An improved generalized Maxwell slip friction model for characterizing vibration and noise induced by stick-slip excitation in water-lubricated rubber bearings

Abstract Significant stick–slip friction occurs at the water-lubricated rubber bearing–journal interface under low-speed and heavy-load conditions. To accurately characterize the stick–slip excitation at the interface, static and dynamic parameter identification experiments are conducted, and an improved parameterized generalized Maxwell-slip (GMS) friction model is established for water-lubricated rubber bearings (WLRBs). The influence of operating parameters on stick–slip excitation is systematically investigated, and the mechanisms by which stick–slip friction induces vibration and noise are elucidated. The results indicate that the stick–slip excitation characteristics are highly sensitive to variations in rotational speed and load. The proposed model accurately captures the stick–slip friction behavior, with the predicted vibration acceleration frequency deviating from experimental measurements by approximately 4%. The findings provide theoretical guidance and engineering references for the control of friction-induced vibration and noise in water-lubricated rubber bearing systems.