船舶的摇荡运动会以牵连运动的形式影响转子-轴承系统的振动特性。另外，基础的振动会以改变轴承油膜力的形式进而对转子振动产生巨大影响。因此，研究复杂牵连运动下船用转子-轴承系统的非线性动力学特性具有重要的实际工程意义。本文考虑了船舶复杂牵连运动和油膜非线性因素的影响，建立了船用转子-轴承系统的动力学模型，着重分析了转子转速和各牵连运动的幅值及频率对转子非线性振动特性的影响。研究内容及结果如下：

(1) 基于Lagrange方程建立了垂荡、横荡、艏摇、纵摇、横摇耦合作用下船用转子-轴承系统的动力学模型，并对系统运动微分方程进行无量纲化以消除物理单位的影响。转子振动微分方程中含有船舶牵连惯性力和非线性油膜力等引起强非线性项，这预示着转子振动将出现丰富的非线性动力学现象。

(2) 研究了船舶垂荡、横荡、横摇作用下船用转子-轴承系统的非线性振动特性，并与不考虑船舶运动的系统作了对比分析。此外，还进一步探讨了垂荡、横荡、横摇的幅值及频率分别对转子非线性振动特性的影响。研究表明：垂荡、横荡、横摇作用下系统的振幅比不考虑此作用时要大，随转子转速增加，系统响应历经准周期和混沌；一定转速下，垂荡幅值、垂荡频率或横荡频率的变化会改变转子的振动状态，进而引起转子振幅的突降或骤增；横荡幅值、横摇幅值及频率通常不改变转子振动状态，随横荡幅值或横摇幅值的增加，转子振幅近似线性增大，而随横摇频率的增加，转子振幅变化很小。

(3) 分析了垂荡、横荡、艏摇、纵摇耦合作用下转子转速对系统非线性振动特性的影响。研究发现考虑垂荡、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更大、发生油膜振荡的初始转子转速更高。受船舶耦合运动的影响，转子会发生偏转，且在非线性油膜力对系统的振动影响较小时转子的偏转角度较大。另外，还分别研究了牵连运动幅值和牵连运动频率对系统动力学行为的影响，得到结论如下：一定转速下，随垂荡、纵摇的幅值或频率的增加，系统出现幅值突跳、分岔、混沌等非线性振动现象；横荡、艏摇的幅值和频率通常不会改变转子的振动状态，但会影响转子的振幅响应，且对转子横向振幅的影响比垂向更为明显。

(4) 探讨了垂荡、横荡、艏摇、纵摇、横摇作用下转子的非线性振动特性。研究结果表明：该耦合运动下系统的振幅比不考虑此运动时要大；随转子转速增加，系统的振幅响应存在幅值突跳现象，转子的运动状态历经准周期和混沌。此外，研究表明各牵连运动的幅值和频率均会对转子振动响应产生影响，具体表现为：一定转速下，垂荡、纵摇的幅值和频率会改变转子振动状态，进而对转子振幅产生较大影响；横荡、艏摇、横摇的幅值和频率一般不会改变转子的振动状态，横荡幅值及频率、横摇幅值对转子振幅影响较大，而艏摇幅值及频率、横摇频率对转子振幅影响很小。

The oscillating motion of the ship affects the vibrational characteristics of the rotor-bearing system in the form of implicated motion. Additionally, fundamental vibrations alter the bearing oil film forces, significantly impacting rotor vibrations. Thus, studying the nonlinear dynamics of the marine rotor-bearing system under complex implicate motions is of substantial practical engineering significance. This thesis considers the effects of complex ship implicate motions and nonlinear factors of the oil film, establishes a dynamic model for the marine rotor-bearing system, and focuses on analyzing how the rotor speed, amplitudes, and frequencies of the implicate motions influence the rotor's nonlinear vibrational characteristics. The research content and results are as follows:

(1) A dynamic model of the marine rotor-bearing system under the coupled influence of heaving, swaying, pitching, rolling, and yawing was established based on the Lagrange equations. The system's motion differential equations were nondimensionalized to eliminate the impact of physical units. The rotor vibration differential equations contain strong nonlinear terms such as ship-induced inertial forces and nonlinear oil film forces, indicating that rotor vibrations will exhibit a rich variety of nonlinear dynamical phenomena.

(2) The nonlinear vibrational characteristics of the marine rotor-bearing system under the effects of ship heaving, swaying, and rolling were studied and compared with systems that do not consider ship motion. Furthermore, the influence of the amplitudes and frequencies of heaving, swaying, and rolling on the rotor's nonlinear vibrational characteristics was further explored. The research shows that the amplitude of the system under heaving, swaying, and rolling is larger than when these effects are not considered. As rotor speed increases, the system response transitions through quasi-periodic and chaotic states. At certain speeds, changes in the amplitude or frequency of heaving or swaying can alter the state of rotor vibrations, leading to sudden drops or sharp increases in rotor amplitude. Typically, changes in swaying amplitude, rolling amplitude, and frequency do not alter the state of rotor vibrations, rotor amplitude approximately linearly increasing with swaying or rolling amplitude and changing minimally with rolling frequency.

(3) The influence of rotor speed on the nonlinear vibrational characteristics of the system under the coupled action of heaving, swaying, pitching, and rolling was analyzed. The research revealed that considering the coupled motion of heaving, swaying, pitching, and rolling results in greater system amplitudes and a wider oil film whirl region, with the initial rotor speed at which oil film oscillations occur being higher than when such motions are not considered. Due to the coupled motion of the ship, the rotor experiences a deflection, and the deflection angle is larger when the nonlinear oil film force has less impact on system vibrations. Additionally, the effects of the amplitudes and frequencies of the implicate motions on the system's dynamical behavior were separately studied, concluding the following: at a certain rotor speed, an increase in the amplitudes or frequencies of heaving and rolling leads to nonlinear vibrational phenomena such as sudden amplitude jumps, bifurcations, and chaos; while the amplitudes and frequencies of swaying and pitching typically do not change the state of rotor vibrations, they do affect the rotor's amplitude response, with a more pronounced impact on the lateral amplitude compared to the vertical.

(4) The nonlinear vibrational characteristics of the rotor under the effects of heaving, swaying, pitching, rolling, and yawing were explored. The research results indicate that the amplitude of the system under this coupled motion is greater than when such motion is not considered; as the rotor speed increases, the system exhibits amplitude jump phenomena, and the motion state of the rotor transitions through quasi-periodic and chaotic states. Moreover, the research shows that the amplitudes and frequencies of the coupled motions affect the rotor vibration response; specifically, at a certain rotor speed, the amplitudes and frequencies of heaving and rolling can change the state of rotor vibrations, thereby significantly impacting the rotor amplitude; however, the amplitudes and frequencies of swaying, pitching, and yawing generally do not change the state of rotor vibrations, with swaying amplitude and frequency, as well as yawing amplitude, having a larger impact on the rotor amplitude, while the amplitude and frequency of pitching and the frequency of yawing have a minimal effect.