Professional Documents
Culture Documents
Component Replacement
Decisions
© A.K.S. JARDINE
Maintenance Optimization
© A.K.S. JARDINE 2
Making Systems more Reliable
through Component Replacement
© A.K.S. JARDINE
Short–Term Deterministic Replacement
Air heater
Soot deposits
steam
Boiler
© A.K.S. JARDINE 4
Short–Term Deterministic Replacement
$/lb 1.2
Steam
Generated 1
0.8
0.6
0.4
0.2
tr
0
time
© A.K.S. JARDINE 5
Optimization Problem (Section 2.2, page 30)
1
Total cost
0.8
0.4
0.2
Replacement cost
(cleaning cost)
0
tr
Optimal tr
tr – interval between replacement.
© A.K.S. JARDINE 6
Model Development
t
tr
C(tr) : total cost / unit time
tr
∫ c ( t ) dt + C r
0
C (tr ) =
tr
© A.K.S. JARDINE 7
Model Development
c(tr) = C(tr)
© A.K.S. JARDINE 8
Example
Next period O and M cost, c(t), is greater than average cost to date, C(t).
Cost ($)/month
120 111.75
112.5
111.67
0 1 2 3 4
t (month)
2C r
Note: If c(t) = a + bt, then tr * =
b
© A.K.S. JARDINE 10
For Preventive Replacement
Cost minimization
Check two conditions:
1. Total cost of a failure replacement is
greater than total cost of a preventive
replacement
2. Wear-out effect occurring
© A.K.S. JARDINE 11
For Preventive Replacement
Availability maximization/downtime
minimization
Check two conditions:
1. Total outage (downtime) of a failure
replacement is greater than total
outage (downtime) of a preventive
replacement
2. Wear-out effect occurring
© A.K.S. JARDINE 12
RCM Methodology Logic
© A.K.S. JARDINE 13
Optimize the plan
Time-Based Discard
• Operating hours
• Calendar time
• Cycles
– Operating
– Launch
© A.K.S. JARDINE 14
Preventive Replacement Cost Conflicts
$/Week
Failure Replacement
Cost/Week
Preventive Replacement
Cost/Week
tp
Optimal Value of tp
© A.K.S. JARDINE 15
Constant Interval Replacement Policy
(Section 2.4, page 39)
Cf Cf
New
Item Cp Cp Cp Cp
tp tp tp tp t
© A.K.S. JARDINE 16
Construction of Model
© A.K.S. JARDINE 17
We have:
Cf Cf Cp
tp
One cycle
© A.K.S. JARDINE 18
Age Age-based Replacement Policy
( Section 2.5, Page 49)
Cf Cf
New
Item Cp Cp Cp
tp tp tp t
© A.K.S. JARDINE 19
Optimal Preventive Replacement Age
of Equipment Subject to Breakdown
Failure Failure
replacement replacement
Preventive Preventive
replacement replacement
tp tp
0 Time
© A.K.S. JARDINE 20
Determination of Optimal Preventive
Replacement Age
Construction of model:
0 tp 0 M(tp)
GOOD FAILED
CYCLE CYCLE
© A.K.S. JARDINE 21
Determination of Optimal Preventive
Replacement Age
Construction of model:
C(tp) = total cost / unit time
when preventive replacement occur at
age tp.
Cp * R(tp) + Cf * [ 1 – R(tp) ]
C(tp) =
tp * R(tp) + M(tp) * [1 – R(tp)]
© A.K.S. JARDINE 22
Note:
- need to reschedule.
© A.K.S. JARDINE 23
Use of “Glasser’s Graphs” to Establish Optimal
Preventive Replacement Interval and Age
Assumptions:
Source: Glasser, Planned Replacement: Some Theory and its Application, Journal of Quality
Technology, Vol.1 No.2, April 1969
© A.K.S. JARDINE 24
Use of “Glasser’s Graphs” to Establish Optimal
Preventive Replacement Interval and Age
Solution Procedure:
4) tp = µ + Zσ.
© A.K.S. JARDINE 25
Glasser graph
Figure 2.37
© A.K.S. JARDINE 26
Example:
© A.K.S. JARDINE 27
Sugar Refinery Centrifuge Case
Wet Sugar
Sugar Refinery
Centrifuge
Dry Sugar
36 Problems Top
6 Analyzed 5
Months Data
© A.K.S. JARDINE 28
Failure frequency: cloth interval
CLASS CUMULATIVE CLASS CUMULATIVE
INTERVAL FREQUENCY RELATIVE INTERVAL FREQUENCY RELATIVE
(weeks) FREQUENCY (%) (weeks) FREQUENCY (%)
0 < 2 24 10.5 26 < 28 4 86.9
2 < 4 36 26.2 28 < 30 1 87.3
4 < 6 27 38.0 30 < 32 4 89.1
6 < 8 23 48.0 32 < 34 4 90.8
8 < 10 15 54.6 34 < 36 5 93.1
10 < 12 9 58.5 36 < 38 2 93.9
12 < 14 12 63.8 38 < 40 2 94.8
14 < 16 11 68.6 40 < 42 2 95.6
16 < 18 13 74.2 42 < 44 2 96.5
18 < 20 4 76.0 44 < 46 2 97.4
20 < 22 12 81.2 50 < 52 4 99.1
22 < 24 5 83.4 56 < 58 1 99.6
24 < 26 4 85.2 76 < 78 1 100.0
TOTAL: 229
© A.K.S. JARDINE 29
Parameter Estimation for Cloth Replacement
Cloth Replacement 229
Estimation point 1
13 13
0
β =1
η estimator
Perpendicular
µ=η=13
η=13
13
© A.K.S. JARDINE 30
Bearing Replacement
Historical Data
12 25 9 13 19
© A.K.S. JARDINE 31
Median Ranks (See Table A2.1
& Appendix 8)
1 2 3 4 5 6 7 8 9 10 11 12
1 50 29.289 20.630 15.910 12.945 10.910 9.428 8.300 7.412 6.697 6.107 5.613
2 70.711 50.000 38.573 31.381 26.445 22.849 20.113 17.962 16.226 14.796 13.598
3 79.370 61.427 50.000 42.141 36.412 32.052 28.624 25.857 23.578 21.669
4 84.090 68.619 57.859 50.000 44.015 39.308 35.510 32.390 29.758
5 87.055 73.555 63.588 55.984 50.000 45.169 41.189 37.853
6 89.090 77.151 67.948 60.691 54.811 50.000 45.951
7 90.572 79.887 71.376 64.490 58.811 54.049
8 91.700 82.018 74.142 67.620 62.147
9 92.587 83.774 76.421 70.242
10 93.303 85.204 78.331
11 93.893 86.402
12 94.387
© A.K.S. JARDINE 32
Median Ranks
Example: Bearing failures times (in weeks):
12, 25, 9, 13, 19.
From median rank tables:
1st failure time 13.0% 9 weeks
2nd failure time 31.5% 12 weeks
3rd failure time 50.0% 13 weeks
4th failure time 68.6% 19 weeks
5th failure time 87.1% 25 weeks
By using the median rank for the second ordered observation where we are
estimating that 31.5% of the population will have failed. There is a 50%
probability that the true % of failures will be below and above 31.5%. That is
half the time we’ll be underestimating it and half the time we’ll be
overestimating it.
© A.K.S. JARDINE 33
Failure Distribution
0.06
f(t) 0.05
0.04
0.03
0.02
0.01
0
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35
Time
© A.K.S. JARDINE 34
The Best Time
• Risk curve
• Economics
(Cf & Cp)
• Blend to
establish the
optimal tp
© A.K.S. JARDINE 35
PUMP FAILURE DATA
RUNNING SUSPENSION
TIME TO OR
FAILURE CENSORED
(MONTHS) TIME
3
6 6
9
2
3
10
Testing Time (10 weeks)
4 F + 6 Suspensions
Source: AHC Tsang
© A.K.S. JARDINE 37
PUMP FAILURE DATA
NEW
P.R P.R. P.R. F.R. F.R. P.R. P.R. F.R. P.R.
s S S F F S S F S
× × × × × × × × ×
3F + 6S
Failure Suspension (or
censored
observation)
© A.K.S. JARDINE 38
Suspensions (See A2.7, page 255)
(Sometimes termed censored data)
45
1.2
f(t) 40
F(t) 1.2 h(t)
1 1
35
30 0.8
0.8
25
0.6 0.6
20
15 0.4 0.4
10
0.2 0.2
5
0 0 0
1 2 3
3 2 1
t
∫− r (t ) dt h(t)
f(t) = h(t)[1-F(t)] F (t ) = 1 − e 0
When dealing with grouped multiply censored data
we proceed as above.
© A.K.S. JARDINE 39
WATER PUMP FAILURE
© A.K.S. JARDINE 40
Parameter Estimation for Water Pump
Water Pump 68
Estimation point 1.5
85000 94000
Pµ=58% 0
β =1.5
η estimator
Perpendicular
µ=85000 miles
η=94000 miles
13
© A.K.S. JARDINE 41
Life-time distribution of water pumps
MEAN TIME
TO FAILURE
MILES x 103
0 50 100 150 200 250
MEAN = 85,000 MILES
© A.K.S. JARDINE 42
Analysis of Censored Data (Table A2.12,
page 260)
When censoring takes place then the value of F(t) which is required for
Weibull plotting of the failure data is obtained via the cumulative failure
rate as illustrated in the following table:
Sugar Feed Failures and Censorings
Class S t +δt + S t −δt Instantaneous Failure rate F (T ) = 1 − e − Σr ( t )
Weeks F C S 2 Observed h(t) Cumulative
0< 1 9 5 89 82.0 0.110 0.110 0.104 F = Frequency of Failure
1< 2 16 1 75 66.5 0.241 0.351 0.296 C = Censoring Frequency
2< 3 9 2 58 52.5 0.171 0.522 0.407 S = Survivors at
3< 4 7 2 47 42.5 0.165 0.687 0.497 Commencement of Interval
4< 5 2 5 38 34.5 0.058 0.745 0.525 r(t) = f/|(St-δt + St+δt)/2|
5< 6 2 12 31 24.0 0.083 0.828 0.563
6< 7 3 0 17 15.5 0.194 1.022 0.640
7< 8 2 1 14 12.5 0.160 1.182 0.693
8< 9 2 0 11 10.0 0.200 1.382 0.749
9 < 10 0 2 9 8.0 0.000 1.382 0.749
10 < 11 0 0 7 7.0 0.000 1.382 0.749
11 < 12 1 1 7 6.0 0.167 1.549 0.788
12 < 13 0 0 5 5.0 0.000 1.549 0.788
13 < 14 1 1 5 4.0 0.250 1.799 0.835
14 < 15 1 2 3 1.5 0.667 2.466 0.915
Σ=55 Σ=34
ΣΣ=89
© A.K.S. JARDINE 43
Parameter Estimation for Sugar Feed
Sugar feed 89
Estimation point Censored data 0.8
7.0 6.6
0
̭
β =0.8
η estimator
Perpendicular
̭
η=6.60 weeks
13
© A.K.S. JARDINE 44
T-33 Silver Star Aircraft
© A.K.S. JARDINE 45
T-33 Silver Star Aircraft
The T33 aircraft engine is supplied with fuel provided by two fuel pumps (upper and lower).
The fuel system design is such that either pump can provide the necessary fuel pressure and
quantity to operate the engine satisfactorily. That is, the system is redundant and the failure of
a pump is not a catastrophic event.
The decision to be arrived at is: Should the pump be removed after “x” hours and overhauled
and relifed, or should we repair/overhaul it after failure only?
Failure Data
Collected over a 2-year period. Censored items represent a “snapshot” of all pumps still
operating successfully on one specific day.
Interval Failures Censored Items
(Hours) Upper Lower Upper Lower
0 – 200 1 2 7 5
200 – 400 5 1 6 5
400 – 600 10 1 5 1
600 – 800 4 1 4 10
800 – 1000 1 1 6 3
1000 – 1200 6 1 9 3
1200 – 1400 2 1 10 6
1400 – 1600 2 1 0 4
1600 – 1800 4 2 0 4
© A.K.S. JARDINE 46
T-33 Silver Star Aircraft
Pump Failure Data
Class Interval Failures Censored
(Hours) Observations
0 200 1 7
200 400 5 6
400 600 10 5
600 800 4 4
800 1000 1 6
1000 1200 6 9
1200 1400 2 10
1400 1600 2 0
1600 1800 4 0 Analysis of Pump Failure Data
Class F C h(t) Σh(t) F(t)
0 200 1 7 .01282 .0128 .0127
200 400 5 6 .07288 .0858 .0822
400 600 10 5 .18018 .2660 .2336
600 800 4 4 .0908 .3569 .3002
800 1000 1 6 .0274 .3843 .3191
1000 1200 6 9 .2353 .6196 .4618
1200 1400 2 10 .0833 .7863 .5445
1400 1600 2 0 .4000 1.1863 .6947
1600 1800 4 0 1.000 2.1863 .8877
© A.K.S. JARDINE 47
Fuel Pump Failures 82
Estimation point Endpoints of Intervals 2.25
1170 1320
0
̭
β =2.25
Perpendicular
η estimator
̭
η=1320 hours
13
© A.K.S. JARDINE 48
Order Number (A 2.7, page 255)
Time Failure /
(hours) Suspension
544 F
663 F
802 S
827 S Sample
897 F
size n = 10
914 F
939 S
1084 F
1099 F Source: Handling Ungrouped Censored Data,Table11.13 in
Reliability in Engineering Design, K.C. Kapur and L. Lamberson,
1202 S Wiley, 1977
© A.K.S. JARDINE 49
Order Number
© A.K.S. JARDINE 50
Order Number
Now create a new table giving order number for each
failure and associated median rank
Time Order Number Median Rank
544 1 0.067
663 2 0.163
897 2+1.29=3.29 0.288
914 3.29+1.29=4.58 0.411
1084 4.58+1.6=6.18 0.565
1099 6.18+1.6=7.78 0.719
I = [(10 + 1) – 2] / (1 + 6 ) = 1.29
© A.K.S. JARDINE 51
Order Number
Note:
We continue with same increment until another
suspended item is encountered.
© A.K.S. JARDINE 52
CATERPILLAR D10N Track-Type Tractor
© A.K.S. JARDINE 53
Steering Clutch, L.H.
(from a group of 6 CAT D10 Dozers)
New Today
© A.K.S. JARDINE 56
Checking the fit of a distribution:
Use of the K-S test.( Section A2.6, page 251)
© A.K.S. JARDINE 57
Kolmogorov – Smirnov
Goodness-Of-Fit Test
Need to check:
^
|F(ti) – F(ti)|
Max of =d
^
|F(ti) – F(t i -1)|
© A.K.S. JARDINE 58
Kolmogorov – Smirnov
Goodness-Of-Fit Test
^ )|
^ )|
|F(ti)-F(t i -1 F(t) |F(ti) -F(t i
1
0.9
F(t) 0.8
0.7
0.6 ^
0.5 F(ti)
0.4
0.3
0.2 ^
0.1 F(ti-1)
0
ti -1 ti t
© A.K.S. JARDINE 59
Example
From data we get:
^
µ^ = 6 σ = 3.4
f(t) 45
40
35
30
N ( 6 , 3.4 )
25
20
0.390
15
0.070 µ σ
10
0
t
0 1 2 3 4 5 6 7 8 9 10 11
© A.K.S. JARDINE 60
Example
F(ti)
^
F(t ) for n=5
i
^
|F(ti) – F(t i-1)|
ti (hours) From tables d
of Normal Median rank ^
|F(ti) –F(ti)| Using F(t=0)=0
Distribution
Overall Maximum
© A.K.S. JARDINE 61
Proceed to table of the K-S Statistic
f(t) 1.2
0.8
0.6 α = 20%
0.4
0.2
0
d
0.446
Observed difference = 0.261
0.8 α = 10%
Type I error
0.6
0.4
0.2
0
d
Do not Reject Ho Reject Ho
0.8
When using K-S test we have Ho as:
α = 10%
0.6
Type I error Weibull with a specified β and η.
0.4
0.2
0
d
Do not Reject Ho Reject Ho
© A.K.S. JARDINE 65
CP Rail
© A.K.S. JARDINE 66
A SUCCESS STORY IN THE ANALYSIS OF
FAILURE DATA: CP RAIL
12 25 9 13 19 Non-committal
System
9 12 13 19 25 Happy
System
Sad
25 19 13 12 9 System
© A.K.S. JARDINE 68
Repairable System Maintenance
Repairable System: A system which, after failing
to perform at least one of its required functions,
can be restored to perform all of its functions
by any method, other than replacement of the
entire system.
Maintenance Strategy: Possibly look at
parameters other than “age” e.g. vibration,
metal deposits in oil → CBM.
© A.K.S. JARDINE 70
Minimal Repair
r(t)
time
© A.K.S. JARDINE 71
Minimal and General Repair
Renewal time
r(t)
Minimal repair time
General repair
time
Minimal repair
time
time
© A.K.S. JARDINE 72
Time Based Maintenance
(Minimal & General repair)
Run Time X
Boundary for
X1 Preventive
Replacement
X2 Acceptable
X3 Operating Region
© A.K.S. JARDINE 73
A case study on repair versus maintain
versus replace
Transformers: De-Energised Tapchangers (DTC)
Cost new: $ 150,000.00
Key components experiencing failures:
1. Primary and secondary windings each installed on a laminated iron core
2. Internal insulating mediums
3. Main tank
4. Bushings
Others include cooling system, off circuit tap-changer, under-load tap-changer,
current and potential transformers and mechanism cabinets
For repairable systems one requires the degree of improvement of a component’s
performance subsequent to repair.
For windings it was concluded that degree of repair was 80%. Thus, changing the
core and windings of the transformer reduced the life of the transformer by 0.8.
© A.K.S. JARDINE 74
A case study on repair versus maintain
versus replace (Cont.)
© A.K.S. JARDINE 75
Spare Parts Provisioning:
Insurance Spares
Section 2.11, page 74
© A.K.S. JARDINE
Critical/emergency/capital
spares
Your
critical spare
© A.K.S. JARDINE
77
Your capital spares
• TURBINE
• Switch GEAR
• PRESS ROLL
• TRANSFORMER
© A.K.S. JARDINE 78
Real world research
Managing Risk: A Spares Optimization Tool
© A.K.S. JARDINE 79
Research Team
Research Students Research Staff
Sharareh Taghipur (Medical Devices) Dr. Dragan Banjevic, Project Director
Kelly Kinahan (Spare Parts Provisioning) Dr. Daming Lin, Research Associate
Robert Svaluto (Spare Parts Provisioning) Neil Montgomery, Research Associate
Lorna Wong (Repairable Systems) Frank Pirrillo. Programmer/analyst
Will Luff (Condition-Based Maintenance) Veena Kumar, Research Assistant
Janet Sung (Condition-Based Maintenance) Research Fellows
Corey Kiassat (Condition-Based
Maintnenance) Dr. Ali Zuashkiani (Maintenance
performance measurement)
Pedram Sahba (Spare Parts Provisioning)
Dr. Nima Safaei (Maintenance Scheduling)
Dr. Behzad Ghodrati (Spares provisioning)
© A.K.S. JARDINE
Repairable Spares
System
Stock
OUT OF STOCK
Repair Shop
© A.K.S. JARDINE 82
Criteria for Decision Making
1.Instant reliability
2.Interval reliability
3.Cost minimization
4.(Process) Availability
© A.K.S. JARDINE 83
Conveyor Systems: Electric Motors (Table 2.12, Page 80)
Number of motors 62
Scenario
Planning Horizon 1825 Days (5 years)
Reliability and MTBRemovals 3000 Days (8 years)
Maintainability MTTRepair 80 Days
Cost of spare motor $15,000
Value of unused spare $10,000
Cost Cost of emergency spare $75,000
Downtime cost $1000/day
Holding cost $4.11/day
© A.K.S. JARDINE 84
Results: Repairable Motors
© A.K.S. JARDINE 85
Reference Case
Population 100 transformers
Interval 1 yr
© A.K.S. JARDINE 86
Repairable Instantaneous Reliability
Vary Spares
1
0.99
0.98
0.97
0.96
0.95
0.94
Reliability
0.93
0.92
0.91
0.9
1 2 3 4 5
Spares
© A.K.S. JARDINE 87
Non-Repairable Spares
time
Out of
Supplier Stock
Stock
© A.K.S. JARDINE 88
Non-Repairable Fume fan shaft: Steel mill
SMS was used to quantify the risk involved in not having a spare
Decision support
© A.K.S. JARDINE 89
How many spares – Fume fan shaft?
MTBF Vs Reliability with 22 week LT
100.5
100
99.5
99 0 spares
1 spare
98.5 2 spares
R eliability
98
97.5
97
0 5 10 15 20 25 30 35 40 45
Mean time between failures
© A.K.S. JARDINE 90
TURBINE
• Repairable component
• 7 in use in a transmission pipe line
• MTBReplacements: 50,000 hours = 500 weeks (approx)
• MTTRepair: 12 weeks
• Cost new: $1,500,000
• Planning horizon: 1 year
© A.K.S. JARDINE 91
Atlantic LNG
Compressor Dry Gas Seals for single LNG train
• Repairable component
• 20 in use in LNG plant
• MTBReplacements: 48 months
• MTTRepair: 3.5 months
• Cost new: $110,000
• Planning horizon: 5 years
© A.K.S. JARDINE 92
Maintenance Management
© A.K.S. JARDINE 93
Component Replacement Decisions:
Problems (pp 89 -97)
© A.K.S. JARDINE 94