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Abstract Bearing is one of the most critical components of Mode Decomposition (EMD).The purpose of this study is to
rotating machinery .They are employed to support and rotate the review these techniques and explore their capabilities,
shafts in rotating machinery. Therefore; any fault in the bearings advantages and disadvantage in monitoring rolling element
can lead to losses on the level of production and equipments as bearings.
well as the creation of an unsafe working environment for The paper is organized as follows: Section II presents
humans. For that reason, the bearing fault diagnosis has received system and bearing faults descriptions. More details on the
considerable attention from the research and engineering fault diagnosis techniques and monitoring results are provided
communities in recent years. The purpose of this study is to in section III. In Section IV, concludes our contributions are
review the Vibration analysis techniques and explore their discussed, and we conclude with some remarks and future
capabilities, advantages and disadvantage in monitoring rolling work.
element bearings.
A. System Description
Keywords Vibration Analysis; bearing Fault diagnosis; Fast
The experiments presented in this paper used the vibration
Fourier Transform (FFT); Envelope Analysis (EA); Short Time
data obtained from the Case Western Reserve University
Fourier Transform (STFT); Empirical Mode Decomposition
(EMD).
Bearing Data Centre [9]. These signals were taken from an
accelerometer mounted on the bearing housing at the drive end
I. INTRODUCTION (HEADING 1) of the induction motor which is connected to a torque
transducer, coupled to a dynamometer, which plays the role of
The necessity of the use of the large and the small rotating
a load as shown in Fig .1.
machines in the present life and especially in industrial
systems since the beginning of last century imposes the
monitoring, maintenance and reparation. The main function of
condition monitoring of rotating machines is to provide
knowledge about the condition of machines at each moment
without stopping the line of production [1-3]. The vibration
monitoring is one of the most common technique of condition
monitoring and this is for its ability to detect, locate and
distinguish different types of faults since its inception before
they become critical and dangerous, these faults which may be
distributed or localized [3-4]. The bearings are the most
essential mechanical elements of rotating machinery. They are
employed to support and rotate the shafts in rotating
machinery. On the other hand, several studies showed that the
major source of most mechanical faults in rotating machinery
is the bearing fault [1-3].Therefore; any fault in the bearings
can lead to losses on the level of production and equipments as
well as the creation of an unsafe working environment for
humans. For these reasons, Condition monitoring and fault
diagnosis of these bearings has become a fundamental axis of
development and industrial research. [1-3].
There are several techniques that can be employed to
detect and diagnosis the bearing faults like Fast Fourier Fig.1. The bearing test stand.
Transform (FFT) [4], Short Time Fourier Transform (STFT)
[4-5],Wigner-Ville Distribution (WVD) [6], Envelope analysis The bearing fault signals were obtained from different states
(EA) [7-8], Wavelet Transform (WT) [7-8] and Empirical
of the bearing: (1) normal state; (2) inner race fault; (3) ball
fault; (4) outer race fault, and at different speeds of the motor: Motor Speed 1797 (rpm)
1730, 1750, 1772, and 1797 rpm.
The diameters of the faults created on the inner race, outer 0.2
Amplitude (g)
race and the balls are 0.007", 0.014" and 0.021 inch 0.1
(1inch=25.4 mm), all faults have a depth of 0.011 inch. All 0
experiments were repeated for four different load conditions: -0.1
0, 1, 2 and 3 horse power (hp). The data is sampled at a
-0.2
frequency of 12 kHz and the duration of each vibration signal
of vibration is 10 seconds. 0 0.1 0.2 0.3 0.4
Time (s)
B. Fault Bearing Characteristic Frequencies .
Defective bearings generate vibration equal to the Motor Speed 1730 (rpm)
rotational speed of each element bearing frequencies. They
relate notably to the rotation of the balls, the cage and the 0.2
Amplitude (g)
passage of the balls on the inner and outer rings. 0.1
Frequencies associated with defective inner and outer races 0
are as follows: -0.1
- Inner-race defect is given by equation (1):
-0.2
Amplitude (g) 1
-1
-2
0 0.1 0.2 0.3 0.4
Time (s)
1
Amplitude (g)
Amplitude (g)
3580Hz
0.1
rpm are shown in Fig. 6. Obviously, it is difficult to identify
the bearing fault, because the spectral analysis presents some 0.05
limitations in the analysis of non-stationary signals.
0
Motor Speed 1797 (rpm) 0 2000 4000 6000
Frequency (Hz)
3580Hz
0.1
3600Hz
Amplitude (g)
0.05
0.1
0
0 2000 4000 6000 0.05
Frequency (Hz)
0.05
The identification of the bearing faults is possible by using Hence, the signal will be represented by two elements of:
envelope analysis. However, a critical drawback of this time and frequency shown in Fig .10 [19-22].
technique is that it requires a pre-knowledge of the resonance
frequency and filtering band.
0.6
Amplitude (g)
0.4
Fig.10. Short-Time Fourier Transform.
0.2
For a signal x(t), its short time Fourier transform is defined
0
0 0.1 0.2 0.3 0.4 as follows [19-22]:
Time (s)
(6)
STFTxw ( , f ) x(t ) w (t ) e j 2ft dt
*
Motor Speed 1730 (rpm)
0.8 t
0.6
Where:
Amplitude (g)
200
0.1
324Hz
Freq (Hz)
30Hz 150
0.05
100
0
0 100 200 300 400 500
Frequency (Hz) 50
Motor Speed 1730 (rpm)
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
Time (secs)
156Hz
Amplitude (g)
0.1 Short-time Fourier Transform spectrum for Motor Speed 1730 (rpm)
312Hz 250
0.05 200
29Hz
Freq (Hz)
150
0 100
0 100 200 300 400 500
Frequency (Hz) 50
Fig.9. Spectrums of inner race fault using envelope analysis.
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35
C. Short-Time Fourier Transform (STFT) Time (secs)
Fig.11. Spectrums of inner race fault using STFT.
Short-Time Fourier Transform (STFT) or windowed
Fourier transform (WFT) is the most widely used tool for time The identification of the bearing faults is possible by
frequency (TF) analysis of non-stationary signals. The idea of using STFT. However, the problem with STFT is that it
STFT is to analyze the signal into segment by segment (or provides constant resolution for all frequencies since it uses
window by window). It uses a window function to slide on the the same window for the entire signal. Therefore, once the
window function is chosen, the time and frequency
signal studied and then divide it into several equal length resolution are fixed. So there is a tradeoff to choose a
segments (or window). The inside signal of the segments is proper window function between the time resolution and the
supposed to be stationary. After that Fourier transform is frequency resolution: a longer window will lead to a higher
applied in each segment to find out the frequencies contained frequency resolution with a lower time frequency and vice
in that segment. versa.
imf3
Amplitude (g)
0.5
D. Empirical Mode Decomposition (EMD)
0
Amplitude (g)
0.5
signal into a set of oscillatory functions in the time-domain,
called intrinsic mode functions (IMF). The nonlinear signal 0
Amplitude (g)
M 0.5
i (n) imf m (n) RM (n) (7)
0
m 1
-0.5
0 0.1 0.2 0.3 0.4
The first five IMFs after EMD of inner race fault collected Time (s)
at 1797 rpm and 1730 rpm are shown in Figs.12 and 13.
Fig.13. The first five IMFs after EMD of inner race fault
imf1
collected at 1730 rpm.
Amplitude (g)
0
The envelope spectrum of IMF2 of inner race fault
-1
0 0.1 0.2 0.3 0.4 collected at 1797 rpm is shown in Fig.14.
Time (s)
imf2 The envelope spectrum of IMF3 of inner race fault
Amplitude (g)
0.5
collected at 1730 rpm is shown in Fig.15.
0
-0.5
It can be clearly seen from Figs.14 and 15, the frequency
0 0.1 0.2 0.3 0.4 peaks at 162 Hz, 156 Hz and its multiples. The frequency
Time (s)
imf3
peaks at 162 Hz and 156 Hz are very close to calculated
frequencies of inner race fault at 162.2 Hz and 156.13Hz as
Amplitude (g)
0.5
0
listed in table 1. This clearly indicates an inner race fault.
-0.5
0 0.1 0.2 0.3 0.4 Empirical Mode Decomposition (EMD) is an excellent
Time (s)
imf4
tool for bearing fault diagnosis. Unfortunately, there are two
problems in EMD, which are the selection of the suitable
Amplitude (g)
0.2
0.2
162Hz 1797 rpm
Amplitude (g)
-0.2 0.05
0 0.1 0.2 0.3 0.4
Time (s)
0
Fig.12. The first five IMFs after EMD of inner race fault 0 100 200 300 400 500
collected at 1797 rpm. Frequency (Hz)
Time (s)
imf2
Amplitude (g)
0.5 0.05
0
-0.5
0 0.1 0.2 0.3 0.4 0
Time (s) 0 100 200 300 400 500
Frequency (Hz)
Fig.15. The envelope spectrum of IMF2 of inner race fault