齿轮减速器在船舶推进系统中是不可或缺的传动装置，其高可靠性和良好性能是确保船舶稳定高效航行的关键。然而，齿轮减速器易产生振动噪声，其过度振动可能会导致设备故障、增加水下噪声、危及舰船安全性及降低自身隐身性。为此，隔振式双层箱体行星齿轮减速器被用来以减少从齿轮传动系统传递到外层箱体的振动能量，从而达到隔振降噪效果。本文以该类型的隔振式双层箱体人字齿行星减速器为研究对象，研究了计入滑动轴承动态特性、隔振元件、时变啮合刚度、齿轮箱体柔性等因素的人字齿行星减速器刚柔耦合动力学建模方法，分析了人字齿行星减速器的动态特性和隔振性能，探索了降低双层箱体人字齿行星减速器振动噪声的优化设计方法。主要研究工作如下：

（1）开展了滑动轴承支撑的人字齿行星减速器刚柔耦合动力学建模与分析研究。基于多重多级子结构法建立人字齿行星齿轮箱体的柔性缩聚动力学模型，采用有限差分法求解滑动轴承的动态特性系数，并通过二分法获得行星轮轴承的偏心距，将其作为行星轮安装误差，引入到滑动轴承支撑的人字齿行星减速器刚柔耦合动力学模型。通过与人字齿行星减速器箱体的模态试验、有限元仿真的固有特性对比分析，验证了柔性缩聚动力学模型能够有效地预测人字齿行星齿轮箱体的动力学特性。此外，计算的滑动轴承刚度和阻尼与相关文献中计算结果相近，验证了齿轮减速器刚柔耦合动力学模型中的滑动轴承的动态特性系数有效性。

（2）开展了滑动轴承支撑的人字齿行星减速器动态特性分析研究。依据行星齿轮系的固有频率重根数和振型特征，分析了滑动轴承刚度参数对人字齿行星齿轮传动系统的固有特性影响。分别在非耦合与耦合齿轮箱体中，开展运行工况和滑动轴承参数对人字齿行星减速器的动力学特性的影响研究。结果表明：滑动轴承刚度参数的不对称性和耦合特性会影响系统的固有频率重根数、频率值及对应的振动特征；啮合力动载荷系数随系统负载转矩增大而迅速减小，然后趋于平稳，而轴承承载力与此情况相反；啮合力动载荷系数和轴承承载力与滑动轴承宽径比呈正相关，与滑动轴承半径间隙呈负相关；相较于未耦合齿轮箱体，耦合箱体对系统振动特性影响更为显著。搭建了滑动轴承支撑的人字齿行星减速器试验平台，验证了所建立的齿轮减速器刚柔耦合动力学模型的可靠性。

（3）开展了双层箱体人字齿行星减速器的动力学建模及隔振特性研究。基于力学性能压缩试验和参数分离识别方法，获得隔振元件刚度和阻尼，并将其引入到双层箱体人字齿行星减速器的箱体柔性缩聚动力学模型。通过与人字齿行星减速器箱体的有限元仿真获得的模态特性对比分析，发现柔性缩聚动力学模型的模态特性与有限元仿真的基本一致，从而验证了柔性缩聚动力学模型有效性。采用广义弹性力能量解耦法分析了双层箱体人字齿行星减速器的箱体模态耦合振动机理和模态贡献度，结果表明双层箱体人字齿行星减速器的箱体在平移方向的模态解耦性较好，且模态贡献度主要以前六阶次为主导。接着，建立双层箱体人字齿行星减速器的刚柔耦合动力学模型，分析隔振元件参数对人字齿行星减速器动态特性的影响规律，结果表明隔振元件参数对人字齿行星传动系统的动载荷影响较小，且随着啮合频率的变化，双层箱体人字齿行星减速器表现出不同的隔振性能。基于滑动轴承支撑的人字齿行星减速器试验平台，换装双层箱体人字齿行星减速器试验件，评估了在不同负载扭矩和输入速度下双层箱体人字齿行星减速器的隔振性能，结果表明行星齿轮减速器隔振性能与负载扭矩呈负相关，而与输入转速呈现不单调的关系。此外，通过试验与仿真的振级落差对比分析，验证了双层箱体人字齿行星减速器刚柔耦合系统动力学模型的有效性。

（4）开展了双层箱体人字齿行星减速器参数灵敏度分析与隔振优化研究。应用全局参数灵敏度分析法，确定影响双层箱体人字齿行星减速器隔振性能的敏感参数，并分析这些参数对行星齿轮减速器隔振性能的影响，结果表明双层箱体人字齿行星减速器隔振性能对隔振元件参数的灵敏度指数的影响较大，且与隔振元件参数呈现非单调的复杂关系。为了改善齿轮减速器的隔振性能，以隔振元件参数为设计变量，采用非支配排序遗传算法II对齿轮减速器的隔振性能进行多目标优化以获得最优前沿解集，结合熵权-优劣解距离法从最优前沿解集中筛选出最优方案。通过优化，双层箱体人字齿行星减速器的模态解耦率和振级落差均有提高。

Gearbox is an indispensable component of the marine propulsion system, offering a reliable and efficient transmission. Its outstanding reliability and performance play a vital role in ensuring the stability and effective of ship navigation. However, the gearbox is prone to producing vibration noise, and excessive levels of vibration can lead to equipment failures, increased underwater noise, endanger of ship safety, and weakening of ship stealth. To this end, a vibration-isolated double-layer planetary gearbox is utilized to reduce the amount of vibration energy transferred from the gear transmission system to the outer casing, achieving effective vibration reduction. This type of vibration-isolated double-layer herringbone planetary gearbox is the focus of the research. The study aims to investigate the rigid-flexible coupling dynamics model method of the double-layer herringbone planetary gearbox, considering the dynamic characteristics of journal bearings, vibration isolators, time-varying mesh stiffness, and casing flexibility. The dynamic characteristics and vibration isolation performances of the herringbone planetary gearbox is analyzed, and an optimization method for reducing the vibration noise of the double-layer herringbone planetary gearbox is explored. The main research works are as following:

(1) The present study describes the modeling and analysis of the rigid-flexible coupling dynamics of the double-layer casing herringbone planetary gearbox. A multilevel substructure method is utilized to establish a flexible condensed dynamic model of the herringbone planetary gearbox casing. The dynamic characteristic coefficient of the journal bearing is solved by using the finite difference method.  The eccentricity of the planetary bearing is obtained by dichotomy and taken as the planet's installation error, which is coupled to form the rigid-flexible coupling dynamics model of the herringbone planetary gearbox that is supported by journal bearings. The investigation of the natural characteristics of the flexible condensed dynamic model for the herringbone planetary gearbox casing reveals that the relative error between the flexible condensed dynamic model and the results of the modal test and finite element simulation is quite small. This suggests that the flexible condensed dynamic model can effectively predict the dynamic characteristics of the herringbone planetary gearbox. Besides, the calculated stiffness and damping of the journal bearing a are in line with those previously calculated in the literature, which validates the dynamic characteristic coefficient of the journal bearing in the rigid-flexible coupling dynamic model of the gearbox.

(2) The present study analyzes the dynamic characteristics of a double-layer casing herringbone planetary gearbox. The effect of journal bearing stiffness parameters on the natural characteristics of the herringbone planetary gear transmission system is examined based on the natural frequency multiplicity and vibration mode characteristics of the planetary gear train. The effects of operating conditions and bearing parameters on the dynamic characteristics of the herringbone planetary gearbox is also investigated in both non-coupling and coupling gearbox casing. The results showed that the asymmetry and coupling characteristics of the bearing stiffness parameters affect the number of natural frequency multiplicities, the corresponding frequency values and vibration characteristics of the system. Additionally, the dynamic load coefficient of the meshing force decreases rapidly with the increase of the system load torque and then becomes stable, while the bearing capacity is on the contrary. The width-diameter ratio of planet bearing is positively correlated with the dynamic load coefficient of meshing force and bearing capacity, whereas the radial clearance of the planet bearing is negatively correlated. Furthermore, it is observed that the coupling gearbox casing has a greater influence on the vibration characteristics of the system than the uncoupling gearbox housing. To verify the reliability of the rigid-flexible coupling dynamic model of the gearbox, a test platform of the herringbone planetary gearbox supported by journal bearings is built.

(3) The present study conducts a dynamic modeling and analysis of the vibration isolation characteristics of a double-layer casing herringbone planetary gearbox. The stiffness and damping of the vibration isolator are obtained by a compression test of mechanical properties and the parameter separation identification method. These values are then incorporated into the flexible condensed dynamic model of the double-layer herringbone planetary gearbox casing, and the natural frequency of the model is compared with that of a finite element simulation analysis. Results show a slight relative error, indicating the efficiency of the flexible condensed dynamic model.  Additionally, the first six-order modular vibration of the gearbox casing is found to be the independent vibration of the internal shell, which validates the effectiveness of the flexible condensed dynamic model. The modal vibration coupling mechanism of the double-layer herringbone planetary gearbox casing is discussed using the generalized elastic force energy decoupling method. Modal decoupling rate, frequency response function, and modal contribution are used to analyze the nature characteristics of the gearbox casing. Results show the modal decoupling rate is good in the translation direction, and modal contribution is mainly dominated by the previous sixth orders. The rigid-flexible coupling dynamics model of the double-layer herringbone planetary gearbox is established, and its influence on the dynamic characteristics of the gearbox is analyzed. Results show that the dynamic load of the planetary transmission system is weakly affected by the vibration isolator parameters. Moreover, the double-layer herringbone planetary gearbox exhibits different vibration isolation performance with the changes in the meshing frequency. To evaluate the vibration isolation performance under different load torques and input speeds, a test part of the double-layer herringbone planetary gearbox is processed and assembled on the test platform of herringbone planetary gearbox supported by journal bearings. The gearbox underwent various tests, and results show that the vibration isolation performance of the gearbox is negatively correlated with the load torque but not monotonic with the input speed. Finally, a comparative analysis of the measured vibration levels during the experiment and those predicted by simulation indicated the effectiveness of rigid-flexible coupling system dynamic model of the double-layer herringbone planetary gearbox.

(4) The present study involves conducting a parameter sensitivity analysis and vibration isolation optimization of the double-layer herringbone planetary gearbox. The global parameter sensitivity analysis method is employed to determine the sensitive parameters that impact the vibration isolation performance of the double-layer herringbone planetary gearbox. The effect of these parameters on the vibration isolation performance of the planetary gearbox is investigated, revealing a complex non-monotonic relationship between the vibration isolation performance of the double-layer herringbone planetary gearbox and the vibration isolator parameters. To enhance the vibration isolation performance of the gearbox, a multi-objective optimization of the vibration isolation performance is carried out by considering the parameters of vibration isolators as design variables, using the Non-dominated Sorting Genetic Algorithm II (NSGA-II).  After optimization, the entropy weight-TOPSIS method is used to screen the optimal solution.   As a result of this optimization, there have been significant improvements in both the modal decoupling rate and the vibration levels of the double-layer herringbone planetary gearbox.

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