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ABSTRACT Analytic envelope is the most prevalent definition of envelopes of real-valued signals. However,
analytic signals are not adopted by some envelope detectors in application. This paper investigates the
envelopes of real-valued signals from a signal processing perspective. We show that the upper and lower
envelopes of signals can be obtained by signal reconstruction after extrema sampling on signals. We prove
that extrema sampling is a sub-Nyquist sampling. We then conclude that the envelopes of real-valued
signals contain two parts, some low-frequency components of the original signal and some new components
generated by sub-Nyquist extrema samplings. Some examples are presented to compare with the analytic
envelope of signals.
INDEX TERMS Envelope of real-valued signals, analytic signal, extrema sampling, signal reconstruction,
digital signal processing.
2169-3536
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Y. Yang: Signal Theoretic Approach for Envelope Analysis of Real-Valued Signals
we can rewrite it as
x(t) = xh (t) + xl (t) (15)
where xh (t)and xl (t) denote the components whose frequency
is greater or lesser than fe /2, respectively. Let eu (t) and ed (t) FIGURE 2. Illustration of new components in the upper envelopes. (a) The
denote the upper and lower envelopes of a signal, respectively. two tones signal with f1 = 100 Hz, f2 = 90 Hz, a1 = 1, and a2 = 1. (b) The
Based on the above analysis, the upper envelope of the mul- spectrum of the upper envelope shown in (a). (c) The two tones signal
with f1 = 100 Hz, f2 = 60 Hz, a1 = 1, and a2 = 1. (d) The spectrum of the
ticomponent signal x(t) can be expressed as upper envelope shown in (c).
eu (t) = xl (t) + nu (t) (16) For the upper envelope, we first consider the case that
fe = f1 which has a sufficient condition [23]
where nd (t) represents the new components in the upper
envelope. Correspondingly, the lower envelope of x(t) can be a2 f2 < a1 f1 (21)
expressed as
If f2 ≤ f1 /2, the signal x2 (t) can be reconstructed perfectly.
ed (t) = xl (t) + nd (t) (17) For the sake of simplifying the analysis, assume that extrema
are equally spaced. Using (18) and the property of the sinc
where nd (t) is the new components in the lower envelope. function, we then have
Especially, for the case of extrema spaced uniformly, the ∞
upper and lower envelope of signals can be written as [17]
X t − tu
eu (t) = [x1 (kTe + tu ) + x2 (kTe + tu )] sin c( −k)
∞
Te
k=−∞
t − tu
= a1 a0 + a2 cos(2π f2 t + ϕ2 )
X
eu (t) = x(kTe + tu )sinc( − k) (18)
Te
k=−∞ = a1 a0 + x2 (t) (22)
∞
X t − td
ed (t) = x(kTe + td )sinc( − k) (19) where a0 = cos(2π f1 tu +ϕ1 ). In this case, the upper envelope
Te eu (t) only contains the low frequency signal x2 (t) and a
k=−∞
constant a0 . A simple illustration is shown in Fig. 3. However,
where sinc(t) = sin(π t)/(π t), Te = 1/fe , tu (td ) denotes the
if f1 /2 < f2 < f1 , we have
first maximum (minimum) point, respectively. Some exam-
ples and further discussion are shown in the next section. eu (t) = a1 a0 + xa2 (t) (23)
where xa2 (t) denotes the aliasing component of x2 (t) [17].
IV. ILLUSTRATIVE EXAMPLES
We then consider the case that fe < f1 . If f2 ≤ fe /2, the
In this section, the interpolative envelopes are analyzed
signal x2 (t) can be reconstructed perfectly. Using (18), we
for two tones signals, double-sideband suppressed
then have
carrier (DSB-SC) signals, conventional AM signals, and
non-stationary signals. The interpolative envelopes are also eu (t) = x2 (t) + xa1 (t) (24)
compared with the analytic envelope in these signals.
where xa1 (t) denotes the aliasing component of x1 (t). In this
case, the upper envelope eu (t) contains the low frequency
A. ENVELOPES OF TWO TONES SIGNALS
signal x2 (t) but with a new component xa1 (t). If f2 > fe /2,
A composite two tones signal model can be given by the two components x1 (t) and x2 (t) cannot be reconstructed
x(t) = x1 (t) + x2 (t) perfectly. Then we have
= a1 cos(2π f1 t + ϕ1 ) + a2 cos(2πf2 t + ϕ2 ) (20) eu (t) = xa1 (t) + xa2 (t) (25)
Ac
= j [X (f + fc ) − X (f − fc )] The example to compare the interpolative envelope with
2
Ac the analytic envelope for the conventional AM signal is shown
+ j [δ(f + fc ) − δ(f − fc )] (33) in Fig. 7. The signal is the same as used in Fig. 6. From this
2
VOLUME 5, 2017 5627
Y. Yang: Signal Theoretic Approach for Envelope Analysis of Real-Valued Signals
figure, it is evident that the main component of the two types contains the lower chirp signal component x1 (t). However, the
of envelopes is the component of 20 Hz. Thus, we can be sure analytic envelop does not contain one of the two chirp signals.
that the two types of envelopes are almost the same, though Thus, the interpolative envelope is also fit for demodulating
the upper envelope has a little high-frequency component. non-stationary signals.
We then consider a simulation faulty bearing vibration
D. ENVELOPES OF NON-STATIONARY SIGNALS signal. According to [25] and [26], a vibration signal arising
Non-stationary signals exist widely in practice, whose fre- from a rolling element bearing can be simulated as
quency contents vary with time. Typically, most vibration q
−ξ ωn t
signals in a fault rotate machine are non-stationary. Here, we x(t) = a0 e sin 2π fn 1 − ξ t + n(t) (36)
2
first consider a non-stationary signal which is written as
x(t) = 10 cos 2π (80t + 500t 2 ) + 10 cos 2π (460t + 310t 2 ) where ξ denotes the ratio of damping, fn represents the natural
frequency of bearings, and n(t) is the noise. In [1], the bearing
= x1 (t) + x2 (t)
fault signals are added by some harmonic interferences which
where x1 (t) and x2 (t) are real chirp signals. The signal and is written as
the short-time Fourier transform (STFT) are shown in Fig. 8. 3
X
h(t) = Ai sin 2π fi t
i=1
FIGURE 8. The non-stationary signal. (a) The signal. (b) The STFT.
FIGURE 10. The simulated bearing fault signal. (a) A series of bearing
fault impulses. (b) The spectrum of (a). (c) The simulated fault signal
FIGURE 9. Envelopes of the non-stationary signal shown in Fig. 8. (a) The with some noise and harmonic interferences. (d) The spectrum
original signal and the analytic envelope. (b) The original signal and the of (c).
upper envelope. (c) The STFT of the analytic envelope. (d) The STFT of the
upper envelope.
In Fig. 11, we can find the fault characteristic frequency
The comparison result on the two type envelopes is shown and its harmonics from both the analytic and interpolative
in Fig. 9. It is clear that the interpolative envelope only envelopes. Nevertheless, the interpolative envelope contains
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empirical mode decomposition based on B-spline interpolation,’’ Cir- mechanical manufacture and automation from
cuits, Syst., Signal Process., vol. 32, no. 6, pp. 2899–2914, Dec. 2013, Dalian Jiaotong University in 2006, and the Ph.D.
doi:10.1007/s00034-013-9592-5. degree in mechatronic engineering from the Bei-
[15] Y. L. Yang, J. Deng, and D. Kang, ‘‘An improved empirical mode decom-
jing Institute of Technology in 2010. He is cur-
position by using dyadic masking signals,’’ Signal, Image Video Process.,
vol. 9, no. 6, pp. 1259–1263, Sep. 2015, doi:10.1007/s11760-013-0566-7.
rently an Associate Professor with the School of
[16] Y. L. Yang, ‘‘Empirical mode decomposition as a time-varying multi- Electronics and Information Engineering, Tianjin
rate signal processing system,’’ Mech. Syst. Signal Process., vols. 76–77, Polytechnic University. His current research inter-
pp. 759–770, Aug. 2016, doi: 10.1016/j.ymssp.2016.02.022. ests include signal processing and equipment state
[17] A. J. Jerri, ‘‘The Shannon sampling theorem—Its various extensions monitoring. He was a recipient of the second prize
and applications: A tutorial review,’’ Proc. IEEE, vol. 65, no. 11, from the Chinese Machinery Industry Science and Technology in 2009.
pp. 1565–1596, Nov. 1977, doi: 10.1109/PROC.1977.10771.