Renewable Energy 35 (2010) 2862e2866

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Renewable Energy
journal homepage: www.elsevier.com/locate/renene

Wind turbine fault diagnosis based on Morlet wavelet transformation and

Wigner-Ville distribution
Baoping Tang, Wenyi Liu*, Tao Song
The State Key Laboratory of Mechanical Transmission, Chongqing University, Chongqing 400030, PR China

a r t i c l e i n f o a b s t r a c t

Article history: Based on the Morlet wavelet transformation and Wigner-Ville distribution (WVD), we present a wind
Received 22 October 2009 turbine fault diagnosis method in this paper. Wind turbine can be damaged by moisture absorption,
Accepted 7 May 2010 fatigue, wind gusts or lightening strikes. Due to this reason, there is an increasing need to monitor the
Available online 8 June 2010
health of these structures. Vibration analysis is the best-known technology applied in wind turbine
condition monitoring, in which the time-frequency analysis techniques such as Wigner-Ville distribution
Keywords:
(WVD) are widely used. Theoretically WVD has an infinite resolution in time-frequency domain. For early
Fault diagnosis method
wind turbine fault signals, however, there are two main difficulties in WVD analysis. One is strong noise
Wavelet de-noising
Continuous wavelet transformation (CWT)
signals in the background and the other is cross terms in WVD itself. In this paper, continuous wavelet
Morlet wavelet transformation (CWT) is employed to filter useless noise in raw vibration signals, and auto terms window
Wigner-Ville distribution (WVD) (ATW) function is used to suppress the cross terms in WVD. In the CWT de-noising process, the Morlet
wavelet, whose shape is similar to mechanical shock signals, is chosen to perform CWT on the raw
vibration signals. The appropriate scale parameter for CWT is optimized by the cross validation method
(CVM). An ATW based on the Smoothed Pseudo Wigner-Ville distribution (SPWVD) spectrum is taken to
be a window function to suppress the cross terms in WVD. The new method can not only remove cross
terms faraway from the auto terms, but also keep high energy close to every instantaneous frequency, the
virtues such as high time-frequency resolution, and good energy aggregation etc. The wind turbine gear
fault diagnosis experiment results indicate that the proposed method has a good de-nosing performance
and is effective in suppressing the cross terms and extracting fault feature.

2010 Elsevier Ltd. All rights reserved.

1. Introduction For spectral analysis of such type of signals, the time-frequency

Renewable energy sources have attracted much attention due to
the recent energy crisis and the urgent need for clean energy. As
utility-size wind turbines increase in size and correspondingly their
initial capital investment cost rises, there is an increasing need to
monitor the health of these structures. Wind turbine can be
damaged by moisture absorption, fatigue, wind gusts or lightening
strikes [1]. Vibration analysis is the best-known technology applied
in wind turbine condition monitoring, especially for rotating
equipment. In the wind turbine structures the signals under
considerations are known to be non-stationary, for which the signal
parameters are time-varying [2].
* Corresponding author. Mechantronical Engineering Department, Mechanical
Engineering College, Chongqing University, Chongqing 400030, PR China. Tel.: þ86
13038309770.
E-mail address: liuwenyi1984@yahoo.com.cn (W. Liu).
analysis technique is widely used [3,4]. The short-time Fourier
transform (STFT) is one of the earliest methods used for time-
frequency analysis. But the result of STFT analysis depends on the
choice of the window function leading to a trade off between time
localization and frequency resolution. Another commonly used
time-frequency distribution is the Wigner-Ville distribution (WVD)
[5,6]. Theoretically the WVD has an infinite resolution in time due
to absence of averaging over any finite time interval. Moreover for
infinite lag length, it has an infinite frequency resolution. But for
early fault signals, the fault feature signal is not strong enough to be
caught, which can be drowned in the strong noise signals [7e9].
Another drawback is that the WVD being quadratic in nature
introduces cross terms for a multi-component signal [10]. The cross
terms can have significant amplitudes and they can corrupt the
transform space. Therefore, to analyze raw vibration signals with
WVD, it’s necessary to de-noise the raw signal before removing the
cross terms in the WVD.
The wavelet transform (WT) is widely used in the signal
de-noising process [11e14]. Wavelet analysis, the most popular

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2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.renene.2010.05.012
 B. Tang et al. / Renewable Energy 35 (2010) 2862e2866
one for analyzing the non-stationary signals, overcomes the
drawbacks of other techniques by means of analytical functions
that are local in both time and frequency [15e17]. However, the
biggest challenge in wavelet analysis is the selection of the
mother wavelet function as well as the decomposition level of
signal. Another main difficulty in wavelet analysis is the order of
the mother wavelet function [8,18,19]. The WT is the inner
product of a time domain signal with the translated and dialed
wavelet-base function. Therefore, the WT can be regarded as the
filtering process of the signal. And the WT resulting coefficients
reflect the different feature of the noise and the useful signal,
which can be separated by the filtering process. Therefore, it is
feasible to de-noise the signal by the continue wavelet transform
(CWT) process. On the other hand, in order to deal with the
cross terms in WVD, dozens of joint time-frequency represen-
tations have been introduced during last decades [20,21]. The
Pseudo Wigner-Ville distribution (PWVD) and the Smoothed
Pseudo Wigner-Ville distribution (SPWVD) were used to
suppress the cross terms at the cost of increasing computational
load [22].
This paper offers a fault diagnosis method based on Morlet
wavelet transformation and WVD, which uses the cross validation
method (CVM) to optimize the wavelet scale factor, and the auto
terms window (ATW) to suppress the cross terms in WVD of the
de-noised signal.
2. The Morlet wavelet de-noising
2.1. Filter de-noising based on the Morlet wavelet
It is important to pre-process any raw data before use since the
raw data contain some redundant information. We choose wavelet
de-noising method to analyze the signal. The wavelet analysis
results in a series of wavelet coefficients, which indicate the
comparability between the signal and the particular wavelet. In
order to extract the fault features of the signal more effectively, an
appropriate wavelet-base function should be selected. The corre-
sponding wavelet family consists of a series of daughter wavelets,
which are generated by dilation and translation operations from
the mother wavelet and shown as follows [23]:


tb
ja;b ðtÞ ¼ jaj1=2 j a; b˛R; as0 (1)
a [25]. So the CVM can be used to acquire the optimized scale factor
where, the parameter a is the scale factor and b denotes the time
location, the term is used to keep energy preservation.
For any function f ðtÞ˛L2 ðRÞ, its WT can be expressed as
ZþN

tb
Wf ða; bÞ ¼ jaj1=2 f ðtÞj* dt (2)
a
N
where, * is the conjugate of the function.
In particular, the WT can be regarded as the inner product of the
signal and a selected mother wavelet. Therefore it can be expressed
as
pffiffiffi 1 n o
Wða; bÞ ¼ aF Xðf Þj* ðaf Þ (3)
where X(f)is the Fourier transform of the signal x(t), j*(f) is the
Fourier transform of the base wavelet j*(t), F1 is the inverse
Fourier transform.
The above function can be regarded as a filtering process. That is
to say, the WT of the signal can be regarded as the filtering process
passing the band-pass filter whose frequency response is j*(af).
2863
Therefore, it is feasible to filter de-noise the signal by choosing
suitable mother wavelet to do CWT.
The wavelet transform resulting coefficients reflect the corre-
lation between the signal and the selected wavelet-base function.
To increase the amplitude of the generated wavelet coefficients
related to the fault impulses and enhance the fault detection
process, the selected wavelet-base function should be similar to the
mechanical impulse response in characteristics. From the time
domain wave of the mechanical impulse signal, we can see the
Morlet wavelet is similar to the mechanical impulse signal [24].
Therefore wavelet de-noising using a Morlet wavelet as a base
function can be used to extract the impulses for mechanical faults
detection. The Morlet wavelet is defined as
jðtÞ ¼ p1=4 et =2
cosðu0 tÞ
2
(4)
When u0  5, the Morlet wavelet is approximately finitely
supported. For wavelet transform of a real signal, the real part of the
Morlet function is used as the mother wavelet:
jðtÞ ¼ p1=4 et =2
2
cosð5tÞ (5)
Through dilation and translation operations, we have a family of
Morlet wavelets as shown in function (1). According to the above
analysis, the only difficult of the wavelet de-noising process is to
optimize the scale factor.
2.2. The cross validation method (CVM)
In the area of signal inspection and fault diagnosis, the aim is to
extract useful feature components and acquire ideal de-noising
effect. In other words, the distinction between de-noising signal
and raw signal should better exhaustively small. Therefore, the
following function can be used to scale the de-noising effect.
Z n o
MðtÞ ¼ ðf ’ðxÞ  f ðxÞÞ2 dx (6)
However, the above estimation is hard to realize because the
real signal is unknown. The cross validation method (CVM) can be
used to estimate the function by constituting a new cost function
in WT. For N (N ¼ 2m) point disperse signal with noise,
gðkÞ ¼ f ðkÞ þ nðkÞ (7)
where f(k) is the original signal, n(k) is Gaussian white noise which
obeys N(0,s2) distribution. Its specific computation procedures are
as follows:
1) Extract the even part in sequence g(k) and generate a new
sequence gE(k)(k ¼ 1,2,.,2m1), and produce the odd sequence
in the same way.
2) The estimate of the even sequence can be acquired by inter-
polating the odd sequence.
1h O i
g0E ðkÞ ¼ g ðkÞ þ g O ðk þ 1Þ (8)
2
3) Select the wavelet scale factor, perform CWT on the sequence
g0 E(k), and get a new sequence g00 E(k).
4) Acquire the odd sequence signal g00 O(k) in the same way. The
whole M0 (k) can be expressed as
2864 B. Tang et al. / Renewable Energy 35 (2010) 2862e2866

2X
m1
n 2 o Eq. (12) shows that the center of cross terms Wxi ;xj ;auto ðt; uÞ is in
M0ðkÞ ¼ g00O ðkÞ  g00E ðkÞ (9) the center of the auto terms Wxi ;auto ðt; uÞ and Wxj ;auto ðt; uÞ. In
k¼1 addition, it can be inferred that the inner product of cross terms and
auto terms is almost equal to zero, i.e., the auto WVD components
and cross WVD components has no cross-correlation. Thus we have
Change the wavelet scale factor a in some given range, and
calculate the cost function M0 (a). The best parameter is the one who < rA ðt; sÞ; rc ðt; sÞ > ¼ 0 (13)
makes M0 (a) minimal in the sequence. With the above treatment,
the adapt adjustment is realized. In order to simplify the calculation The auto terms and cross terms have different features in nature.
and improve the computation efficiency, a simplified calculation is They can be eliminated by cross-correlation. Therefore, when the
designed to choose the scale factor, which can be expressed as auto terms and cross terms are not overlap, the cross terms can be
follows: suppressed by using ideal as a template to do two-dimension cross-
correlation. In this way, we can get
1) At first specify the scale range [m,n] and the step i.
2) Calculate the best scale factor m þ ki which makes the cost Wðt; uÞ ¼ Wx ðt; uÞ,Wx;auto ðt; uÞ (14)
function smallest through CVM. where, Wx,auto(t,u) is the auto term.
3) Reduce the search range by changing it to Eq. (14) is actually a window disposal on the time-frequency
½m þ ðk  1Þi; m þ ðk þ 1Þi and minish the step by adjusting it domain. Accordingly the auto terms function is called Auto Terms
to 0.1i. Window (ATW). Because the auto terms cannot be predefined, it
4) Repeat the above steps 2 and 3 until the final best scale factor should be replaced by a close ATW function. Therefore the main
a is obtained. difficult of the ATW method is how to find a suitable window
function.
After obtaining the best scale factor, the filter process is
performed through Eq. (2). Then the filter de-noising of the signal 3.2. Design the ATW
is realized. The noise in raw signal is removed through above
process. For uncertain signals, the auto terms always mix together with
the cross terms. Therefore it is difficult to separate the auto terms
3. Suppress cross terms in WVD from the WVD. In other words, the auto terms cannot be predicted
and the ATW cannot be designed directly. As we know, STFT has no
3.1. A new method to suppress cross terms in WVD cross terms. Moreover, it has broad implications in signal process-
ing [27]. Except for poor time-frequency resolution, the STFT is
For any fathomable and square integrabel signal x(t) e L2(R), its computationally efficient and the area it covers is much broader
WVD definition is [26]: than the area the auto terms cover. If the cross terms is near auto
terms in the WVD, it cannot be separated by the STFT spectrum. The
ZþN


1 1 1 interference of the cross terms will be amplified in error by the STFT
Wx ðt; uÞ ¼ x* t  s x t þ s ejsu ds (10)
2p 2 2 spectrum. Due to this reason, new interferences will be imported,
N which is especially obvious in dealing linearity frequency modu-
where, the function x* ðt  1=2sÞxðt þ 1=2sÞ is called Wigner auto- lation signals.
components, marked as rx(t,s). Obviously the WVD of signal x(t) is In order to overcome these limitations, some other time-
the Fourier transform of rx(t,s). The various desirable properties of frequency methods have been proposed for spectral estimation of
the WVD such as preservation of time and frequency support, non-stationary signals, Such as SPWVD spectrum, which uses
infinite time and frequency resolutions, and more, make the WVD window functions in both time domain and frequency domain, and
a useful tool for signal analysis. The main drawback of this distri- has the ability to suppress some of the cross terms in WVD and
bution is that it is quadratic and the method based on the WVD better time-frequency resolution than the STFT. Because of these
introduces the cross terms in the time-frequency domain making advantages, we designed a new ATW function based on the SPWVD
the transform space difficult to interpret. The WVD of sum of two spectrum. The SPWVD of signal x(t) can be calculated from Eq. (15)
signals xðtÞ ¼ x1 ðtÞ þ x2 ðtÞ is given by: below:

ZN 
X X s  s
n n X
n  
Wx ðt; uÞ ¼ Wxi ;auto ðt; uÞ þ 2Re Wxi ;xj ;cross ðt; uÞ Wsp ðt; uÞ ¼ x t  u þ x* t  u  gðuÞhðsÞejus ds
i i j
2 2
N
(11) (15)
where, Wx,auto(t,u) is called auto term, which represents the energy where h(s) and g(u) are two real even window functions which
distribution of the signal, and Wx,cross(t,u) is called cross terms. Eq. satisfy the condition of h(0) ¼ g(0) ¼ 1. The SPWVD spectrum is
(11) means that the WVD of the sum of two signals is not simply the defined as jWsp ðt; uÞj2 .
sum of their corresponding WVD. There are also cross terms. In In order to realize the auto adaptability of the new method, we
most circumstance, the cross terms, determined by calculating the set a threshold for the SPWVD spectrum while designing the ATW
module square of cross terms in the following equation, are function. The threshold which is calculated according to the char-
unexpected. acteristic of the signal can be adjusted automatically. The ATW
ZZ
 function is expressed as
s x
jWxi ;xj ;cross ðt; uÞj2 ¼ Wxi ;auto t þ ; u þ $Wxj ;auto
2 2 (


s x 1 jWsp ðt; uÞj2 > th
 t  ;u  ds dx ð12Þ Wx;auto ðt; uÞ ¼ (16)
2 2 0 jWsp ðt; uÞj2  th
 B. Tang et al. / Renewable Energy 35 (2010) 2862e2866
Fig. 1. Measured vibration signal from the test-bed and its WVD.
where, th ¼ a,maxðjWsp ðt; uÞj2 Þ, and a e (0,1), Wx,auto(t,u) is the
ATW we designed. The value of parameter a directly influences
the capability of the ATW function. The smaller the parameter a,
the smaller the caliber of the ATW and comparatively stronger the
ability to suppress the cross terms. However, the auto term, which
is useful in the WVD process, will also be suppressed.
The main difference of the ATW method compared to other
similar methods is that using the ATW function to window in both
time-frequency domain and at the same time reserving the good
characteristics in WVD. The arithmetic flow of the ATW method can
be briefly expressed as follows:
1) Zero signal x(t) and carry out Hilbert transform
Z N
1 xðt0Þ
H½xðtÞ ¼ dt0
p N t  t0
construct the analytic signal z(t)
zðtÞ ¼ xðtÞ þ jH½xðtÞ
and calculate the Wx(t,u) of the analytic signal according to Eq.
(10);
2) Choose suitable parameters and obtain the suitable function h
(s) and g(u)with h(0) ¼ g(0) ¼ 1;
3) Calculate Wsp(t,u) of the signal according to Eq. (15), and
determine its SPWVD spectrum;
4) Design the adaptive ATW, and choose the suitable threshold a;
5) Calculate W(t,u) according to Eq. (14), and finally produce the
final analysis results.
4. Experiment analysis
In order to verify the effectiveness of the proposed signal tran-
sient detection method, it was evaluated using the real vibration
data measured in the wind turbine test-bed. The experimental data
are from the SKF WindCon software and were collected from a wind
turbine gearbox type TF138-A in the horizontal direction. The
vibration signals were continuously acquired by an accelerometer
mounted on the outer case of the gearbox. In order to simulate the
Fig. 2. Waveform of de-noising signal and its WVD.
2865
Fig. 3. WVD result using ATW spectrum.
local crack fault, a groove with parameters 3 mm depth and 0.2 mm
width was made in the root of one of the input gear. The rotate
speed of the shaft is 1500 r/min. Some experiment parameters are
as follows: sampling frequency 1600 Hz, sampling points 256. Fig. 1
(a) is the time domain waveform of the gear fault vibration signal,
(b) is the WVD of the vibration signal.
As shown in Fig. 1, noise in the vibration signal interferes the
time express in the time domain and WVD, and it is difficult to
obtain useful information from the analysis. Therefore the de-
noising method based on the Morlet wavelet transformation in this
paper is used to deal with the noise. At first we initialized a range [1,
64] for the scale factor and set the step to 2. After we obtained the
best scale factor a ¼ 4 by the CVM, we reduced the range to [2,6]
(17)
according to the obtained scale factor, set the step to 0.1, and
obtained a new best scale factor which is a ¼ 3.3. By using the above
parameters to de-noise the vibration signal, the time domain
waveform of de-noising signal and its WVD in time-frequency
(18)
domain were obtained and depicted in Fig. 2(a) and 2(b),
respectively.
It can be seen from Fig. 2(a) that most of the noise is removed by
the Morlet wavelet transformation de-noise method. However,
from Fig. 2(b) we can see that the cross terms in WVD interfere the
extraction of the signal feature. Fig. 3 shows the WVD result using
ATW spectrum. The threshold parameter is chosen as a ¼ 0.3.
As shown in Fig. 3, the ATW method can remove almost all the
cross terms, and keep good time-frequency resolution and energy
aggregation. So it is easy to extract the fault feature after the series
analysis. Whenever the rolling element hits the gear crack defect,
an impulse of short duration is generated and expressed as the
impact vibration attenuation signal in the time domain. It can be
clearly distinguished in Fig. 3 that there are serious impacts in the
time domain. After calculation, the impact cycle is about 0.0909 s
and the corresponding frequency is near 11 Hz, which leads to the
conclusion that the abnormal 11 Hz component character in the
wind turbine gearbox is extracted by the WVD method.
5. Conclusion
A new method that combines Morlet wavelet transformation
with WVD has been proposed for wind turbine fault diagnosis. The
raw signal is de-noised by Morlet wavelet transformation process,
in which the best wavelet scale factor is designed by CVM. The ATW
based on the SPWVD spectrum is then designed to suppress the
cross terms in WVD of the de-noised signal. The new method,
which uses the ATW function to suppress the cross terms in WVD,
can not only remove cross terms faraway from the auto terms, but
also keep high energy close to every instantaneous frequency and
keep the virtues such as high time-frequency resolution, good
energy aggregation and so on. The proposed method has been
applied in the wind turbine gearbox vibration transient detection
2866 B. Tang et al. / Renewable Energy 35 (2010) 2862e2866
for fault diagnosis. The results indicate that the wind turbine
gearbox fault feature is much clearer than the original signal does.
The cross terms in WVD can be removed clearly and the good
characteristics of WVD can be reserved.
Acknowledgments
This research was supported by National high-tech research and
development projects of China (863)(Grant No.2009AA04Z411),
National Natural Science Foundation of China (Grant No. 50875272)
and Research Fund for the Doctoral Program of Higher Education of
China (Grant No. 20090191110005).
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