null), ArticleFig(id=1241400393347944800, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=图8, caption=系统位移随牵连运动参数变化的分岔图, figureFileSmall=ChPyJhg3HM+lKqMQFHLNxg==, figureFileBig=y9U9O6MniGl0QO4baOOF+w==, tableContent=null), ArticleFig(id=1241400393465385318, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Tab.1, caption=

Dimension one parameters of the system

, figureFileSmall=null, figureFileBig=null, tableContent=
量纲一参数Dimension one parameter表达式Expression量纲一参数Dimension one parameter表达式Expression
时间Time ττ=ωt纵摇频率比Pitching frequency ratio ηPηP=ΩP/Ω
偏心距Eccentricity αα=e/c垂荡幅值Heaving amplitude AHAH=aH/c
转子转速Rotor speed Ω 横荡幅值Swaying amplitude ASAS=aS/c
垂荡频率Heaving frequency ΩH X向位移X⁃direction displacement XX=x/c
横荡频率Swaying frequency ΩS Y向位移Y⁃direction displacement YY=y/c
艏摇频率Yawing frequency ΩY Sommerfeld数Sommerfeld number σ
纵摇频率Pitching frequency ΩP 油膜力Oil film force fifi=Fi/(mg), i=x,y
垂荡频率比Heave frequency ratio ηHηH=ΩH/Ω转子1/2长度1/2 length of the rotor LL=l/c
横荡频率比Swaying frequency ratio ηSηS=ΩS/Ω长径比 Aspect ratio λλ=B/(2R)
艏摇频率比Yawing frequency ratio ηYηY=ΩY/Ω惯性半径Radius of inertia ρi , i=1,2
), ArticleFig(id=1241400393561854317, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=CN, label=表1, caption=

系统的量纲一参数

, figureFileSmall=null, figureFileBig=null, tableContent=
量纲一参数Dimension one parameter表达式Expression量纲一参数Dimension one parameter表达式Expression
时间Time ττ=ωt纵摇频率比Pitching frequency ratio ηPηP=ΩP/Ω
偏心距Eccentricity αα=e/c垂荡幅值Heaving amplitude AHAH=aH/c
转子转速Rotor speed Ω 横荡幅值Swaying amplitude ASAS=aS/c
垂荡频率Heaving frequency ΩH X向位移X⁃direction displacement XX=x/c
横荡频率Swaying frequency ΩS Y向位移Y⁃direction displacement YY=y/c
艏摇频率Yawing frequency ΩY Sommerfeld数Sommerfeld number σ
纵摇频率Pitching frequency ΩP 油膜力Oil film force fifi=Fi/(mg), i=x,y
垂荡频率比Heave frequency ratio ηHηH=ΩH/Ω转子1/2长度1/2 length of the rotor LL=l/c
横荡频率比Swaying frequency ratio ηSηS=ΩS/Ω长径比 Aspect ratio λλ=B/(2R)
艏摇频率比Yawing frequency ratio ηYηY=ΩY/Ω惯性半径Radius of inertia ρi , i=1,2
), ArticleFig(id=1241400393670906230, tenantId=1146029695717560320, journalId=1227999626482147330, articleId=1241394830820044937, language=EN, label=Tab.2, caption=

Values of dimension one parameters of the rotor system

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量纲一参数Dimension one parameter值Value
长径比Aspect ratio λ0.2
Sommerfeld数Sommerfeld number σ3
偏心距Eccentricity α0.05
转子1/2长度1/2 length of the rotor L22
圆盘对纵轴的惯性半径
Inertia radius of the disk to the longitudinal axis ρ1
10
圆盘对横轴的惯性半径
Inertia radius of the disk to the horizontal axis ρ2
12
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转子系统的量纲一参数取值

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量纲一参数Dimension one parameter值Value
长径比Aspect ratio λ0.2
Sommerfeld数Sommerfeld number σ3
偏心距Eccentricity α0.05
转子1/2长度1/2 length of the rotor L22
圆盘对纵轴的惯性半径
Inertia radius of the disk to the longitudinal axis ρ1
10
圆盘对横轴的惯性半径
Inertia radius of the disk to the horizontal axis ρ2
12
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复杂牵连运动下船用转子-轴承系统的非线性动力学研究
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杜宝祥 , 李明
机械强度 | 振动·噪声·监测·诊断 2025,47(5): 46-54
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机械强度 | 振动·噪声·监测·诊断 2025, 47(5): 46-54
复杂牵连运动下船用转子-轴承系统的非线性动力学研究
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杜宝祥 , 李明
作者信息
  • 西安科技大学 理学院 力学系,西安 710054
  • 杜宝祥,男,1996年生,山东滕州人,硕士研究生;主要研究方向为转子动力学;E-mail:

通讯作者:

李明,男,1963年生,江苏苏州人,教授,博士研究生导师;主要研究方向为转子动力学、非线性振动;E-mail:
Research on nonlinear dynamics of marine rotor-bearing system under complex transport motions
Baoxiang DU , Ming LI
Affiliations
  • Department of Mechanics, School of Science, Xi’an University of Science and Technology, Xi’an 710054, China
出版时间: 2025-05-15 doi: 10.16579/j.issn.1001.9669.2025.05.006
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为揭示复杂牵连运动(垂荡、横荡、艏摇和纵摇)下船用转子-轴承系统的非线性动力学行为,基于Lagrange方程建立了包含非线性油膜力和牵连惯性力的转子-轴承系统的动力学模型。主要分析了转子转速和牵连运动参数对系统非线性动力学行为的影响。结果表明,考虑垂荡、横荡、艏摇、纵摇耦合运动后,比不考虑此运动时系统的振幅及油膜涡动区间要大;受耦合牵连运动的影响,转子会在较低转速下发生明显偏转;在一定转速下,随着垂荡幅值、横荡频率或横荡幅值的增加,系统振动响应出现由油膜涡动引起的幅值突跳现象,系统运动状态历经准周期和混沌,而随横荡频率、艏摇幅值、艏摇频率、纵摇幅值或纵摇频率的增加,系统始终处于准周期振动状态,但转子的振动幅值有不同程度的增大。

复杂牵连运动  /  船用转子-轴承系统  /  非线性动力学  /  非线性油膜力

In order to reveal the nonlinear dynamics behavior of the marine rotor-bearing system under complex transport motions (heaving, swaying, yawing and pitching), the dynamical model of the rotor-bearing system with the nonlinear oil film force and transport inertial forces was built based on, Lagrange’s equation.The effects of the rotating speed and transport motion parameters on the nonlinear dynamics behaviors of the system were mainly analyzed. The results show that the amplitude and oil film whirl interval of the system are larger when considering the coupling motion of heaving, swaying,yawing and pitching than those when not considering this motion. Affected by the coupled transport motion, the rotor will deflect obviously at a lower speed. At a certain rotational speed, with the increase of heaving amplitude, swaying frequency or swaying amplitude, the amplitude jump phenomenon caused by the oil whirl appears in the vibration response of the system,and the motion state of the system undergoes quasi-periodic and chaos. With the increase of swaying frequency, yawing amplitude, yawing frequency, pitching amplitude or pitching frequency, the system is always in a quasi-periodic vibration state,but the vibration amplitude of the rotor increases in varying degrees.

Complex transport motion  /  Marine rotor-bearing system  /  Nonlinear dynamics  /  Nonlinear oil film force
杜宝祥, 李明. 复杂牵连运动下船用转子-轴承系统的非线性动力学研究. 机械强度, 2025 , 47 (5) : 46 -54 . DOI: 10.16579/j.issn.1001.9669.2025.05.006
Baoxiang DU, Ming LI. Research on nonlinear dynamics of marine rotor-bearing system under complex transport motions[J]. Journal of Mechanical Strength, 2025 , 47 (5) : 46 -54 . DOI: 10.16579/j.issn.1001.9669.2025.05.006
船舶在航行时会受波浪力影响而呈现出各种复杂的摇荡运动响应形式(如垂荡、横荡和艏摇等的耦合运动)。在此恶劣环境下,船用设备面临着巨大考验,同时船员的不适感也会加剧。对于船舶的动力系统核心——转子系统,这类运动的影响无疑是巨大的,它可能导致转子出现故障,进而使船舶失去动力,造成“船沉人亡”的悲剧。船舶的摇荡运动会以牵连运动的形式影响到转子-轴承系统的振动特性,在此情形下转子除受到自身的不平衡激振力作用外,还受到船舶耦合牵连运动产生的附加激励的影响;此外,基础的振动会以改变轴承油膜力的形式对转子振动产生巨大影响[1]。因此,研究牵连运动下船用转子系统的非线性动力学行为具有重要的实际工程意义。
传统转子动力学的研究通常不考虑基础的运动。然而,对于移动载体(如飞机、船舶等)中的转子-轴承系统,这种不考虑基础运动的假设显然是不合理的。近年来,考虑基础运动的转子-轴承系统动力学特性的研究逐渐增多。张鹏等[2-4]建立了不同激励下电磁轴承-柔性转子系统的动力学方程,研究了冲击幅值和持续时间等参数对弹性支撑基础的加速度响应的影响,并基于加速度响应设计了瞬态振动前馈补偿算法,有效抑制了冲击激励下转子系统的振动。张越等[5]对机动飞行下磁悬浮柔性转子进行了振动响应分析,结果表明,飞机转弯和俯冲拉升运动时转子进动中心会发生偏移,转子振幅增大。陈毅等[6]研究了水平盘旋机动飞行时双转子系统的主振动特性,建模时将机动飞行条件下转子系统上的附加载荷简化为常数激励,并综合考虑了中介轴承间隙、非线性接触等非线性因素,分析了双转子系统的主共振特性,探讨了牵连运动参数和结构参数对系统主共振特性的影响规律。GAO等[7]利用Lagrange方程建立了机动飞行中球轴承支撑的柔性非对称转子系统的数学模型,并系统地研究了机动飞行下转子系统的动力学特性。PHADATARE等[8]基于欧拉理论建立了简谐激励下高度柔性转子-轴承系统的动力学模型,并计算了系统的临界速度和动态响应。CHEN等[9-10]建立了基础激励下挤压油膜阻尼器支撑的转子系统的动力学方程,并对系统的非线性振动和分岔行为进行了研究。HOU等[11]利用Lagrange方程建立了机动飞行下弹性支撑的Jeffcott转子系统的运动方程,通过改变转子偏心率E和机动荷载G,发现系统可能发生次谐波共振。结果表明,偏心率E和机动荷载G越大,次谐波共振越大;当两者其中之一增加时,次谐波共振区域将扩大到更大的区域。
此外,部分学者对船用转子-轴承系统的振动特性进行了有益探索。张文卓等[12]考虑了低频率、大摆幅基础运动,基于Lagrange方程建立了滑动轴承-转子系统的动力学模型,利用数值方法获得了系统的稳态响应,分析了转子转速和基础运动对系统动力学的影响。瓮雷等[13]建立了考虑舰船汽轮机气流激振时的转子松动故障模型,利用分岔图、频谱图、庞加莱截面等分析了转子转速和系统主要参数对系统非线性振动特性的影响。SONI等[14]考虑了水波引起的船舶运动对安装在船舶上的柔性转子系统振动的影响,并通过放置适当的电磁激振器对转子的振动进行主动控制。刘镇星等[15]建立了舰船摇摆作用下滑动轴承-直齿轮副系统动力学模型,针对齿轮副相对于摇心偏置位置的影响进行研究。XIE等[16-17]建立了垂荡和横摇两种牵连运动下船用转子系统耦合气囊隔振器的数学模型,利用数值方法求出其非线性振动响应,并对气囊隔振器的参数进行了优化。杜晓蕾等[18]采用多尺度方法研究了垂荡作用下船用转子耦合气囊隔振系统的主共振情况,并用数值方法分析了系统的非线性动力学特性。上述研究大多考虑船舶的单一运动形式对船用转子系统的影响,但考虑到海面情况的复杂性,船舶会出现各种复杂的耦合摇荡运动,如果只考虑船舶单个牵连运动对船用转子-轴承系统的影响,则不能准确地反映转子在某些工况下的实际振动特性。
本文在考虑了转子的质量偏心和轴承油膜的非线性等因素后,重点分析了垂荡、横荡、艏摇和纵摇的耦合运动下船用转子-轴承系统的动力学特性,并在此基础上探讨了牵连运动参数对系统非线性动力学行为的影响,研究结果为该类转子的振动控制提供依据。
图1为垂荡、横荡、艏摇、纵摇耦合作用下船用转子-轴承系统的运动示意图。坐标系O0X0Y0Z0固结于地面,坐标系O1X1Y1Z1固结于轴承中心并随船舶转动,坐标系O2X2Y2Z2固定在船上且与坐标系O0X0Y0Z0平行。垂荡、横荡运动时,船舶分别沿X2Y2轴平动;艏摇、纵摇运动时,船舶分别绕O2X2O2Y2轴转动。
引入系(x0y0z0x1y1θoxθoy)来描述船舶运动,x0y0z0均为船舶平动位移;x1y1分别为船舶在垂荡、横荡运动下产生的位移;θoxθoy分别为船舶在艏摇、纵摇运动下产生的旋转角度。设x1=aH sin(ωHt)、y1=aS sin(ωSt)、θox=θY sin(ωYt)、θoy=θP sin(ωPt)。其中,aHωH分别为船舶垂荡的振幅和频率;aSωS分别为船舶横荡的振幅和频率;θYωY分别为船舶艏摇的振幅和频率;θPωP分别为船舶纵摇的振幅和频率。
为方便研究做如下假设:
1)转子为刚性轴段,长度为2l,转速为ω
2)圆盘质量为m,偏心距为e,绕ox轴或oy轴的转动惯量为J1,绕oz轴的转动惯量为J2
3)船舶匀速航行。
系统的动能可以表示为
式中,xy为转子沿O1X1O1Y1轴方向移动的位移;θxθy为转子绕O1X1O1Y1轴转动的角度。
取绝对坐标系中O0点为零势能点,转子在绝对坐标系中的重力势能可表达为
式中,g为重力加速度;rax为转子相对于地面的垂直高度。
系统的广义坐标、广义力可分别表示为
式中,Fx1Fy1为轴承左端油膜力;Fx2Fy2为轴承右端油膜力。
根据Lagrange方程,系统的运动微分方程可表示为
基于短轴承假设[19],非线性油膜力在径向和周向的表达式分别为
式中,μ为润滑油黏度;B为轴承长度;R为轴承半径;c为油膜间隙;ε为轴颈偏心率;θ为轴颈偏转角度,。对FrFτ进行坐标变换,则油膜力在X、Y方向上的表达式分别为
船舶的牵连运动会使轴颈发生偏斜,此时左侧轴颈的位置可以表示为θ1=arccos[(x+y)/e1],将e1θ1分别代入式(6)、式(7)可得轴承左端油膜力Fx1Fy1。同理,将右侧轴颈的位置θr=arccos[(x-y)/er]分别代入式(6)、式(7)可得轴承右端油膜力Fx2Fy2
为简化计算、增强研究内容的适用性,分别引入时间尺度t、油膜间隙c、转子质量m和转子转速ω等物理量对系统的运动微分方程进行量纲一化,并规定X′=dX/dτY′=dY/dτθ′=dθ/dτ。相关量纲一参数表达式如表1所示。
则系统量纲一运动方程表达式为
式(8)中含有与非线性油膜力和船舶牵连惯性力相关的非线性函数,难以求出其解析解或近似解。为研究系统的非线性动力学行为,采用4阶Runge-Kutta法对其进行数值求解。给定系统初始值分别为X=0.2,X′=0,Y=0.05,Y′=0,θx=0,θy=0,。转子系统的结构参数取值如表2所示。
图2为不考虑船舶运动时系统的分岔图和频谱瀑布图。由图2可知,系统的动力学行为直接受到转子转速影响。为进一步讨论转子转速对系统非线性振动特性的影响,得到了转子在代表性转速Ω=1.20、2.40、3.20时的轴心轨迹及庞加莱截面,如图3所示。由图3可知,当代表性转速Ω<2.15时,系统为稳定的周期1运动,对应的频谱瀑布图中主要表现为工频f0及其2倍频2f0,此时系统振动主要受转子不平衡力的影响。图3(a)中,转子中心绕静平衡位置作椭圆运动,且幅值较小,庞加莱截面为1个孤立的吸引子;当Ω=2.15时,系统发生倍周期分岔,进入周期2运动状态,相应的频谱图中新增了半频0.5f0及频率1.5f0,其中半频0.5f0的占比远大于其他频率,油膜涡动主导转子振动;当达到Ω=2.73时,系统运动状态从周期2返回至周期1,位移幅值突降,对应频谱中半频0.5f0及频率1.5f0消失,非线性油膜力几乎不再影响转子的振动,转子主要表现为工频振动;Ω增大到2.88时,系统发生准周期分岔,对应频谱中成分变得比较复杂,其中稍小于半频0.5f0的频率fn占主要部分,且其对应的幅值随转速的增加而不断增大。图3(c)中,转子的稳态响应在1个环域内为较为复杂的准周期振荡,庞加莱截面为1条封闭曲线,系统处在准周期振动状态。综上所述,转速由0.40增大至3.40的过程中,系统运动状态变化过程为P-1→P-2→P-1→准周期。
图4为转速从0.60增大到3.20时,系统的分岔图和频谱瀑布图。当Ω<2.15时,系统作准周期运动,对应的瀑布图中存在大幅值的工频f0、小幅值的频率2f0和牵连运动频率fT;在Ω为2.15时,系统发生准周期分岔,进入上、下两支的准周期运动状态,对应频谱中新增半频0.5f0与频率1.5f0,并且半频0.5f0成分特别突出;Ω增大到2.72时,系统经过倒分岔重回至1支的准周期运动状态,对应频谱中半频0.5f0与频率1.5f0消失;Ω达到2.88时,系统位移幅值突增,对应的瀑布图中频谱成分变得更为复杂,并且出现连续谱,系统进入混沌状态。相较于不考虑船舶运动时系统出现的简单周期同步振动,考虑船舶运动后的系统表现出的动力学特性更加丰富。
图5所示为转子在Ω分别为1.56、2.68、3.12时的稳态响应。当Ω=1.56时,系统的轴心轨迹与两端轴颈轨迹有明显差异,这说明船舶牵连运动引起的非线性油膜力矩使转子在轴瓦内发生偏转,出现明显的进动现象。在频域响应中工频f0成分突出,2倍频2f0、牵连运动频率fT及其倍频2fT对应的幅值较小,转子主要表现为大幅值的工频振动,叠加小幅值的牵连运动频率振动。在时域响应中能够分别看出牵连运动引起的大周期振动、转子偏心引起的小周期振动,位移幅值随时间变化较小。庞加莱截面为由一系列点组成的曲线段,这些响应特征表明,系统此时处于准周期振动状态。
Ω为2.68时,从轴心轨迹来看,转子在“水滴”区域内为较为复杂的准周期振荡,相比Ω=1.56时的稳态响应,转子振幅显著增大。两端轴颈的运动轨迹和轴心稍有区别,随转速的增加,转子偏转的角度有所减小。在频域响应中存在工频f0及其2倍频2f0、半频0.5f0及频率3f0、牵连运动频率fT及其倍频分量,其中半频0.5f0对应的幅值远大于其他频率,牵连运动频率fT和工频f0的幅值占比次之,该转速下非线性油膜力主导转子振动,并与牵连惯性力和转子不平衡力共同影响着转子振动。在时域响应中可以看出,随时间变化位移幅值较大。庞加莱截面表现为曲线的复杂缠绕,其本质仍为1条封闭曲线。在此转速下,系统运动是准周期的。
Ω为3.12时,轴心轨迹看似相交,实则永不重复,系统垂向和横向振动幅值都比较大。两端轴颈轨迹和轴心轨迹基本一致,意味着船舶的牵连运动几乎不会使转子发生偏斜。频谱图中成分复杂,并出现多处连续谱,其中油膜振荡频率fXT和工频f0占比相当,且为主要成分。由时域响应的放大图可以看出,位移随时间变化毫无规律。庞加莱截面表现为散落在环形区域的无规则点集。此时,系统处于混沌运动状态。
图6比较了不考虑船舶运动和考虑船舶运动两组工况下系统振幅和转速的关系。由图6可以看出,在任意转速下考虑船舶运动时系统的振幅比不考虑此运动时要大。随转子转速增加,两组工况下的幅频曲线均出现3个共振峰。此外,考虑船舶耦合运动后,比不考虑此运动时系统的油膜涡动区间更大,这意味着船舶牵连运动会对非线性油膜力产生影响。
图7所示为系统振幅随转子升降速变化曲线。在进行转子升降速稳态响应的计算时,使用上一转速的最后一组系统稳态响应解作为下一转速的初值进行计算。由图7可知,在Ω分别为2.15、2.72、2.88附近出现幅值突跳现象,这和图4中转子振动状态改变(频谱成分改变)时对应的转速是一致的;值得注意的是,在Ω=2.72附近时系统出现了明显的双稳态现象。
研究表明,船舶牵连运动会影响转子系统的振动特性。本节将分别讨论垂荡、横荡、艏摇、纵摇的参数对系统动力学行为的影响。图8Ω=2.75时,系统位移随牵连运动参数变化的分岔图。由图8(a)可知,当垂荡幅值AH<600时,系统作准周期运动,位移幅值随AH增加近乎线性减小;当AH=600时,系统开始出现油膜涡动,转子振幅骤增,系统运动表现为弱混沌振动;随着AH的继续增加,系统的混沌现象逐渐明显,位移幅值先以曲线形式增大,然后基本保持不变。由图8(b)可以看出,当垂荡频率ΩH<0.013时,系统处于准周期运动状态,位移幅值随ΩH增加成非线性增大;在ΩH=0.013时,系统位移幅值突增,进入混沌运动状态;随着ΩH的继续增加,系统位移幅值以曲线形式增大,系统的混沌现象愈发明显。由图8(c)可见,当横荡幅值AS<2 025时,随着AS的增加,系统位移幅值先小幅减小,而后逐渐增大,系统表现为准周期运动状态;当AS=2 025时,系统位移幅值骤增,系统进入弱混沌振荡状态;随着AS的继续增加,系统位移幅值成非线性增大,系统的混沌现象愈加明显。由图8(d)~图8(h)不难看出,横荡频率、艏摇幅值、艏摇频率、纵摇幅值或纵摇频率变化时,系统始终处于准周期振荡。随着横荡频率或纵摇幅值的增加,系统位移幅值成非线性增加;而随着艏摇幅值、艏摇频率或纵摇频率的增加,系统位移幅值呈小幅增大。
基于Lagrange方程推导了垂荡、横荡、艏摇和纵摇的耦合作用下船用转子-轴承系统的运动微分方程,由方程可知,耦合牵连运动下的转子系统是一个具有强非线性特征的4自由度的非自治系统。采用数值方法求解系统的稳态响应,并着重讨论了转子转速、牵连运动参数等对转子系统振动特性的影响。得出结论如下:
1)考虑垂荡、横荡、艏摇和纵摇耦合运动后,转子振幅比不考虑此耦合运动时更大;转子会在轴瓦内发生偏转,且在转子转速较低时偏转角度较大;随转子转速的增加,系统的振幅响应存在振幅突跳现象,经历准周期和混沌两种运动状态。
2)一定转速下,当垂荡幅值、横荡频率或横荡幅值的取值较大时,会诱发油膜涡动。转子运动状态由准周期突变到混沌,而横荡频率、艏摇幅值、艏摇频率、纵摇幅值或纵摇频率的取值通常不会影响转子的运动状态,转子始终为准周期运动;转子振幅随着横荡频率或纵摇幅值的增加成非线性增大,而随着艏摇幅值、艏摇频率或纵摇频率的增加基本保持不变。
  • 国家自然科学基金项目(11972282)
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2025年第47卷第5期
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doi: 10.16579/j.issn.1001.9669.2025.05.006
  • 接收时间:2023-08-09
  • 首发时间:2026-03-19
  • 出版时间:2025-05-15
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  • 收稿日期:2023-08-09
  • 修回日期:2023-11-27
基金
National Natural Science Foundation of China(11972282)
国家自然科学基金项目(11972282)
作者信息
    西安科技大学 理学院 力学系,西安 710054

通讯作者:

李明,男,1963年生,江苏苏州人,教授,博士研究生导师;主要研究方向为转子动力学、非线性振动;E-mail:
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2种不同金属材料的力学参数

Family
属数
Number of
genus
种数
Number of
species
占总种数比例
Percentage of
total species (%)

Genus
种数
Number of
species
占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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