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Intelligent Bearing Fault Monitoring System Using

Support Vector Machine and Wavelet Packet


Decomposition for Induction Motors
Hari Om Vishwakarma, K S Sajan, Bhaskar
Maheshwari, and Yougal Deep Dhiman

Abstract - In this paper an intelligent condition monitoring of techniques [ I]. The technological advancement paved the way
induction motor based on the wavelet packet decomposition and for automatic acquisition and analysis of data. The classical
time domain features have been presented. The classification has
literature available contains a lot of proposed decision making
been done using the support vector machine (SVM) on the basis
techniques and models, which can be majoriy classified into
of statistical learning theory. The data has been collected on a 10
mathematical model-based methods and data-driven
HP induction motor in the lab having different bearing defects
techniques [2]. The latter mentioned technique is used in this
using piezoelectric type accelerometer. The signal is then
processed to extract the time domain and wavelet features. paper, because an accurate numerical model is usually difficult
Wavelet packet decomposition is used to extract the features from to derive for complex mechanical systems. Pattern recognition
time-frequency domain. In this work, 3rd level wavelet packet techniques and inference based classification methods are very
decomposition has been considered. The experimental results commonly used techniques. The older methods include
shows that the classification of the bearing faults of the induction statistical classifiers, geometric techniques, and polynomial
motor based on wavelet packet decomposition and time domain
classifiers [3], which have been implemented in certain fault­
features and pattern recognition using support vector machine
identification applications [4]. In the proposed paper a
provides a new approach for intelligent bearing fault diagnosis of
statistical classification technique based Support Vector
induction motor. GUI using MATLAB is developed for the work
to make it more users friendly.
Machine is used for fault identification and diagnosis.
In past few decades several intelligent computational
Index Terms - Bearing faults, Kernel function, Segmentation, algorithms based techniques have been implemented for
SVM, Wavelet Packet Decomposition. bearing fault identification and diagnosis but this has still
remain a challenging task to accomplish with efficiency. [5]­
1. INTRODUCTION [8] Like all other systems these techniques also have their
limited scope of implementation and flaws. The main
In Modern Power Generation Plants, continuous, reliable,
hindrance posed is the unavailability of stationary signals, and
efficient and safe operation of electrical drives is an important
practical reliability of these systems to extract representative
aspect. Unwanted failure of the machinery not only causes
features that corresponds to different bearing health
economic losses but also leads to human loss. Thus there is a
conditions. The most critical concern of an condition
need of an expert online condition monitoring system for the
monitoring system while implementing it in an industry is its
important drives. The system will continuously monitor the
reliability. Falsely triggered and unreasonably required alarms
parameter and gives us the indication of the fault in the
(i.e., the monitoring system triggers an alarm because of noise
incipient condition. Once the fault is detected, a proper
instead of real faults) will seriously mitigate its validity. The
planning will be done to rectify it with minimum time lag.
objective of this paper is to do away with such unwanted
Various techniques are available for condition monitoring
things and develop a more reliable method for feature
like Vibration monitoring, Motor Current Signature Analysis,
extraction and fault classification, which improves the
Temperature Monitoring, Acoustic analysis etc. In this paper
reliability of fault diagnosis and the purpose, is to provide
vibration signal of the machine is used for monitoring the
various industries a more reliable technique and tool for
condition of the drives. The Vibration spectrum of the machine
condition monitoring.
changes with development of the fault and for different type of
Vapnik, in the late sixties developed a new machine
fault, it has different spectrum. The spectrum gives us the
learning algorithm commonly known as Support Vector
information about the type of fault and its amplitude tells us
Machine, on the foundation of statistical learning theory (SLT)
about its severity.
[9]. Support Vector Machine is also used by various authors
Traditional methods available for bearing faults diagnosis
for fault diagnosis of Induction motor bearings because of its
are based upon observation of various machine parameters and
good generalization capability [10]-[15].
property trends. Limitation of technology and unavailability of
The objective of the paper is to develop intelligent
advanced computational techniques were the main hindrance
condition monitoring of induction motor based on the wavelet
in analysis of theses trends. High levels of noise used to
packet decomposition and time domain features. The
available when trends were subjected to multiple analysis

978-1-4799-8371-1/15/$31.00 ©2015 IEEE 339


classification has been done using the support vector machine
on the basis of statistical learning theory. The data has been
BSF= :o* � * (l-(;COswr) (2)

collected on a 10 HP induction motor in the lab having Inner race defect frequency is given by:
different bearing defects using piezoelectric type BPFI= eo* �) * ( 1 + ; cosw) (3)
accelerometer. The signal is processed to extract the time
domain and wavelet features. Seven features from time domain And outer race defect frequency is given by:
i.e. Mean value, RMS value, Peak value,
Variance, Skewness and Kurtosis are selected from time
Crest factor,
BPFO= eo* �) * ( 1 ; cosw)
- (4)

domain. Wavelet packet decomposition is used to extract the In equation (1)-(4) 'N' corresponds to shaft speed in
features from time-frequency domain. Up to 3rd level wavelet RPM, n are the number of balls in bearing, d corresponds to
packet decomposition has been done in this work. Therefore ball diameter, D represents the pitch diameter of the respective
total 15 features are selected for every vibration data. The bearing and 0 is the angle of contact.
processed data is used to train the support vector machine and Defect generates components of frequencies given by eq
to make a knowledge model for the classification purpose. The (1)-(4) in vibration spectrum. As the impact vibration
experimental results shows that the classification of the generated by a bearing fault has relatively low energy, it is
bearing faults of the induction motor based on wavelet packet often overwhelmed by noise with higher energy and vibration
decomposition and time domain features and pattern generated by other macro-structural components. Therefore, it
recognition using support vector machine provides a new is difficult to identify the bearing fault in the spectra using
approach for intelligent bearing fault diagnosis of induction conventional FFT method, and hence advanced signal
motor. GUI using MATLAB is developed for the work to processing techniques are needed.[16]
make it more users friendly.
The proposed paper is organized in the following manner. III. EXPERIMENT AL SETUP:

Fault characteristic frequencies of different types of bearings A 10 Hp Induction motor is used to calculate the vibration
are discussed in section II. Section III contains the
data in this setup. The induction motor was coupled to 10 KW
experimental setup for data recording of parameters. The DC generator. Accelerometer, speed encoder and control
classical approach towards fault diagnosis and proposed circuits are mounted on the setup to collect the required data
method of formation of dataset are discussed in section IV. points. Lamp load is used to vary the load on the induction
The extracted features from different domain are discussed In motor. Motor shaft is supported on test bearing. TATA
section V extracted features from different time and frequency Bearings Ltd. India provided the faulty bearings for analysis.
domains are described. Support Vector Machine is described The provided bearings are classified into four categories,
briefly in section VI. Section VII describes the experimental healthy bearings, bearings with damaged inner race, bearings
results of fault classification using Support Vector Machine with damaged outer race and bearings with damaged balls. NI­
and discussion on the results. In last section VIII of the paper
PCMCIA 6024E data acquisition card is used to record the
GUI is discussed. vibration data for all bearings. Other parameters like current,

II. BEARING FAULT CHARACTERISTICS voltage and speed which are related to motor operation are

FREQUENC also recorded. The monitoring system developed is shown in


figure 1.
There are several reasons which cause the damage in the
bearing during its operation. Vibration signal is collected to
observe the states of the rolling bearing and the type of the
rolling bearing fault. The vibration of the rolling bearing can
be divided into two types. The first type is the natural vibration
of the rolling bearing. The second type called abnormal
vibration, are related with the state of the rolling bearing's
surface. The bearing fault can be diagnosed by analyzing the
abnormal vibration (time-domain amplitude, frequency­
domain amplitude). The frequency of the abnormal vibration is
called fault ball-pass frequency which is decided by the fault
location. The frequencies due to bearing defects can be
calculated using eqs. (1)-(4).[l3]
Fundamental Train Frequency (FTF) is given by

FTF= eo* ;) * ( 1 ; cosw)


- (1) Figure 1: Experimental Setup for Vibration Data Recording.

Ball defect frequency is two times the ball spin frequency and Vibration data is recorded at 10 KHz sampling frequency
can be calculated as: for a period of 10 seconds. A dataset consisting of 69 samples
for each condition with each sample having 100000 data

340 2015 International Conference on Power and Advanced Control Engineering (ICPACE)
points is prepared for analysis of bearing faults classification.
The four conditions for which data is prepared are Healthy
bearing, bearing having Inner Race defect, bearing having
Outer Race defect and bearings having Ball defect. In this paper, a 3-level Daubechies wavelet packet
TATA 6308 bearing is used in this work. The transform is used to calculate the energy of 8-different
specification and vibration fault frequencies calculated from frequency range, and an initial feature set of IS elements
eq.I-4 at 1500 RPM are given in tablel. described (in Table 2) is selected to construct the feature
space.
Table I:
Bearlng specI IcatIOn and VI'brallon [;auI t tirequencles
VI. SUPPORT VECTOR MACHINE
Bearing Type(TATA 6308) D=65 mm, d=15.08 mm, n=8, 0=0°, N=1458
RPM SVM is a new statistical supervised machine learning
Vibration Frequency BPFO BPFl BSF FTF
method, which is used for the purpose of classification and
Magnitude (Hz) 76.8 123.2 10l.96 9.6 regression. In this paper it is used as a classifier. It is based on
the principal of Structural risk minimization and for linear
IV. FORMATION OF DATASET separable dataset it yields an optimal hyper plane with
maximum separation margins for a given two class dataset. For
As calculated by equation 1-4, for the bearing used in this
linearly non-separable dataset it makes a decision boundary
work, the maximum defect frequency is 123.2. To acquire the
with the help of kernel strategy, which maps the data into
complete information up to second harmonic of highest
higher dimensional feature space using kernel function.
frequency, a sampling frequency of 492.8 Hz or more
Although, SVM requires a thorough discussion for complete
according to Nyquist criteria is sufficient. That's why in this
understanding but providing such detailed explanation is
work, data set formation is done by down sampling of the
beyond the scope of this paper. However, sufficient
vibration signal in to 500Hz. In this case 20 datasets are
introduction is provided in this paper to facilitate the reader
formed from one vibration data each having a sampling
with basic understanding and terminology. Interested readers
frequency of 500 Hz and in this manner we have 1380 datasets
can go through the literature provided in [9], [18]-[20].
for every condition of the bearing. Each new dataset has 5000
A classification task usually involves training and testing
data point at a down sampling frequency of 500 Hz.
on some dataset. Each instance in the training dataset contains
V. FEATURE EXTRACTION one "target value" (class labels) and several "attributes"
(features). The goal of SVM is to produce a model that
Feature extraction and selection is the key issue for fault
predicts the target value of unseen data instances; this property
diagnosis. In this work features from statistical time domain
is popularly termed as generalization.
and Time frequency domain (wavelet packet transform) are
The discriminant function of SVM classifier is defined
taken [17].
((x) =
"-(x) + b,
w. 'f/ "-(x)
Time domain statistical features like mean, variance, peak, as where 'f/ . a mappmg
IS . functlOn
. to
root mean square, skewness, kurtosis and crest factor are map the input pattern x into higher dimensional space H. This
considered for bearing fault diagnosis. Since it is difficult to ((x) is
function linear in terms of the transformed data, but
recognize system conditions only with time-domain features,
the characteristic of the frequency domain related to the non-linear in terms of the original data xi E Rn, i = 1, 2, ... I.

rotation of bearing also have been proposed. Frequency Following non-linear transformation, for the parameters of

domain feature such as energies of the spectral on divided the decision function
((x) , the minimization of following
frequency bands have been investigated. With wavelet or cost function is
wavelet packet transform of bearing signals, energies of
divided frequency bands could be calculated as follows: (7)
After i level wavelet packet decompositions, the j-th
wavelet coefficients are: Subjected to

{Pi,j(k)1 k=I,2, ...,n/2i}, j = [l, ...,2i ] (5) yJ¢(xJw+ b):2: 1- �i' �;:2: 0, i-1,2,... ,/. (8)
The energy of the j-th node in i-th level can be computed as: The solution which minimizes the above cost function,
subject to the constraints in Eq. (8) can be obtained using the
(
Eji =l:� ri(k) )� (6) following dual formulation.
where ri = (ri(I),ri(2) , ... ri(n)) is the reconstructed signal Maximize:
obtained from the wavelet packet coefficients corresponding to
different frequency range.
TABLE II
(9)

2015 International Conference on Power and Advanced Control Engineering (ICPACE) 341
Where, K(x, y); known as kernel, is a non-linear function Five-fold cross validation is used during the training time
and is defined as to optimize the Regularization parameter (C) and Gamma
K(x,y)= tjJ(x)JjJ(y) (10) function (g). These parameters are used for finalising the
optimized separating hyperplane for classification of the new
Subjected to:
O�ai �C (11)
fault data.

Table IV:
La;y; =0 (12)
Instances Time(sec)
0.027
The solution is then given by
N,
W= La;y;tjJ(xJ (13)
From the results of experiment it can be said that
classification performance of the proposed algorithm is good.
The accuracy of proposed method on both training dataset and
Where, NS is the number of support vectors.
testing dataset is 100%. Also the numbers of support vector
A. SVM KERNEL FUNCTIONS used for the formation of hyper plane are less, which shows the

The kernel function in an SVM plays the vital role of mapping simple and better generalization. The training time and testing

the input vector into a high-dimensional kernel space. In the time is less than one sec. This time is very important in for an

present work, radial basis function (REFs) kernel that satisfies intelligent on-line monitoring system.

Mercer's condition has been used. It is defined as follows: Training and testing of SVM is performed on MATLAB
using libsvm-mat-2.88-1 toolbox [23]. The time taken for
l -yI12),
K(x,y)=exp(-rlx Where,r= � (14) testing is depends upon the specification of computer. In this
20- work Intel core2Duo T5750 2GHz processor with 2 GB RAM
Where, (J is width of Gaussian function. and 32 bit OS is used.

B. PARAMETER SELECTION AND TRAINING All these results show that the proposed algorithm can be
implemented for the purpose of intelligent on line bearing fault
Training is done to determine the optimal parameters of diagnosis of rotating machines.
the SVM. For this purpose, the type of kernel function, its
associated parameter and the regularization parameter C is to VIII. GUI FOR IMPLEMENTAnON OF METHOD
be decided by the user. To optimize these parameters, five-fold GUI (Graphical user interface) has been developed using
cross-validation has been applied to the training set. Five fold MATLAB for the implementation of above algorithm and to
cross validation means, the whole dataset is converted into five make a simple user friendly interface. The GUI is used to
equal subsets. After that the SVM is trained on any four subset classify the data recorded in the lab. One third of the data is
and tested on one subset. The similar process is repeated until used for the training purpose of the SVM and to develop the
SVM is trained and tested one by one on all datasets and model. Now this model can be used to classify the new
optimal parameters are selected. The associated parameter incoming vibration data. The GUI is trained on 69 data sets
gamma (y) with REF kernel along with regularization and tested on 207 datasets of different classed. All of the new
parameter C was adjusted using cross validation. data are classified with 100% accuracy. Also the time taken for
VII. EXPERIMENTAL RESULTS AND DISCUSSION classification and identification of fault is less than one
second.
The experimental results of the classification using SVM
for the dataset formed are shown below.
SA.II.PIMG 10 KKl • SAMI'l.IfG 10KH..t •
In first step, the data is divided into 4 parts, one for '.EOUVICY fREQUENCY

training and 3 for testing. In this manner 360 dataset for COHOOlOH Hormol CONDITION InMf Rae.
TIE TAKEN TIMETAKEN urn.
training and 1020 dataset for testing for every condition are Un&

ACQUIRE DATA I ACQUIRE�


prepared. The 15 features are calculated for every column of
START STOP
the dataset. The label is given to each column, which specifies START STOP

its condition. In this work label 1 is used for healthy bearing, 2 (0) (b)

for ball defect bearing, 3 for bearings having inner race defect
SAMPUtG IOKMz SAIU'U«i 10KHI
and 4 for bearing with outer race defect. The results of fREOOEHCY

FREOUDfC't

classification using SVM for method of down-sampling are COHDmON Ball Dtftct COHDmON Duttr Raee
shown in table3-4. TIlETAKEH U7&51 TlllETAKEN 0..:13

Table III: ACQUIRE OATA'

Training s ecification and output using SVM START STOP


START STOP
Training Regularization Gamma(g) Cross No. of Time(Sec)
Instances parameter(C) Validation Support 00 00
Efficiency Vectors Figure 2: GUI developed for Intelligent Monitoring of Bearing faults for
(%) induction Motor using SVM (a) Normal, (b) Ball Defect, (c) Outer race and
1440 10 0.001 100 26 0.033 (d) Inner Race

342 2015 International Conference on Power and Advanced Control Engineering (ICPACE)
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ACKNOWLEDGMENT
Conference on Artificial Intelligence and Computational Intelligence,
2009.
The authors would like to thank Shri V. Thangapandian
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2015 International Conference on Power and Advanced Control Engineering (ICPACE) 343

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