locating faulty rolling element bearing signal by simulated annealing
DESCRIPTION
AMSC 663 Project Proposal, Fall 2012. Locating Faulty Rolling Element Bearing Signal by Simulated Annealing. Jing Tian Course Advisor: Dr. Balan , Dr. Ide Research Advisor: Dr. Morillo , . Background. - PowerPoint PPT PresentationTRANSCRIPT
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Locating Faulty Rolling Element Bearing Signal by Simulated Annealing
Jing TianCourse Advisor: Dr. Balan, Dr. Ide
Research Advisor: Dr. Morillo,
AMSC 663 Project Proposal, Fall 2012
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Background
• Bearing provides relative rotational freedom and transmits a load between two structures.
Inner Ring
Cage
Rolling Elements
Outer Ring
Wind Turbine Gearbox
Construction of a bearing
http://en.wikipedia.org/w
iki/R
olling_element_beari
ng
http://en.wikipedia.org/w
iki/File:J85_ge_17a_turbojet_engine.jpg
Bearings
Bearings insideGas Turbine Engine
Induction MotorBearing
http://en.wikipedia.org/w
iki/File:Silniki_by_Zureks.jpg
http://en.wikipedia.org/w
iki/File:Scout_m
oor_gearbox,_rotor_shaft_and_brake_assem
bly.jpg
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Failure of Bearing
• Bearing is a main source of system failure- Motor bearing faults account for more than 40% of the induction motor’s
failure [1].- Gearbox bearing failure is the top contributor of the wind turbine’s
downtime [2, 3].
• Bearing is cheap, but the failure of bearing is costly.- A $5,000 wind turbine bearing replacement can easily turn into a
$250,000 project, not to mention the cost of downtime [4]- In 1987, LOT Polish Airlines Flight 5055 Il-62M crashed because of
failed bearings in one engine, killing all the183 people on the plane [5].
Offshore wind turbines
http://en.wikipedia.org/w
iki/File:D
anishWindTurbines.jpg
http://en.wikipedia.org/w
iki/File:LO
T_Ilyushin_Il-62M
_Rees.jpg
LOT Polish Airlines Il-62M 3
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Health Monitoring of Bearing
• Early detection of the bearing fault is a major concern for the industry.- Incipient bearing fault is difficult to be detected.- When a bearing has an incipient fault, it may still be operable for
sometime. If the fault can be detected, maintenance can be scheduled.
• Vibration acceleration signal is widely used in the fault detection of the bearing because- It is sensitive to the bearing fault- It can be monitored in-situ
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Bearing Fault Detection• The objective of bearing fault detection is to test if the vibration signal x(t)
contains the faulty bearing signal s(t)- Faulty bearing: x(t) = s(t) + ν(t)- Normal bearing: x(t) = ν(t), where v(t) is the noise, which is unknown
• Faulty bearing signal is a modulated signal [6]: s(t) = d(t)c(t)- d(t) is the modulating signal. Its frequency component is the fault
signature. The frequency is provided by the bearing manufacturer.- c(t) is the carrier signal, which is unknown. - The detection becomes to test if the fault signature can be extracted from
x(t).
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1-0.5
0
0.5
1
Time(s)
Am
plitu
de
0 2000 4000 6000 8000 10000 12000 140000
2
4x 10
-4
Frequency (Hz)
Am
plitu
de
1/fFault
fFault is the fault signature5
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Challenge• A popular method to extract the modulating frequency is envelope analysis.
- Problem: In the presence of noise the extraction may fail. • The solution is to band-pass filter the vibration signal in the frequency domain:
- Keep the faulty bearing signal - Remove or reduce the noise components near it.
• Challenge: how to find the optimum frequency band for the faulty bearing signal?
0 500 1000 1500 2000 25000
0.005
0.01
Frequency(Hz)
Am
plitu
de
Faulty bearing signal
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Approach• Candidate frequency bands for the faulty bearing signal are examined by
spectral kurtosis (SK)- The frequency band for the faulty bearing signal has larger SK [7].
• The optimum frequency band is found by simulated annealing (SA).- The optimum frequency band is determined by the optimum filter.- The filter is optimized by solving the following problem:
22;
2
),,(
ffffffftoSubject
MffSKMaximize
sc
sFault
c
• Envelope analysis (EA) is applied to the optimum frequency band to extract the fault feature frequency (modulating frequency)
fc is the frequency band’s central frequency; Δf is the width of the band; M is the order of FIR filter; fFaul is the fault feature frequency; fs is the sampling rate.
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Flow Chart of the Algorithm
FIR filterhi (fci, Δfi, Mi) SK
SAMaximize SK by fc, Δf, M
Optimized FIR filter
h(fco, Δfo, Mo)EA
x(n) yi(n) SKi
x(n) yo(n)FFT
a(n)Magnitude
A(f)
|A(f)|
Maximized SKSKo
f=fFault?
The bearing is faulty
The bearing is normal
Yes
Nox(n) is the sampled vibration signal;yi(n) is filtered output of the ith FIR filter hi;SKi is the SK of the yi(n);yo(n) is the output of the optimized FIR filter;a(n) is the envelope of yo(n) ;A(f) is the FFT of a(n) 8
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Band-Pass Filter the Vibration Signal• The vibration signal x(n) is band-pass filtered by an FIR filter designed
with window method.
hnxny )()(
9
)2/(
]2/
2/)2/sin[(]2/
2/)2/sin[()(
Mnf
ffMnf
ffMnnh s
c
s
c
d
MnMnnw 0),2cos(46.054.0)(
- hd(n) is the impulse response of the filter
- w(n) is the Hamming window
• Therefore, the filtered signal y(n) is a function of fc, Δf, M.
)()( nwnhh d
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Spectral Kurtosis• Definition of spectral kurtosis
2*2
**4
)}](),({[)}(),(),(),({
mYmYmYmYmYmY
SK
102
}]|)({|[}|)({|
}]|)({|[}]|)({|[2}|)({|
22
4
22
224
mYEmYE
mYEmYEmYESK
• Estimation of spectral kurtosis- DFT of a stationary signal is a circular complex random variable, and
E[Y(m)2]=0, E[Y* (m)2]=0. [8]
where Y(m) is the DFT of the signal y(n); κr is the rth order cumulant. Both y(n) and Y(m) are N points sequences. SK is a real number.
1,...,1,0,)()(1
0
2
NmenymY
N
n
Nnmi
)]()([2)]()([
)]()([)]()()()([***
**
mYmYEmYmYE
mYmYEmYmYmYmYESK
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hnxny )()( )()( nwnhh d
Transmission of the Variables• fc, Δf, M become variables of SK in the following route.
11
1,...,1,0,)()(1
0
2
NmenymY
N
n
Nnmi
2}]|)({|[}|)({|
22
4
mYEmYESK
MnMnnw 0),2cos(46.054.0)(
)2/(
]2/
2/)2/sin[(]2/
2/)2/sin[()(
Mnf
ffMnf
ffMnnh s
c
s
c
d
Filter
DFT
SK
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Initial Input for Simulated Annealing• Initial input w(fc1, Δf1, M1) is obtained by calculating SK for a binary tree of
FIR filter-bank.- Output of the jth filter at level k is- Structure of the filter-bank
N
iikjjk inxbns
0, ][][
Level 0Level 1Level 2Level 3…
Level k Sk,j…
0 f s /2
…
Frequency
S0,1
… …
S2,3S2,2S2,1
S1,2S1,1
…S3,1 S3,2 S3,3 S3,4 S3,5 S3,6 S3,7 S3,8
S2,4
• Frequency bands are ranked according to their SK value from large to small. Top h frequency bands are selected as the initial input.
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• Simulated annealing [9] is a metaheuristic global optimization tool.
• In each round of searching, there is a chance that worse result is accepted. This chance drops when the iterations increase. By doing so, the searching can avoid being trapped in a local extremum.
• Several rounds of searching are performed to find the global optimum.
Initialize the temperature T
End a round of searching
Use the initial input vector W
Compute function value SK(W)
Generate a random step S
Compute function value SK(W+S)
SK(W+S) > SK(W)
exp[(SK(W) < SK(W+S) )/T] >
rand ?
Termination criteria reached?
Replace W with W+S, reduce T
Keep x unchanged, reduce T
Yes
No
Yes
Yes
No
Maximize SK by Simulated Annealing
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• The enveloped signal is obtained from the magnitude of the analytic signal.• The analytic signal is constructed via Hilbert transform.
• Hilbert transform shifts the signal by π/2 via the following formula
• The analytic signal is constructed
• Magnitude of the analytic signal forms the enveloped signal.
dthyty oo )()()(ˆ
0.032 0.033 0.034 0.035 0.036 0.037 0.038-0.5
0
0.5
Time(s)
Am
plitu
de
tth
1)(
Original signal
)(ˆ)()( tyjtyty ooa
|)(|)( tyta a
Hilbert transform of the original signal
Enveloped signal
Envelope Analysis
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Implementation
• Hardware- The program will be developed and implemented on a personal computer.
• Software- The program will be developed with Matlab.
• Parallel computing- Simulated annealing has independent loops. Parallel computing will be
implemented on this module.- Parallel computing version programs will be developed with Matlab
parallel computing tool box.
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Database• Database of this project was published by the Bearing Data Center of Case
Western Reserve University [10].• It has four groups of data
- One group of normal baseline data.- Three groups of bearing fault data.- Each group of data has vectors corresponding to different motor loads and
bearing fault conditions.
• Artificial noise will be added to the data. - Additive Gaussian white noise- Discrete frequency noise
Normal bearing data Faulty bearing data
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Validation• Validation includes module validation and the overall validation• Module validation
• Overall validation
Validation Input Control Result Test Result
SK A simplified signal Analytic solution Numerical solution
Filter-bank A signal with multiple frequency components Pre-determined frequency components Numerical solution
SA A 3-parameter function Pre-determined maximum Numerical solution
EA A modulated signal Pre-determined modulating frequency Numerical solution
Validation Input Control Result Test Result
Overall Real bearing signal Pre-determined fault feature frequency Numerical solution
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Deliverables
• Matlab code• Test result• Final report• Final presentation• Database
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Schedule• October
- Literature review; exact validation methods; code writing• November
- Middle: code writing- End: Validation for envelope analysis and spectral kurtosis
• December- Semester project report and presentation
• February- Complete validation
• March- Adapt the code for parallel computing
• April- Validate the parallel version
• May- Final report and presentation
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References[1] L. M. Popa, B.-B. Jensen, E. Ritchie, and I. Boldea, “Condition monitoring of wind generators,” in Proc. IAS Annu. Meeting, vol. 3, 2003, pp. 1839-1846.[2] Wind Stats Newsletter, 2003–2009, vol. 16, no. 1 to vol. 22, no. 4, Haymarket Business Media, London, UK [3] H. Link; W. LaCava, J. van Dam, B. McNiff, S. Sheng, R. Wallen, M. McDade, S. Lambert, S. Butterfield, and F. Oyague,“Gearbox Reliability Collaborative Project Report: Findings from Phase 1 and Phase 2 Testing", NREL Report No. TP-5000-51885, 2011[4] C. Hatch, “Improved wind turbine condition monitoring using acceleration enveloping,” Orbit, pp. 58-61, 2004.[5] Plane crash informationhttp://www.planecrashinfo.com/1987/1987-26.htm[6] P. D. Mcfadden, and J. D. Smith, “Model for the vibration produced by a
single point defect in a rolling element bearing,” Journal of Sound and Vibration, vol.
96,pp. 69-82, 1984.
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References
[7] J. Antoni, “The spectral kurtosis: a useful tool for characterising non-stationary signals”, Mechanical Systems and Signal Processing, 20, pp.282-307, 2006[8] P. O. Amblard, M. Gaeta, J. L. Lacoume, “Statistics for complex variables and signals - Part I: Variables”, Signal Processing 53, pp. 1-13, 1996[9] S. Kirkpatrick, C. D. Gelatt, and M. P. Vecchi, "Optimization by Simulated Annealing". Science 220 (4598), pp. 671–680, 1983[10] Case Western Reserve University Bearing Data Centerhttp://csegroups.case.edu/bearingdatacenter/home
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