Sensors 20 01946

sensors
Article
GMPSO-VMD Algorithm and Its Application to
Rolling Bearing Fault Feature Extraction
Jiakai Ding 1,2 , Liangpei Huang 1 , Dongming Xiao 1,2, * and Xuejun Li 1,2
1 Hunan Provincial Key Laboratory of Health Maintenance for Mechanical Equipment, Hunan University of
Science and Technology, Xiangtan 411201, China; jiakai.ding@mail.hnust.edu.cn (J.D.);
huanglp413@163.com (L.H.); hnkjdxlxj@163.com (X.L.)
2 School of Mechatronics Engineering, Foshan University, Foshan 528225, China
* Correspondence: dmxiao@fosu.edu.cn

Received: 5 March 2020; Accepted: 29 March 2020; Published: 31 March 2020
Abstract: The vibration signal of an early rolling bearing is nonstationary and nonlinear, and the fault
signal is weak and difficult to extract. To address this problem, this paper proposes a genetic mutation
particle swarm optimization variational mode decomposition (GMPSO-VMD) algorithm and applies
it to rolling bearing vibration signal fault feature extraction. Firstly, the minimum envelope entropy is
used as the objective function of the GMPSO to find the optimal parameter combination of the VMD
algorithm. Then, the optimized VMD algorithm is used to decompose the vibration signal of the
rolling bearing and several intrinsic mode functions (IMFs) are obtained. The envelope spectrum
analysis of GMPSO-VMD decomposed rolling bearing fault signal IMF1 was carried out. Moreover,
the feature frequency of the four fault states of the rolling bearing are extracted accurately. Finally,
the GMPSO-VMD algorithm is utilized to analyze the simulation signal and rolling bearing fault
vibration signal. The effectiveness of the GMPSO-VMD algorithm is verified by comparing it with
the fixed parameter VMD (FP-VMD) algorithm, complete ensemble empirical mode decomposition
adaptive noise (CEEMDAN) algorithm and empirical mode decomposition (EMD) algorithm.
Keywords: GMPSO; VMD; envelope spectrum; parameter optimization; rolling bearing fault
feature extraction
1. Introduction
Rolling bearings are widely used in rotating machinery. They are also widely used in aircraft
engines [1,2] and other rotating machinery [3–6]. However, rolling bearings are very easily damaged,
and their faults are usually located in the outer race of the rolling bearing [7], the inner race of the
rolling bearing [8] and the roller element of rolling bearing [9,10].
At present, the industrial monitoring of rolling bearings is based on vibration signal time-frequency
analysis [11–14], and the fault vibration signals of various rolling bearing fault states contain their own
unique information, which needs to be identified and classified. Doing so positively impacts health
monitoring of the rolling bearing. Of course, the process monitoring of rolling bearings is not only
based on vibration signals, but also has some new technologies applied, such as acoustic signals [15],
acoustic emission signals [16] and current signals [17–19]. Frosini [17] proposed a induction machine
rolling bearing fault diagnosis technique based on measuring and analyzing vibration signal and current
signal. The flux probe of this method can easily be positioned on the machines and adapted to a wide
range of power levels. Immovilli [18] also utilized current signal to diagnose mechanical imbalances
and bearing faults. The main contribution of this paper is to describe a simple and effective signal
processing technique for current signals. In the field of rolling bearing fault vibration signal processing,
there are some common methods of signal processing. For example, wavelet packet decomposition
Sensors 2020, 20, 1946; doi:10.3390/s20071946 www.mdpi.com/journal/sensors

Sensors 2020, 20, 1946 2 of 23
(WPT) [20,21], empirical mode decomposition (EMD) [22,23], complete ensemble empirical mode
decomposition adaptive noise (CEEMDAN) [24,25] and local mode decomposition (LMD) [26,27], etc.
However, choosing the wavelet basis function in advance at the beginning of the decomposition of
the WPT plays an important role, as the signal cannot be decomposed adaptively, which will have a
certain impact on the decomposition result of the rolling bearing fault vibration signal. EMD, LMD and
CEEMDAN can conduct adaptive decomposition according to the characteristics of the signal, but they
all have adverse effects such as mode mixing [28,29], etc. Therefore, the variational mode decomposition
(VMD) algorithm was proposed by Dragomiretskiy [30]. The simulation or fault vibration signal could
be adaptively decomposed into several narrow-band signals of different frequencies by the VMD
algorithm, thus avoiding the adverse effects of mode mixing. Li [31] utilized the VMD algorithm to
decompose the internal bearing signal of a high-speed locomotive, which contained a large amount of
background noise. The experiment made use of this method to decompose the characteristic signal
and achieved a better result. A rolling bearing fault diagnosis method was proposed by Zhang [32].
This method made use of the VMD algorithm to decompose the rolling bearing signal, and compared it
with the EMD algorithm: the results showed that the VMD algorithm is better than the EMD algorithm
for the extraction of rolling bearing fault features.
However, the selection of the VMD parameters combination [K, α] is particularly important.
A parameters-adaptive optimization VMD method based on the grasshopper optimization algorithm
(GOA) for rotating machinery vibration signal was proposed by Zhang [33], which used a kurtosis
index and correlation coefficient as a fitness function for VMD parameters optimization. A test case
showed that this method can effectively find the optimal parameter combination [K, α] in the VMD
algorithm. Yan [34] proposed a method to optimize VMD parameters based on the cuckoo search
algorithm (CSA). The results showed the CSA-VMD can extract fault features effectively and it was
compared with other methods to assess its advantages. Xiao [35] used the average instantaneous
frequency as an index to select the most important parameter K of the VMD algorithm, which could
find the best parameter K of the algorithm quickly and effectively. Ding [36] utilized a GMPSO
algorithm to select the optimal parameters combination [K, α] in the VMD algorithm. Compared with
PSO algorithm, the GMPSO algorithm could avoid the occurrence of local optimal value.
Researchers have studied rolling bearing fault classification algorithms very closely.
Fault classification algorithms include neural networks (NNs) [37–39], support vector machines
(SVM) [40–42] and deep learning [43–46]. Among them, SVM needs to determine the kernel function
in advance, which lead to low fault diagnosis accuracy. Deep learning needs to learn the fault signal,
and the learning time is generally longer than that of neural network, which is not applicable for small
fault data samples. In order to find out the fault feature frequency of a rolling bearing, the envelope
spectrum analysis of the fault signal component is carried out in this paper. Based on the above
literature we investigated methods for mode mixing between EMD algorithm and CEEMDAN algorithm.
This paper utilized the GMPSO-VMD algorithm to decompose the rolling bearing fault vibration signal,
and then combined it with the envelope spectrum to find fault feature frequency. Therefore, this paper
proposes a rolling bearing fault feature extraction method based on GMPSO-VMD algorithm.
2. Rolling Bearing Fault Feature Extraction Method
2.1. VMD Algorithm

The VMD [30] algorithm decomposes the rolling bearing fault vibration signal data set y(t).
The analytic signal of the y(t) is as follows:
" #
j
(δ(t) + ) × yK (t) e− jωK t (1)
πt
where: t is time, δ(t) is the impact function.

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The VMD algorithm searches for the constrained variational optimal solution by constructing a
L2 norm model, expressed as:
 
2
P ∂[δ(t)+ πtj ]×yK (t) −jωK t 


min  k e k2 

{yK (t)},{ωK } K
 ∂t 
  (2)
P
s.t. yK (t) = y(t)
K
where: y(t) is the original rolling bearing fault vibration signal, yK (t) is the modal function, ωK is the
j
central frequency bandwidth, and δ(t) is the instantaneous impulse signal. (δ(t) + πt ) ∗ yK (t) is the
Hilbert transform for y(t).
This L2 norm model (1) introduces the Lagrange equation to solve it. The parameters of penalty
factor α and the Lagrange multiplication operator λ(t) are introduced to construct a non-constraint
optimization model. The non-constraint optimization model is defined as Equation (3):
j 2
∂[δ(t)+ πt ]×yK (t) −jω t
L( yK (t) , {ωK }, λ(t) ) = α
P
k ∂t
e K k
2
K ! (3)
2
yK (t)k + λ(t) × y(t) −
P P
+ky(t) − yK (t)
K 2 K
The alternate direction method of multipliers (ADMM) is utilized to calculate the variation
problem. The result of ŷK n+1 (ω) is calculated by ADMM as shown in Equation (4).
The VMD algorithm comprises the following steps:
Step 1. Perform an iterative loop n = n + 1;
Step 2. After iteration, the IMFs ŷK (ω) is updated according to the above formula;

λ̂i (ω)
ŷ(ω) − ŷi (ω) +
P
2
i,K
ŷK n+1 (ω) = (4)
1 + 2α(ω − ωK )2
Step 3. Update the center frequency {ω̂K } according to the above formula;
R∞ 2
0
ω yK (ω) dω
n+1
ω̂K = R∞ 2
(5)
0
yK (ω) dω
Step 4. Update Lagrange multiplication operator λ̂(ω);

X
λ̂n+1 (ω) = λ̂n (ω) + τ( ŷ(ω) − yK n+1 (ω)) (6)
K
Step 5. Repeat steps 1–4 until the inequality is established;
2
X
k ŷK n+1 − ŷK n k2 /k ŷK n k22 < ε (7)
K
Step 6. End;
where: ŷ(ω), ŷK (ω), λ̂(ω) represent the Fourier transform of y(t), yK (t), λ(t) respectively, and ε
represents the discriminant accuracy.
2.2. GMPSO Algorithm

Particle swarm optimization (PSO) has global optimization capabilities and good performance
but it is prone to local minima. We introduce the GMPSO algorithm, proposed by Ding [36] who
Sensors 2020, 20, 1946 4 of 23
applied it to gearbox fault diagnosis. The GMPSO algorithm can effectively prevent the occurrence of
local minima. Therefore, this paper selects GMPSO algorithm as the optimization algorithm for the
parameters combination [K, α]. The particle position and velocity update formula of GMPSO algorithm
is shown below:
Vin+1 = wVin + C1 η Pi n − Xin + C2 η P g n − Xin
(8)
Xin+1 = Xin + Vin+1
where, w is the inertia factor and its value is non-negative. When it is large, the global optimization
ability is strong. η represents the random number in the interval [0, 1], C1 and C2 are acceleration
constants, C1 is the individual learning factor of each particle, and C2 is the social learning factor of each
particle. Generally C1 = C2 ∈ [0, 4], and the number of iterations is n. Pi n represents the individual
extremum of the i variable in the n − th dimension. P g n represents the global optimal solution of the i
variable in the n − th dimension.
The early fault signal of the rolling bearing is decomposed by the GMPSO-VMD algorithm to
obtain a number of IMFs, and then the envelope entropy value of each IMF’s component is calculated
separately. The larger the envelope entropy value, the more noise the IMFs component contained,
and the less sparse the signal of the component. If the obtained IMFs component contains more
fault-related periodic impact characteristic signals, the higher the sparsity of the obtained component
signals and the lower the envelope entropy value. Thus, the lower the envelope entropy value, the less
noise the IMFs component contained. In this paper, we utilize the envelope entropy EE as the fitness
function of the GMPSO algorithm and the minimum envelope entropy as the evaluation index to select
the optimal parameters combination [K, α] in the VMD algorithm.
The envelope entropy EE is defined as:
N
X
E j = A( j) / A( j) (9)
j=1
N
X
EE = − E j lgE j (10)
j=1
j = 1, 2, · · · , N
where, A( j) is the envelope signal of the original signal after Hilbert transformation, and E j is the
normalization of A( j).
2.3. The Proposed Algorithm

Taking the minimum envelope entropy as the fitness function of the GMPSO optimization
algorithm proposed in this paper, and taking the parameter K as the particle position in the GMPSO
algorithm and the parameter α as the particle velocity in the GMPSO algorithm, the following GMPSO
optimization algorithm is constructed. The GMPSO-VMD optimization algorithm model [36] is:
 n o

 F = min EE IMFs
β=[K,α]



(11)



 s.t. K = [1, 10]
α = [0, 5000]



where, F represents the GMPSO algorithm fitness function, EE IMFs represents the envelope entropy
of each IMF after the original signal is decomposed by GMPSO-VMD, β= [K, α] is the optimization
parameter combination. In this paper, K represents the number on the interval [1, 10], and α represents
the number on the interval [0, 5000].
Figure 1 shows the flow chart of GMPSO-VMD algorithm.
Sensors 2020, 20, x FOR PEER REVIEW 5 of 23
145 optimization parameter combination. In this paper, K represents the number on the interval
146 [1,10] ,Sensors α represents

and 2020, 20, 1946 the number on the interval
[0，
5000]
. 5 of 23
147 Figure 1 shows the flow chart of GMPSO-VMD algorithm.
[K ,α ]
148
Figure 1. The flow chart of the proposed algorithm in this paper.
149 Figure 1. The flow chart of the proposed algorithm in this paper.
Steps of the proposed algorithm in this paper are as follows:
150 Steps of the proposed algorithm in this paper are as follows:
151 (1) Initialize
(1) Initialize parametersparameters
such as such as particle
particle position
position andand velocity
velocity inin theGMPSO
the GMPSOalgorithm.
algorithm.
152 (2) The(2)particle
The particle
position position and velocity
and velocity in GMPSO
in GMPSO algorithmare
algorithm aretaken
taken as
as the
theparameter
parameter combination
combination
[K ,α ] [ K, α ] in the VMD algorithm.
153 in the VMD algorithm.
(3) The GMPSO algorithm is implemented to find the optimal combination of the VMD parameter
154 (3) The GMPSO combinationalgorithm[K, α].is implemented to find the optimal combination of the VMD parameter
155 combination
[
(4) The fitness value
K , α ] minE IMFs is compared so that the local extremum and the global extremum
. E
IMFs
were updated. min EE
156 (4) The fitness value is compared so that the local extremum and the global extremum
(5) When the number of iterations fails to reach the maximum number, the positions of particles
157 were updated.
reach the local extremum and do not meet the requirements. The GMPSO algorithm will generate
158 (5) When the number
the next of iterations
generation of particle fails to reach
positions and the maximum
velocities number,
with mutation the positions
probability q, so asof
to particles
avoid
159 reach thetheoccurrence
local extremum and do not meet the
of the local extremum of PSO algorithm. requirements. The GMPSO algorithm will
160 generate thethe next generation of particle positions and velocities with mutation q
(6) When maximum number of iterations is reached, the iteration stops. Outputprobability
the optimal ,
161 so as to avoid the
parameter occurrence
combination [K,ofα]the local algorithm.
in VMD extremum of PSO algorithm.
162 (6) When the maximum number of iterations is reached, the iteration stops. Output the optimal
2.4. Fault Feature Extraction Method Based on the GMPSO-VMD Algorithm
[K ,α ]
163 parameter combination in VMD algorithm.
In order to effectively extract the feature frequency from the rolling bearing vibration signal,
a rolling bearing fault feature extraction method is proposed in this paper. Figure 2 shows a rolling
164 2.4. Fault Feature Extraction Method Based on the GMPSO-VMD Algorithm
bearing fault feature extraction flow chart.
165 In order
Theto effectively
following extract
detailed the
steps arefeature frequency
the details of Figurefrom
2: the rolling bearing vibration signal, a
166 Step 1. The rolling bearing vibration signal
rolling bearing fault feature extraction method is proposed in under four working conditions
this paper. of normal
Figure 2 showsbearing,
a rolling
167 inner race fault, roller element fault
bearing fault feature extraction flow chart. and outer race fault are adopted.
168 Step 2. The
The following GMPSO
detailed algorithm
steps are theisdetails
appliedofto the parameter
Figure 2: combination optimization in the
VMD algorithm.
169 Step 1. The rolling bearing vibration signal under four working conditions of normal bearing,
Step 3. The GMPSO-VMD algorithm is utilized for each rolling bearing fault vibration signal.
170 inner race fault, roller element fault and outer race fault are adopted.
171 Step 2. The GMPSO algorithm is applied to the parameter combination optimization in the
172 VMD algorithm.
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2020,20,
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173 Step 3. The GMPSO-VMD algorithm is utilized for each rolling bearing fault vibration signal.
174 Step4.4.The
Step Theenvelope
envelopespectrum
spectrumofofIMF1
IMF1isisanalyzed.
analyzed.
α
K
175
176 Rollingbearing
Figure2.2.Rolling
Figure bearingfault
faultfeature
featureextraction
extractionflow
flowchart.
chart.
3. Simulation Signal Analysis

177 3. Simulation Signal Analysis
In order to verify the effectiveness of the GMPSO-VMD algorithm, this paper applies GMPSO-VMD
178 In order to verify the effectiveness of the GMPSO-VMD algorithm, this paper applies
to the decomposition of the simulation signal. The simulation signal adopted in the literature [36] is
179 GMPSO-VMD to the decomposition of the simulation signal. The simulation signal adopted in the
introduced for analysis. The simulation signal is shown as follows:
180 literature [36] is introduced for analysis. The simulation signal is shown as follows:
 yy11((t) ==cos(
cos(f1ft1)t)





yy2 ((tt)) =
=cos(
cos(f ft2)t)4/4


 

2 2


yy3 (t ) = cos( (f ft3)t)16
( t ) = cos /16 (12)
 (12)

3 3

 t ) = y1 (t ) + y 2(t ) + y (t3) + n(t )

 y ( t ) = y ( t ) + y ( t ) + y ( t ) + n ( t )
 f y (=



 1 2 3
1 2πw1 , f2 = 2πw2 , f3 = 2πw3
 f1 = 2π w1 , f 2 = 2π w2 , f3 = 2π w3
where, w1 = 3 is the frequency of y1 , w2 = 25 is the frequency of y2 , w3 = 289 is the frequency of y3 , t is
181 time, y1w(1t)=3is the
where, is the frequency
simulation of ywith
signal 1 , wamplitude
2 =25 is theoffrequency y2 , w3 =289signal
of simulation
1, y2 (t) is the is thewithfrequency
amplitude of
182 yof
3, t
0.25, y ( t
is time,
3 ) is y
the
1 (t )simulation signal with amplitude of 0.0625
is the simulation signal with amplitude of 1, 2 and n ( ty) (
ist )
the
is the simulation signalis
noise signal. Figure 3
183 the spectrum
with amplitude diagram
of 0.25,and y3time
(t ) isdomain diagram signal
the simulation (t). amplitude of 0.0625 and n(t ) is the
of the ywith
184 Figure 4 shows the change of envelope entropy of the simulation signal ywith
noise signal. Figure 3 is the spectrum diagram and time domain diagram of the (t ) .
the number of
iterations. This paper seeks to find the minimum envelope entropy of the simulation signal. When the
185 Figure 4 shows the change of envelope entropy of the simulation signal with the number of
envelope entropy reaches the minimum value, the parameter combination [K, α] in the VMD algorithm
186 iterations. This paper seeks to find the minimum envelope entropy of the simulation signal. When
reaches the optimal value. Further, the optimal parameter combination of [K, α] is obtained as [4, 4179]
187 the envelope
[ K , α ] in the VMD
after GMPSOentropy reaches the minimum value, the parameter combination
optimization.
188 algorithmAccording
reaches to the optimization
optimal value. results of the
Further, GMPSO
the optimalalgorithm,
parameter thecombination
simulation signalof
α ] is
[ K ,will be
189 decomposed
obtained as
[4, 4179]
into four components. Figure
after GMPSO optimization. 5 shows the decomposition results of simulation signal by
the GMPSO-VMD algorithm. According to Figure 5, the frequency of IMF1 is w1 = 3, the frequency
of IMF2 is w2 = 25, and the frequency of IMF3 is w3 = 289. IMF4 is the noise component. The three
feature frequencies are separated accurately by the GMPSO-VMD algorithm. Figure 6 shows the
decomposition results of the simulation signal by the CEEMDAN algorithm.
1
Simulation signal
0.5
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-0.5
-1
1
Simulation signal
Time(t/s)
10.5
signal
0.5 0
amplitude
600
Simulation
0-0.5
-0.5 -1X: 3
400 Y: 503.9
Simulation signal
-1 Time(t/s)
X: 25
200 Y: 124.7 Time(t/s) X: 289
Simulation signal amplitude

600
Y: 33.71
Simulation signal amplitude
600
0 X: 3
400
0 Y:50
503.9 100 150 200 250 300 350 400 450 500
90 X: 3 X: 25
Frequency(f/Hz)
400200Y: 503.9
Y: 124.7
X: 289
Y: 33.71
91 Figure 3. Spectrum
200 0 diagram and time domain diagram of the
X: 25
Y: 124.7
y (t ) .
0 50 100 150 200 250 300X: 289
350 400 450 500
190 Frequency(f/Hz) Y: 33.71
0
0 -16 50 100 150 200 250 300 350 400 450 500
Objective space
90 191 Figure 3.9Spectrum diagram and time domain diagram of the
x 10 Frequency(f/Hz) y (t ) .
Number of Iterations ＝10
Figure 3. Spectrum diagram and time domain diagram of the y(t).
8
91 Figure 3. Spectrum diagram and time domain diagram of the
y (t ) .
-16
x 10 Objective space
7 9
Number of Iterations ＝10
far score obtained so far
6 8 -16
x 10 Objective space
9
5 7 Number of Iterations ＝10
Best score obtained so far
8
6
4
7 5
Best score obtained so Best
3
6 4
2
5 3
1
4 2
0
1 1 2 3 4 5 6 7 8 9 10
92 3 Iteration
0
2 1 2 3 4 5 6 7 8 9 10
93 192 Figure 4. The genetic mutation particle swarm optimization Iteration
variational mode decomposition
1
94 193 (GMPSO) convergence
Figure
Figure
curve
4. The genetic
4. The convergence
of the
mutation
genetic mutation
simulation signal
particle swarm
particle
for the
optimization
swarm optimization
variational mode
variational
variational mode
modedecomposition
decomposition (VMD)
decomposition
(GMPSO) curve of the simulation signal for the variational mode decomposition (VMD)
95 194 parameter
(GMPSO) optimization. 0
convergence curve1 of 2the simulation
3 4 signal
5 for
6 the7variational
8 9 mode
10 decomposition (VMD)
92 parameter optimization. Iteration
195 parameter optimization. 2 1000 X: 3
93 Figure 4. The genetic mutation

0 2particle swarm optimization variational mode decomposition
Y: 503.9
500
1000 X: 3
94 (GMPSO) convergence curve-2 of0 the simulation signal500for the variational mode decomposition (VMD)
Y: 503.9
0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
95 parameter optimization. -2
0 0.2
Time(t/s)
0.4 0.6 0.8 1
0
0 100
Frequency(f/Hz)
200 300 400 500
0.5 200
Time(t/s) Frequency(f/Hz)
0.5 200
02 1000
100 X:X:325
-2) -2)
Acceleration(a/ms -2)
Y:
Y:503.9
124.7
magnitude(a/ms
0 100 X: 25
-0.50 500
0 Y: 124.7
magnitude(a/ms
0 0.4 0.6 0.2 0.8 1 0 100 200 300 400 500

-0.5 0
-2 0 0.2 Time(t/s)
0.4 0.6 0.8 1 00 100 Frequency(f/Hz)
200 300 400 500
0.2 0 0.2 0.4Time(t/s)
0.6 0.8 1 40 0 100Frequency(f/Hz)
200 300 400 500
0.2 40
X: 289
-2Spectrum
0.5
0 200
20 Y: 33.56
X: 289
Spectrum magnitude(a/msSpectrum
0 20 Y: 33.56
-0.20 100
0 X: 25
)
0-0.2 0.2 0.4 0.6 0.8 1 00 Y:100

124.7 200 300 400 500
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
-0.5 Time(t/s) 0 Frequency(f/Hz)
0.1 0 0.2 0.4 0.6 0.8 1 10 0 100 200 300 400 500
0.1 Time(t/s) 10 Frequency(f/Hz)
0.2
0 0 40
5
5
X: 289
-0.10-0.1 20
0 Y: 33.56
0 0 0.2 0.2 0.40.4 0.60.6 0.8
0.8 11 00 100
100 200 300
200 300 400400 500500
96 196 -0.2
0 0.2 0.4
Time(t/s)
Time(t/s)
0.6 0.8 1
0
0 100
Frequency(f/Hz)
Frequency(f/Hz)
200 300 400 500
97 197 Figure
Figure 5. 5.
Figure 5.GMPSO-VMD
GMPSO-VMD decomposes
GMPSO-VMDdecomposes the
the
decomposes the simulation
simulationsignal. signal.
Frequency(f/Hz) signal.
simulation Time(t/s)
0.1 10
0 5
-0.1 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
96 Time(t/s) Frequency(f/Hz)
97 Figure 5. GMPSO-VMD decomposes the simulation signal.

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0.5 40
0 20
-0.5 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300X: 289400 500
Y: 25.87
0.1 4
0 2
-0.1 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
0.2 10
0 5
-0.2 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
Spectrum magnitude(a/ms -2)

0.5 10
0 5
-0.5 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
0.5 20
0 10
-0.5 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
0.5 100
0 50
-0.5 0 X: 25
0 0.2 0.4 0.6 0.8 1 0 Y: 100
96.98 200 300 400 500
0.1 20
0 10
-0.1 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
1 500
0
-1 0 X: 3
0 0.2 0.4 0.6 0.8 1 0 Y: 401
100 200 300 400 500
0.5 100
0 50
-0.5 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
0.1 40
0 20
-0.1 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
0.05 20
0 10
-0.05 0
0 0.2 0.4 0.6 0.8 1 0 100 200 300 400 500
98 Time(t/s) Frequency(f/Hz)
99 Figure 6.Figure
Complete ensemble empirical mode decomposition adaptive noise (CEEMDAN) algorithm
6. Complete ensemble empirical mode decomposition adaptive noise (CEEMDAN) algorithm
decomposes the simulation signal.
00 decomposes the simulation signal.
According to Figure 5, the three feature frequencies of the simulation signals are separated
01 According
correctly. to
As the optimization
shown results
in Figure 6, the of the
frequency GMPSO
of IMF1 is w3 =algorithm, the simulation
289, the frequency of IMF6 is w2signal
= 25, will be
02 decomposed into four components.1 Figure 5 shows the decomposition results of simulation signal
and the frequency of IMF8 is w = 3. The CEEMDAN algorithm separates multiple useless IMFs
from the simulation signals, and some of the components have the phenomenon of mode mixing.
03 by the GMPSO-VMD algorithm. According to Figure 5, the frequency of IMF1 is w1 = 3 , the
Among them, mode mixing occurred between IMF6 and IMF7, and the CEEMDAN algorithm separated
frequency of IMF2 is w2 = 25 , and the frequency of IMF3 is w3 = 289 . IMF4 is the noise component.
the simulation signal into several unknown and useless components. Among them, IMF2 to IMF5 are
04 useless components of noise. The signal separation accuracy of the CEEMDAN algorithm is slightly
05 The three feature
lower frequencies
than that are separated
of the GMPSO-VMD accurately by the GMPSO-VMD algorithm. Figure 6
algorithm.
06 shows the decomposition results of the simulation signal by the CEEMDAN algorithm.
07 According to Figure
4. Experiment 5, the three feature frequencies of the simulation signals are separated
Data Analysis
correctly. As shown in Figure 6, the frequency of IMF1 is w3 = 289 , the frequency of IMF6 is
The rolling bearing data under actual working conditions were applied to the GMPSO-VMD
08 algorithm proposed in this paper to test its effectiveness in extracting fault features of rolling bearings.
09 w2 = 25 ,The
androlling
the frequency
bearing faultof IMF8
data set ofisCase = 3 . The
w1 Western CEEMDAN
Reserve Universityalgorithm separates
(United States) (CWRU)multiple
[47] was useless
10 IMFs from
usedthe simulationand
for experiments signals, and
compared some
with of the and
the FP-VMD components have The
EMD algorithms. therolling
phenomenon
bearing testof mode
rig of CWRU is shown in Figure 7. In the test rig, the three-phase induction motor (arrow 1 in Figure 7)
11 mixing. Among them, mode mixing occurred between IMF6 and IMF7, and the CEEMDAN
has a rated power of 1.5 kW, a speed of 1797 r/min, and a current of 3 A. It is connected to a power
12 algorithm separated
meter the simulation
and a torque sensor (arrowsignal intoa several
3) through unknown
self-aligning couplingand useless
(arrow 2), andcomponents.
drives the fan Among
13 them, IMF2
(arrowto4), IMF5
where thearethree-phase
useless induction
components motorof
loadnoise.
is 0 kW.The signal
At the outputseparation accuracy of the
end of the three-phase
14 CEEMDAN algorithm
induction is slightly
motor, the vibration lower thansensor
acceleration that of the 5)
(arrow GMPSO-VMD
is vertically fixedalgorithm.
as close as possible to the
housing supporting the rolling bearing, and the acceleration sensor (arrow 5) is used for data collection
15 4. Experiment Data frequency
at a sampling Analysisof 12 kHz. The rolling bearing model in the test is SKF6205. The inner race,
outer race and roller element of the bearing are respectively processed using the electrical discharge
16 Themachining
rolling bearing data under
(EDM) method, which actual working
produces tiny pits conditions were
of 0.117 mm size to applied to faults
simulate the the GMPSO-VMD
of the
17 algorithm proposed in this paper to test its effectiveness in extracting fault features of rolling
18 bearings. The rolling bearing fault data set of Case Western Reserve University (United States)
19 (CWRU) [47] was used for experiments and compared with the FP-VMD and EMD algorithms. The
20 rolling bearing test rig of CWRU is shown in Figure 7. In the test rig, the three-phase induction
227 rolling bearing

Sensors 2020, model in the test is SKF6205. The inner race, outer race and roller element of
20, 1946 9 ofthe
23
228 bearing are respectively processed using the electrical discharge machining (EDM) method, which
229 produces tiny pits of 0.117 mm size to simulate the faults of the inner race, outer race and roller
inner race, outer race and roller elements of the rolling bearing. Table 1. represents the rolling bearing
230 elements of the rolling bearing. Table 1. represents the rolling bearing information and notation
information and notation under an external load of 0 kW. Figure 8 is the schematic diagram of a normal
231 under an external load of 0 kW. Figure 8 is the schematic diagram of a normal roller bearing, an
roller bearing, an inner race fault, a roller element fault, and an outer race fault.
232 inner race fault, a roller element fault, and an outer race fault.
227 rolling bearing model in the test is SKF6205. The inner race, outer race and roller element of the
228 bearing are respectively processed using the electrical discharge machining (EDM) method, which
229 produces tiny pits of 0.117 mm size to simulate the faults of the inner race, outer race and roller
230 elements of the rolling bearing. Table 1. represents the rolling bearing information and notation
231 under an external load of 0 kW. Figure 8 is the schematic diagram of a normal roller bearing, an
232 inner race fault, a roller element fault, and an outer race fault.
233
Figure 7. Rolling bearing failure test rig of CWRU: (1) three-phase induction motor, (2) self-aligning
234 Figure 7. Rolling bearing failure test rig of CWRU: (1) three-phase induction motor, (2) self-aligning
coupling, (3) torque sensor, (4) fan, and (5) acceleration sensor.
235 coupling, (3) torque sensor, (4) fan, and (5) acceleration sensor.
Table 1. Parameters of the rolling bearing data set from CWRU.
Load (kW) Speed (r/min) Condition of Rolling Bearing Fault Diameter (mm) Notation
Normal bearing (N) / N
233 Inner race fault (IR) 0.117 IR-7
0 1797
Roller element fault (RE) 0.117 RE-7
234 Figure 7. Rolling bearing failure test rig of CWRU: (1) three-phase induction motor, (2) self-aligning
235 coupling, (3) torque sensor, (4) fan, andOuter race fault (OR)
(5) acceleration sensor. 0.117 OR-7
236
237 Figure 8. Schematic diagram of a normal rolling bearing and several types of fault: (a) normal
238 bearing, (b) inner race fault, (c) roller element fault, and (d) outer race fault.
239 Table 1. Parameters of the rolling bearing data set from CWRU.
Load(kW) Speed (r/min) Condition of Rolling Bearing Fault Diameter (mm) Notation
Normal bearing (N) / N
236
Inner race fault (IR) 0.117 IR-7
237 0 8.8. Schematic
Figure
Figure 1797
Schematic diagram
diagramof of a normal
a normal rolling bearing
rolling and several types of fault:of(a)
bearing normal bearing,
Roller element fault (RE) and several types 0.117 fault: (a) normal
RE-7
238 (b) inner (b)
bearing, raceinner
fault,race
(c) fault,
roller (c)
element
roller fault, andfault,
element (d) outer
Outer race fault (OR)
raceouter
and (d) fault.race fault.
0.117 OR-7
In this paper, datasets of rolling bearings under different working conditions of CWRU were
239 Table 1. Parameters of the rolling bearing data set from CWRU.
240 In this
adopted forpaper, datasets
analysis. A totalof rolling bearings
of 32 signal under different
segments of rollingworking
bearingsconditions of CWRU
under different were
working
241 Load(kW)
adopted
conditions forwereSpeed
analysis. (r/min)
A total
extracted, Condition
of
8 signal 32 signalofsegments
segments Rolling Bearing
extracted of rolling
for Fault Diameter
bearings
each working under(mm)
condition. Notation
different working
242 conditions
The timeweredomain
extracted, 8 signaland
diagrams Normal
segments bearing
extracted
spectrum (N)
for each
diagrams of working /
vibrationcondition.
signals N
of normal bearings,
inner race faults, roller element faults and Inner outer
racerace
faultfaults
(IR) are shown in Figure 0.1179. As shown inIR-7
Figure 9,
0 1797
Roller element fault (RE) 0.117 RE-7
Outer race fault (OR) 0.117 OR-7
240 In this paper, datasets of rolling bearings under different working conditions of CWRU were
241 adopted for analysis. A total of 32 signal segments of rolling bearings under different working
Sensors 2020, 20, 1946 10 of 23
243 The time domain diagrams and spectrum diagrams of vibration signals of normal bearings,
244 inner race faults, roller
the rolling bearing faultelement faults and
signal features outerand
weakly race faults are
contains shown
a large in Figure
number of noise9. As shown in
frequencies.
245 Figure
Among9,them,
the rolling bearing
the feature fault of
frequency signal
each features
fault stateweakly andtocontains
is difficult a largefrom
extract directly number of noise
the spectrum
246 frequencies. Among them, the feature frequency of each fault state is difficult
diagram, so it needs to be analyzed in the following step. It is necessary to apply the GMPSO-VMD to extract directly
247 from the spectrum
algorithm proposed diagram, so it needs
in this paper to the to be feature
fault analyzed in the following
extraction of rolling step. It issignal
bearing necessary
undertoactual
apply
248 the GMPSO-VMD
working algorithm proposed in this paper to the fault feature extraction of rolling bearing
conditions.
249 signal under actual working conditions.
0.4 2
0.2 1
0 0
-0.2 -1
-0.4 -2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time(t/s) Time(t/s)

0.04 0.1
0.03
0.02 0.05
0.01
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Frequency(f/Hz) Frequency(f/Hz)
(a) (b)
1 4
0.5 2
0 0
-0.5 -2
-1 -4
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time(t/s) Time(t/s)
0.03 0.4
0.3
0.02
0.2
0.01
0.1
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Frequency(f/Hz) Frequency(f/Hz)
(c) (d)
250 Figure
Figure9.9. Time domaindiagram
Time domain diagram andand spectrum
spectrum diagram
diagram of rolling
of rolling bearings:bearings: (a)bearing
(a) normal normal bearing
vibration
251 vibration signal,
signal, (b) inner(b) inner
race faultrace fault vibration
bearing bearing vibration signal,
signal, (c) roller(c) roller element
element fault vibration
fault bearing bearing vibration
signal,
252 signal, and
and (d) (d) race
outer outerfault
racebearing
fault bearing vibration
vibration signal. signal.
253 InInthis
thispaper,
paper,the
the GMPSO-VMD
GMPSO-VMD algorithm
algorithm isis applied
applied toto fault
fault feature
featureextraction
extractionofofthe thenormal
normal
254 bearing, inner race fault, roller element fault and outer race fault, the four types of rolling
bearing, inner race fault, roller element fault and outer race fault, the four types of rolling bearing bearing fault
255 fault signal. Figures 10a–d shows the GMPSO convergence curve of a normal bearing, an innerofrace
signal. Figure 10a–d shows the GMPSO convergence curve of a normal bearing, an inner race fault a
256 rolling
fault of abearing,
rollingabearing,
roller element fault
a roller of a rolling
element fault bearing, and an
of a rolling outer race
bearing, andfault of a rolling
an outer bearing
race fault of a
257 vibration signal for VMD parameter optimization.
rolling bearing vibration signal for VMD parameter optimization.
The optimal parameter combinations of [K, α] are obtained as [7, 2250], [7, 3772], [7, 4116] and
[7, 2472] after GMPSO optimization. Figure 11a–d shows the time domain diagram and spectrum
diagram of the normal bearing, inner race fault of the rolling bearing, roller element fault of the rolling
bearing, outer race fault of the rolling bearing vibration signal decomposed by the GMPSO-VMD
algorithm. As shown in Figure 11, the fault signals of rolling bearings were separated successfully,
and no mode mixing phenomenon occurred in all IMFs. A large number of high-frequency noise IMFs
were obtained.
Sensors 2020,20,
Sensors2020, 20,1946
x FOR PEER REVIEW 11 of
11 of 23
23
-15 -15
x 10 Objective space x 10 Objective space
4 -15 3 -15
x 10 Objective space x 10 Objective space
4 Number of Iterations ＝10 3 Number of Iterations ＝10
3.5 Number of Iterations ＝10 Number of Iterations ＝10
2.5
3.5
3 2.5
so far
so far
3
2
so far
so far
2.5
2
obtained
obtained
2.5
obtained
obtained
2 1.5
score
score
2 1.5
score
score
1.5
BestBest
BestBest
1.5 1
1 1
1
0.5
0.5
0.5
0.5
0 0
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10
0 Iteration 0
1 2 3 4 5 6 7 8 9 10 1 2 3 4 Iteration
5 6 7 8 9 10
(a)
Iteration (b)Iteration
x 10
-15
(a) space
Objective
x 10
-15 (b) space
Objective
6 -15
Objective space 5 -15
x 10 x 10 Objective space
6 Number of Iterations ＝10 5 Number of Iterations ＝10
Number of Iterations ＝10 4.5 Number of Iterations ＝10
5 4.5
5 4
4
so far
so far
4 3.5
so far
so far
4
obtained
3.5
obtained
3
obtained
obtained
3 3
score
score
3 2.5
score
score
2.5
BestBest
BestBest
2 2
2 2
1.5
1 1.5
1 1
1
0 0.5
1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10
0 0.5 Iteration
1 2 3 4 Iteration
5 6 7 8 9 10 1 2 3 4 5 6 7 8 9 10
(c)
Iteration (d)
Iteration
(c) (d)
258 Figure 10. The GMPSO convergence curve for VMD parameter optimization: (a) normal bearing
258
259 Figure 10.
Figure
vibration10. The GMPSO
The
signal, GMPSO
(b) inner convergence
convergence curvecurve
race fault bearing for VMD
for VMD
vibration parameter
parameter
signal, optimization:
element fault(a)
optimization:
(c) roller normal
(a) normal
bearing bearing
bearing
vibration
259
260 vibration
vibration signal,
signal, (b)
(b) inner
inner race
race fault
fault bearing
bearing vibration
vibration
signal, and (d) outer race fault bearing vibration signal. signal,
signal, (c)
(c) roller
roller element
element fault
fault bearing
bearing vibration
vibration
260 signal,and
signal, and(d)
(d)outer
outerrace
racefaultfaultbearing
bearingvibration
vibrationsignal.
signal.
0.2 200 0.2 400
0 100 0 200
0.2 200 0.2 400
-0.2 0 -0.2 0
00 0.2 0.4 0.6 0.8 1 1000 2000 4000 6000 00 0.2 0.4 0.6 0.8 1 2000 2000 4000 6000
-0.2 Time(t/s) 0 Frequency(f/Hz) -0.2 Time(t/s) 0 Frequency(f/Hz)
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
0.2 400 0.5 400
Time(t/s) Frequency(f/Hz) Time(t/s) Frequency(f/Hz)
0 200 0 200
0.2 400 0.5 400
-0.2 0 -0.5 0
00 0.2 0.4 0.6 0.8 1 2000 2000 4000 6000 00 0.2 0.4 0.6 0.8 1 2000 2000 4000 6000
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
0.1 40 0.2 400
0 20 0 200
0.1 40 0.2 400

-0.1 0 -0.2 0
00 200 00 2000
0.2 0.4 0.6 0.8 1 2000 4000 6000

0.2 0.4 0.6 0.8 1 2000 4000 6000


0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
0.05 200 0.5 500
0 100 0
0.05 200 0.5 500
-0.05 0 -0.5 0
00 0.2 0.4 0.6 0.8 1 1000 2000 4000 6000 00 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
0.05 20 0.5 400
0 10 0 200
0.05 20 0.5 400
-0.05 0 -0.5 0
00 0.2 0.4 0.6 0.8 1 100 2000 4000 6000 00 0.2 0.4 0.6 0.8 1 2000 2000 4000 6000
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
0.01 4 0.5 1000
0 2 0 500
0.01 4 0.5 1000
-0.01 0 -0.5 0
00 0.2 0.4 0.6 0.8 1 20 2000 4000 6000 00 0.2 0.4 0.6 0.8 1 5000 2000 4000 6000
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
0.01 4 0.5 400
0 2 0 200
0.01 4 0.5 400
-0.01 0 -0.5 0
00 0.2 0.4 0.6 0.8 1 20 2000 4000 6000 00 2000
0.2 0.4 0.6 0.8 1 2000 4000 6000
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
(a)
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000
Time(t/s) Frequency(f/Hz) Time(t/s) (b) Frequency(f/Hz)
(a) (b)
Figure 11. Cont.
Sensors 2020, 20, 1946 12 of 23
0.05 200 0.1 500

0 100 0.05
-0.05 0 0 0
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.5 1 0 2000 4000 6000
0.1 100 0.2 200
0 50 0 100
-0.1 0 -0.2 0
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.5 1 0 2000 4000 6000
0.05 200 1 1000
0 100 0 500

-0.05 0 -1 0
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.5 1 0 2000 4000 6000
0.5 100 1 1000
0 50 0 500
-0.5 0 -1 0
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.5 1 0 2000 4000 6000
0.5 200 2 2000
0 100 0 1000
-0.5 0 -2 0
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.5 1 0 2000 4000 6000
0.5 200 2 2000
0 100 0 1000
-0.5 0 -2 0
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.5 1 0 2000 4000 6000
0.05 40 0.5 100
0 20 0 50
-0.05 0 -0.5 0
0 0.2 0.4 0.6 0.8 1 0 2000 4000 6000 0 0.5 1 0 2000 4000 6000
(c) (d)
261 Figure 11.

Figure 11. Time
Time domain
domain diagram
diagram andand spectrum
spectrum diagram
diagram of rolling bearing
of rolling bearing vibration
vibration signal
signal by
by
262 GMPSO-VMD algorithm decomposition: (a) normal bearing, (b) inner race fault bearing,
GMPSO-VMD algorithm decomposition: (a) normal bearing, (b) inner race fault bearing, (c) roller (c) roller
263 element fault
element fault bearing,
bearing, and
and (d)
(d) outer
outer race
race fault
fault bearing.
bearing.
264 The optimal

Some rolling parameter combinations
bearing parameters of [ K ,in
are shown α ]Table
are obtained
2. According as [7,to2250] , [7,3772] Equations
the empirical , [7, 4116]
265 and [7, 2472]
(14)–(16) for theafter
fault GMPSO
frequencyoptimization.
of the outer andFigures
inner 11a–d
races ofshows the time
the rolling bearing,domain
it can diagram and
be calculated
266 that the fault frequency of the roller element, outer race and inner race of the rolling
spectrum diagram of the normal bearing, inner race fault of the rolling bearing, roller element fault bearing are
267 137.4Hz, 107.3Hz and 162.2Hz. The spindle speed is 1797 r/min so that the motor
of the rolling bearing, outer race fault of the rolling bearing vibration signal decomposed by therotation frequency is
268 30 Hz.
GMPSO-VMD algorithm. As shown in Figure 11, the fault signals of rolling bearings were
269 0 = 30Hz
separated successfully, and no mode mixing fphenomenon occurred in all IMFs. A large number (13)
of
270 high-frequency noise IMFs were obtained.
!
Z d N
271 Some rolling bearing parameters f1 =are ×shown
1 + in×Table cos α 2.× According to the empirical Equations (14)
2 D 60
272 (14), (15) and (16) for the fault frequency of the outer and inner! races of the rolling bearing, it can be
calculated that the fault frequency 1 d d 2 N
273 f2 = of×the ×roller
1 − (element,
) × cosouter
2
α ×race and inner race of the rolling (15)
274 bearing are 137.4Hz, 107.3Hz and 2162.2Hz. D The Dspindle speed 60 is 1797 r/min so that the motor
275 rotation frequency is 30 Hz.
!
Z d N
f3 = × 1 − × cos α × (16)
2 D
f 0 = 30 Hz 60 (13)
where, z is the number of balls in the rolling bearings; D is the sectional bearing diameter; N is the
Z  d  N
spindle speed. α is the contact angle off1the= roller × cos αd ×is the diameter of the roll;
× 1 +element; (14)
2  D  60
Table 2. Rolling bearing parameters.
1 d  d  N
f 2 = × × 1 − ( ) 2 × cos 2 α  × (15)
Roll Diameter Section Bearing D 
2 Contact D Ball  60Inner Diameter Outer Diameter
(mm) Diameter (mm) Angle (◦ ) Number (mm) (mm)
Z  d  N
7.94 39.04 f 3 = 0× 1 − × cos α 9 × 25.00 51.97 (16)
2  D  60
276 where, is the number
The zGMPSO-VMD of ballshas
algorithm in athe rolling
strong bearings; basis,
mathematical D is and
the the
sectional bearing
frequency of itsdiameter;
decomposed N
277 is thecomponents
IMFs spindle speed. α is thesmall
ranges from contact angle of
to large. the
The roller element;
frequency is the
range ofdIMF1 is diameter of thefrequency
the minimum roll;
band. Since the fault frequency of rolling bearings are all between 100 Hz and 200 Hz, this paper selects
278 the IMF1 components decomposed Table
by the2. Rolling bearing parameters.
GMPSO-VMD algorithm for envelope spectrum analysis.
However, the essence of the CEEMDAN and EMD algorithm is the iteration of signals, without too
Roll Inner
much mathematical Section
basis,Bearing Contact algorithms.
and both are empirical Ball The frequency range of its decomposed
Outer
Diameter Diameter
IMFs componentDiameter
ranges from (mm)large to Angle (°) IMF1
small, and Number
contains the most information.Diameter (mm)
Therefore,
(mm) (mm)
the decomposed IMF1 component is used for envelope spectrum analysis.
7.94 39.04 0 9 25.00 51.97
too However,
much mathematical
the essence basis, and both are
of the CEEMDAN andempirical
EMD algorithmalgorithms.
is theThe frequency
iteration range
of signals, of its
without
decomposed
too IMFs component
much mathematical basis,rangesand both fromare large to small,algorithms.
empirical and IMF1 contains the most range
The frequency information.
of its
Therefore, theIMFs
decomposed decomposed
component IMF1 component
ranges from large is used for envelope
to small, and IMF1 spectrum
containsanalysis.
the most information.
According
Therefore, to the obtained
the decomposed
Sensors 2020, 20, 1946 IMF1 IMFs component after GMPSO-VMD
is used for envelope algorithm
spectrum decomposition,
analysis. 13 ofas23 shown in
Figure 11, the spectrum
According to the obtained diagramIMFs of IMF1aftercontains
GMPSO-VMD the feature frequency
algorithm of a rolling bearing
decomposition, as shown fault,
in
while the
Figure spectrum
11, the spectrum
According diagram
todiagram of other
the obtained of IMFs
IMF1 IMFs showsthe
contains
after GMPSO-VMD that the
feature fault featureoffrequency
frequency
algorithm decomposition, a rolling
as shown ofinthe rolling
bearing fault,
bearing
while theisspectrum
not included. diagram TheofIMF1 otherofIMFs the fault
shows vibration
that thesignal
fault of the four-fault
feature
Figure 11, the spectrum diagram of IMF1 contains the feature frequency of a rolling bearing fault,
frequencystate of theof rolling
rolling
while the spectrum diagram of other IMFs shows that the fault feature frequency of the rolling bearing
bearingsisare
bearing isnot
selected
included.
not included.
as the
TheThe
signal
IMF1IMF1
component
of the of the
fault
for
fault signal
vibration
envelope
vibration spectrum
signal
of the four-fault theofanalysis.
ofstate four-fault Figure
state
rolling bearings
12 is the
areof rolling
envelopeare
bearings spectrum
selected
selected as the ofsignal
thethe
as IMF1 of the
signal
component normalspectrum
component
for envelope bearing.
for envelopeFigureFigure
analysis. 13 shows
spectrum the envelope
analysis.
12 is the envelope Figure
spectrumspectrum
12 is the of
the IMF1 spectrum
envelope ofthe
of the inner
IMF1 of
of therace
thenormalfault
IMF1 ofofthe
bearing.the rolling
normal
Figure bearing.
bearing.
13 shows Figurespectrum
Figure
the envelope 1314shows
is the envelope
the
of the envelope
IMF1 spectrum
of the spectrum
inner of the
of
IMF1
the of the
IMF1 of theroller
inner element fault of
race fault of the
the rolling
rolling bearing.
bearing. Figure
Figure 14 15 isis the
the envelope
envelope spectrum
race fault of the rolling bearing. Figure 14 is the envelope spectrum of the IMF1 of the roller element
spectrum of of the
the
fault of the rolling bearing. Figure 15 is the envelope spectrum of the IMF1 of the outer race fault of the
IMF1 of the
IMF1 outer
roller race fault fault
element
rolling bearing.
of theofrolling bearing.
the rolling bearing. Figure 15 is the envelope spectrum of the
IMF1 of the outer race fault of 0.03the rolling bearing.
0.03
X: 30.03
0.025 Y: 0.02772
X: 30.03
0.025 Y: 0.02772
)
-2) -2
magnitude(a/ms
0.02
magnitude(a/ms
0.02
X: 60.06
0.015 Y: 0.01283
X: 60.06
0.015
Spectrum
Y: 0.01283
0.01
Spectrum
0.01
0.005
0.005
0
0 50 100 150 200 250 300 350 400
0 Frequency(f/Hz)
0 50 100 150 200 250 300 350 400
Frequency(f/Hz)
Figure 12. The envelope spectrum of intrinsic mode function 1 (IMF1) of the normal bearing
vibration
Figure 12.signal
Figure obtained
The 12.
envelope using
The envelope the GMPSO-VMD
spectrum
spectrum of intrinsic
of intrinsic modealgorithm.
mode function
function 1 the
1 (IMF1) of (IMF1)
normal of the vibration
bearing normal bearing
signal obtained using the GMPSO-VMD algorithm.
vibration signal obtained using the GMPSO-VMD algorithm.
0.08
0.08
0.07
X: 161.9
Y: 0.07154
0.07
0.06 X: 161.9
)
-2) -2
Y: 0.07154
magnitude(a/ms
0.06
0.05
magnitude(a/ms
0.05
0.04 X: 60.06
Y: 0.03255
0.04 X: 60.06
Spectrum
0.03 Y: 0.03255
X: 30.03 X: 263.7
Y: 0.02181 Y: 0.0219
Spectrum
0.03 X: 30.03 X: 263.7

0.02 Y: 0.02181 Y: 0.0219 X: 323
Y: 0.01159
0.02 X: 323
0.01 Y: 0.01159
0.01
0
0 50 100 150 200 250 300 350 400
0 Frequency(f/Hz)
0 50 100 150 200 250 300 350 400
Figure 13. The envelope spectrum of the IMF1Frequency(f/Hz)
of the inner race fault of the rolling bearing vibration
Figure 13.signal
The envelope spectrum of the IMF1 of the
inner race fault of the rolling bearing vibration
obtained using the GMPSO-VMD algorithm.
signal obtained
Figure using thespectrum
13. The envelope GMPSO-VMD algorithm.
of the IMF1 of the inner race fault of the rolling bearing vibration
Sensors 2020, 20, x2020,

Sensors FOR20,PEER
1946 REVIEW 14 of 23 14 of 23
0.01
0.009
0.01
0.008
0.009
-2)
0.007
magnitude(a/ms
0.008 X: 30.03
Y: 0.005893 X: 137.7
Y: 0.005609
-2)
0.006
0.007
magnitude(a/ms
X: 30.03
Y: 0.005893 X: 137.7
Spectrum 0.005
0.006 Y: 0.005609
0.004
0.005
0.003
Spectrum
0.004
0.002
0.003
0.001
0.002
0
0.001 0 50 100 150 200 250 300 350 400
3 0
Frequency(f/Hz)
0 50 100 150 200 250 300 350 400
43 Figure 14. The envelope spectrum of the IMF1Frequency(f/Hz)of the roller element fault of the rolling bearing
54 vibrationFigure
signal14.obtained using
The envelope the GMPSO-VMD
spectrum of the IMF1 of thealgorithm.
roller element fault of the rolling bearing vibration
Figure 14. Theobtained
signal envelopeusingspectrum of thealgorithm.
the GMPSO-VMD IMF1 of the roller element fault of the rolling bearing
5 vibration signal obtained0.25using the GMPSO-VMD algorithm.
0.25
X: 107.7
0.2 Y: 0.2217
-2)
X: 107.7
magnitude(a/ms
0.2 Y: 0.2217
-2)
0.15
magnitude(a/ms
0.15
Spectrum
0.1
X: 30.03
Spectrum
0.1
Y: 0.05244 X: 215.3
Y: 0.04131 X: 323
0.05 X: 30.03 Y: 0.03028
Y: 0.05244 X: 215.3
Y: 0.04131 X: 323
0.05
Y: 0.03028
0
0 50 100 150 200 250 300 350 400
6 0
Frequency(f/Hz)
0 50 100 150 200 250 300 350 400
Figure 15. The envelope spectrum of the IMF1 of the outer race fault of the rolling bearing vibration
76 Figure 15. The envelope spectrum of the IMF1 of the outer race fault of the rolling bearing vibration
Frequency(f/Hz)
87 signal obtained using the GMPSO-VMD algorithm.
Figure 15. The envelope spectrum of the IMF1 of the outer race fault of the rolling bearing vibration
As shown in Figure 12, the motor rotation frequency of the normal bearing is 30.03 Hz, which was
98 signal obtained using the GMPSO-VMD algorithm.
As shown in Figure 12, the motor rotation frequency of the normal bearing is 30.03 Hz, which
obtained accurately from the envelope spectrum of the IMF1 after applying the GMPSO-VMD algorithm.
09 The motor rotation frequency value is close to the theoretical value f0 . The feature frequency of the
was obtained accurately from themotor
envelope spectrum of theofIMF1 after applying the30.03
GMPSO-VMD
As shown in Figure
normal bearing can be 12,extracted
the rotation
accurately. frequency
In addition, thefrequency
the double normal bearing
60.06 Hz ofisthe motorHz, which
10 algorithm. Theaccurately
motor rotation frequency value
was obtained
rotation frequency from
is also the envelope
extracted accurately byistheclose
spectrum of theto IMF1
envelope the theoretical
afterAs
spectrum. applying
shownvalueinthe f 0 . The
Figure 13, feature
GMPSO-VMD
21 frequency theoffault
thefrequency
normal ofbearing canofbe
the inner race theextracted
rolling bearing accurately.
is 161.9 Hz,In addition, the double frequency
algorithm. The motor rotation frequency value is close to the which was obtained
theoretical value accurately
f 0 . The feature
32 60.06 Hz of
fromthethe motor
envelope rotation
spectrum frequency
of the IMF1 is
afteralso
use extracted
of the accurately
GMPSO-VMD by
algorithm.theThe envelope
inner race spectrum.
fault As
frequencyfrequency
of the valuenormal bearing can be valueextracted accurately. Infeature
addition, the ofdouble
the innerfrequency
43 shown in of
Figuremotor
is close to the theoretical
13, the fault frequency of the
f1 . In addition,
inner race of
the fault
the rolling
frequency
bearing is 161.9 Hz, which
60.06 Hz racethe
at the doublerotation
frequency frequency
323 Hz andis thealso
motor extracted accurately
rotation frequency byHz
30.03 the
wereenvelope
also extracted spectrum. As
54 was obtained accurately from the envelope spectrum of the IMF1 after use of the GMPSO-VMD
shown inaccurately
Figure 13, theenvelope
by the fault frequency
spectrum. Asof the inner
shown in Figure race of fault
14, the the rolling
frequencybearing is 161.9
of the roller elementHz, which
65 algorithm. of The inner race fault frequency
Hz, whichvalue is close to the theoretical value f1 . Inofaddition, the
was obtained accurately from the envelope spectrum of the IMF1 after use of the GMPSO-VMD
the rolling bearing was 137.7 was obtained accurately from the envelope spectrum the
76 fault feature
IMF1 frequency
after using theoffault
the inner
GMPSO-VMD race at the isdouble
algorithm. The roller frequency
element fault 323 Hz
frequency and the
value is close motor
to the rotation
algorithm. The
theoreticalinner
valuerace
f2 . In frequency
addition, the faultvalue close to
feature frequency ofthe theoretical
the motor rotationvalue
frequency
f1 .30.03Hz
In addition, the
87 frequency 30.03 Hz were also extracted accurately by the envelope spectrum. As shown in Figure 14,
fault feature frequency of the inner race at the double frequency 323 Hz and the motor rotation
98 the fault frequency of thealso roller element of the rolling
frequency 30.03 Hz were extracted accurately by thebearing
envelope was 137.7 Hz,Aswhich
spectrum. shown was obtained
in Figure 14,
09 accurately from the envelope spectrum of the IMF1 after using the GMPSO-VMD algorithm. The
the fault frequency of the roller element of the rolling bearing was 137.7 Hz, which was obtained
10 roller element
fromfault frequencyspectrum value is of close
the to theafter
theoretical value f 2 . In addition, the fault
accurately the envelope IMF1 using the GMPSO-VMD algorithm. The
2
Sensors 2020, 20, 1946 15 of 23

Sensors 2020, 20,also
was x FOR PEER REVIEW
extracted accurately by the envelope spectrum. As shown in Figure 15, the fault frequency of 15 of 23
7 and thirdtheharmonic
outer race of generation 323 Hz,
the rolling bearing and thewhich
was 107.7Hz, motor rotationaccurately
was obtained frequency from30.03 Hz were also
the envelope
87 and third harmonic
spectrum
extracted close
accurately
of the generation
IMF1 after using 323 theHz,
by the envelope spectrum. and
GMPSO-VMD the motor
algorithm. rotation frequency
The outer race 30.03
fault frequency Hz iswere also
value
to the theoretical value f3 . In addition, the fault feature frequency of the outer race at the double
98 extracted accurately
In order to verify
frequency
by the
215.3 Hz
the envelope
anddifference
third harmonic
spectrum.
between
generationthe323GMPSO-VMD
Hz, and the motor algorithm and other
rotation frequency 30.03 Hz algorithms,
09 In
the FP-VMDorder to
were also verify
algorithm, the difference
CEEMDAN
extracted accurately between
algorithm
by the envelope the GMPSO-VMD algorithm
and EMD algorithm were substituted
spectrum. and other algorithms,
for the
10 GMPSO-VMD algorithm. Here, the parameters in the FP-VMD algorithm are α = 2000 and for
the FP-VMD In algorithm,
order to CEEMDAN
verify the difference algorithm
between the and EMD
GMPSO-VMD algorithm
algorithm andwere
other substituted
algorithms, K =the
3.
21 GMPSO-VMD
Figure 16 is thealgorithm.
the FP-VMD Here, the of
algorithm,
envelope spectrum
CEEMDAN parameters
the IMF1 in
algorithm
ofthe
theFP-VMD
and EMD algorithm
algorithm
normal bearing
were are α
substituted
vibration = for and
the
signal obtained
2000 K =by3.
GMPSO-VMD algorithm. Here, the parameters in the FP-VMD algorithm are α = 2000 and K = 3.
32 Figure
the 16 is the
FP-VMD envelope
algorithm. spectrum
Figure 17 is of the the IMF1 ofspectrum
envelope the normal bearing
of the IMF1 vibration
ofsignal signal
the obtained
inner race obtained by
fault of the
Figure 16 is the envelope spectrum of the IMF1 of the normal bearing vibration by the
43 the FP-VMD
rolling bearing
FP-VMDalgorithm.
algorithm.Figure
vibration signal
Figure 17isobtained
17 isthethe envelope
envelope thespectrum
byspectrum FP-VMD ofalgorithm.
of the IMF1 the IMF1
of the innerof the
Figure
race inner
fault 18theisrace
of thefault
rolling of the
envelope
54 rolling bearing
spectrum bearing vibration
of the vibration
IMF1 thesignal
ofsignal roller obtained
obtained element by
faultthe
by the FP-VMD FP-VMD
ofalgorithm.
the rolling algorithm.
bearing
Figure Figure 18
vibration
18 is the envelope is the
signal
spectrum of envelope
obtained by
65 spectrum of the IMF1 of the roller element fault of the rolling bearing
the FP-VMD algorithm. Figure 19 is the envelope spectrum of the IMF1 of the outer race fault of the
the IMF1 of the roller element fault of the rolling bearing vibration signal vibration
obtained by signal
the FP-VMD obtained by
76 the FP-VMD
rolling bearing algorithm.
vibration Figure
signalby19 is the envelope
obtained by FP-VMD spectrum of the IMF1 of the outer race fault of the
algorithm. Figure 19 is the envelope spectrum of the IMF1 of the outer race fault of the rolling bearing
algorithm.
7 vibration signal obtained FP-VMD algorithm.
rolling bearing vibration signal obtained
x 10 by FP-VMD algorithm. -3
7
-3
x 10
7
6 X: 29.3
Y: 0.006368
6 X: 29.3
Y: 0.006368
-2) -2)
5
magnitude(a/ms
5
magnitude(a/ms
4
3
Spectrum
3
Spectrum
2
1
1
0
0 50 100 150 200 250 300 350 400
8 0
0 50 100 150
Frequency(f/Hz)
200 250 300 350 400
8 Frequency(f/Hz)
9 Figure 16. The envelope spectrum of the IMF1 of the normal bearing vibration signal obtained by
Figure 16. The envelope spectrum of the IMF1 of the normal bearing vibration signal obtained by using
09 Figurethe
using 16.theThe
fixed envelope
parameter
fixed
spectrum of the
VMD(FP-VMD)
parameter VMD (FP-VMD) IMF1 of the normal bearing vibration signal obtained by
algorithm.
algorithm.
0 using the fixed parameter VMD (FP-VMD) algorithm.
0.025
0.025
0.02 X: 60.06
Y: 0.02083
-2) -2)
0.02 X: 60.06
magnitude(a/ms
Y: 0.02083
magnitude(a/ms
0.015
X: 161.9
0.015 Y: 0.01163
X: 161.9
Y: 0.01163
Spectrum
0.01
Spectrum
0.01
X: 323.7
Y: 0.004689
0.005 X: 323.7
Y: 0.004689
0.005
0
0 50 100 150 200 250 300 350 400
1 0
0 50 100 150
Frequency(f/Hz)
200 250 300 350 400
1 Frequency(f/Hz)
2 Figure 17.Figure
The envelope spectrum
17. The envelope of the
spectrum IMF1
of the IMF1ofof the innerrace
the inner race fault
fault ofrolling
of the the rolling
bearingbearing
vibration vibration
32 Figureobtained
signal 17. The envelope
signal
by using spectrum
obtained by using the
the FP-VMD of the
FP-VMD IMF1 of the inner race fault of the rolling bearing vibration
algorithm.
algorithm.
3 signal obtained by using the FP-VMD algorithm.
Sensors 2020,Sensors
20, x FOR PEER REVIEW
2020, 20, 1946 16 of 23
16 of 23
-3
x 10
7
-3
x 10
7 X: 30.03
6 Y: 0.005663
X: 30.03
6 Y: 0.005663
)
5
-2) -2
magnitude(a/ms
5
magnitude(a/ms 4
4
3
Spectrum
3
Spectrum
X: 135.5
2
Y: 0.001487
X: 135.5
2
Y: 0.001487
1
1
0
0 50 100 150 200 250 300 350 400
0 Frequency(f/Hz)
0 50 100 150 200 250 300 350 400
Frequency(f/Hz)
Figure 18. The envelope spectrum of the IMF1 of the roller element fault of the rolling bearing
Figure 18.signal
vibration The 18.
Figure envelope spectrum
The envelope
obtained by spectrumof
using theIMF1
theofFP-VMD
the IMF1 ofroller
of the theelement
algorithm. roller fault
element faultbearing
of the rolling of thevibration
rolling bearing
signal obtained by using the FP-VMD algorithm.
vibration signal obtained by using the FP-VMD algorithm.
-3
x 10
8
-3
x 10
8
7 X: 161.9
Y: 0.007413
7 X: 161.9
6 Y: 0.007413
-2) -2
magnitude(a/ms )
6
5
magnitude(a/ms
5
4
4
Spectrum
3
X: 107.7
Spectrum
3 Y: 0.002054
X: 107.7
2
Y: 0.002054
2
1
1
0
0 50 100 150 200 250 300 350 400
0 Frequency(f/Hz)
0 50 100 150 200 250 300 350 400
Frequency(f/Hz)
Figure 19.Figure
The envelope spectrum of the IMF1 of the outer race fault of the rolling bearing vibration
19. The envelope spectrum of the IMF1 of the outer race fault of the rolling bearing vibration
signal obtained by using the FP-VMD algorithm.
Figure 19. The envelope
signal obtained by using spectrum
the FP-VMD of the IMF1 of the outer race fault of the rolling bearing vibration
algorithm.
signal obtained
As shownby using the16,
in Figure FP-VMD
the motoralgorithm.
rotation frequency of the normal bearing is 30.03 Hz, which was
As shown in from
obtained Figure 16, the motor
the envelope spectrum rotation frequency
of the IMF1 after useofof the normal algorithm.
the FP-VMD bearing isHowever,
30.03 Hz, which
As shownfrom
there
was obtained in Figure
are many 16, the motor
noise frequencies
the envelope
in
spectrum rotation
the
of thefrequency
envelope
IMF1 afterofuse
spectrum, theofnormal
which lead to bearingalgorithm.
inaccurate
the FP-VMD is 30.03 Hz,
identification. which
However,
As shown in Figure 17, the fault frequency of the inner race of the rolling bearing is 161.9 Hz, which was
was
thereobtained
are many from
obtainednoise thefrequencies
envelope
accurately
spectrum
from thein
of
the envelope
envelope
the IMF1
spectrumspectrum,
after use
of the IMF1 which
of the
after using leadFP-VMD
thetoFP-VMD
algorithm.
inaccurate However,
identification.
algorithm.
there are many
As shown The noise
in Figure
inner race frequencies
17, thefrequency
fault in theisenvelope
fault frequency
value of to
close the spectrum,
theinner which
race value
theoretical of lead
thef1 .rolling
In tobearing
addition,inaccurate identification.
is 161.9
the fault featureHz, which
As
wasshown in Figure
obtained accurately
frequency of17, the
the from
innerfault
thefrequency
race at envelope of
the double the inner
spectrum
frequency ofrace
of 323.7 of theafter
the IMF1
Hz and rolling
the using
motor bearing is 161.9 Hz,
the FP-VMD
rotation frequency which
algorithm.
was
The obtained
innerFigureaccurately
double
race
frequency from thevalue
60.06
fault frequency
Hz envelope
were also spectrum
extracted
is close to theof theoretical
accurately the IMF1 after
by the envelope
value using f .the
spectrum.
In FP-VMD
As
addition,algorithm.
shown in
the fault
18, the fault frequency of the roller element of the rolling bearing is 135.5 1Hz, which cannot
The inner race
feature frequency fault
be obtainedof
frequency
the inner
accurately
value
fromrace
is close
at the spectrum
the envelope
to
double of the theoretical
frequency
the IMF1 afterof use value
323.7 f .
HzFP-VMD
of the
In
1 and theaddition, the fault
motor rotation
algorithm.
feature
frequencyfrequency
However, of the inner
double unknown
frequency race
60.06
frequencies Hz atwere
exist inthe
the double
also frequency
extracted
envelope spectrum, of lead
accurately
which 323.7 toby Hztheand
inaccurate the motor
envelope rotation
spectrum.
identification. As
frequency double 18,
shown in Figure frequency
the fault 60.06 Hz wereofalso
frequency the extracted
roller elementaccurately
of thebyrollingthe envelope
bearingspectrum.
is 135.5 Hz,As
shown in Figure
which cannot be 18, the fault
obtained frequency
accurately from of the roller
envelope element
spectrumof theofrollingthe IMF1 bearing afterisuse
135.5
of Hz,
the
which cannot be obtained accurately from the envelope spectrum
FP-VMD algorithm. However, unknown frequencies exist in the envelope spectrum, which lead to of the IMF1 after use of the
FP-VMD
inaccuratealgorithm. However,
identification. unknown
In addition, thefrequencies
fault feature exist in the envelope
frequency of the motor spectrum, which
rotation lead to
frequency
Sensors 2020, 20, 1946 17 of 23
In addition, the fault feature frequency of the motor rotation frequency 30.03 Hz was extracted by
the envelope spectrum. As shown in Figure 19, the fault frequency of the outer race of the rolling
bearing was 107.7 Hz, which was obtained accurately from the envelope spectrum of the IMF1 after
use of the FP-VMD algorithm. In addition, the fault feature frequency of the inner race fault feature
frequency, 161.9 Hz, was also extracted accurately by the envelope spectrum. In general, the FP-VMD
algorithm was slightly less effective than the GMPSO-VMD algorithm for fault feature extraction of
68 Figure 20 bearing
rolling is the envelope spectrum of the IMF1 of the normal bearing vibration signal obtained
vibration signals.
68
69 Figure 20
by the EMD Figure is the
algorithm. envelope
Figure
20 is the
spectrum
21 is
envelope
ofofthe
the envelope
spectrum
IMF1 of the normal
spectrum
the IMF1 of the
of the normal
bearing
IMF1
bearing
vibration
of the
vibration inner signal
signalrace
obtained
fault
obtained of the
69
70 by the EMD
rolling bearing algorithm.
by the EMD vibration Figure
signal
algorithm. 21 is the
obtained
Figure envelope
21 is theby the EMD
envelope spectrum of
algorithm.
spectrum the IMF1
Figure
of the IMF1 of the
22inner
of the inner
is the race
envelope
race fault of the
spectrum
fault of the
70
71 rolling
of bearing
the IMF1rolling vibration
of bearing
the roller signal
element
vibration obtained
fault
signal of by
obtained bythe
the EMD
rolling
the algorithm.
EMD bearing
algorithm. Figure
vibration
Figure 22
theisenvelope
signal
22 is the envelope
obtained spectrum
by the
spectrum EMD
71
72 of the IMF1
of theofIMF1
the roller
of element
the roller fault
element of
fault ofthe
therolling bearing
rolling bearing vibration
vibration signal
signal
algorithm. Figure 23 is the envelope spectrum of the IMF1 of the outer race fault of the rolling obtained
obtained by
by the EMD the EMD
72
73 algorithm.
bearing Figuresignal
23 is obtained
the envelope thespectrum of the IMF1 of the outer race fault of the rolling
algorithm. Figure 23 is the envelope spectrum of the IMF1 of the outer race fault of the rolling bearing
vibration byEMD EMD algorithm.
vibration signal obtained by the algorithm.
73 bearing vibration signal obtained by the EMD algorithm. -3
x 10
3.5 -3
x 10
3.5 X: 30.03
Y: 0.003445
3 X: 30.03
Y: 0.003445
3
-2) -2)
2.5
magnitude(a/ms
2.5
magnitude(a/ms
2
2
1.5
Spectrum
1.5
Spectrum
1
1
0.5
0.5
0
0 50 100 150 200 250 300 350 400
74 0
0 50 100
Frequency(f/Hz)
150 200 250 300 350 400
74 Frequency(f/Hz)
75 Figurethe
using 20.empirical
The envelope spectrum of the(EMD)
IMF1 of the normal bearing vibration signal obtained by
76 the empirical mode decomposition
mode decomposition algorithm.
(EMD) algorithm.
76 using the empirical mode decomposition (EMD) algorithm.
0.012
0.012
X: 60.06
0.01 Y: 0.009404
X: 60.06
0.01 Y: 0.009404
-2) -2)
magnitude(a/ms
0.008
magnitude(a/ms
0.008
X: 161.9
0.006 Y: 0.005526
X: 161.9
0.006 Y: 0.005526
Spectrum
0.004
Spectrum
0.004
0.002
0.002
0
0 50 100 150 200 250 300 350 400
77 0
0 50 100
Frequency(f/Hz)
150 200 250 300 350 400
77 Frequency(f/Hz)
78 Figure 21. The 21.
The envelope of the
spectrum IMF1
of the IMF1of
ofthe innerrace
fault of rolling
of the the rolling bearing
bearing vibration
vibration
78
79 Figure 21. The
signal envelope
obtained by spectrum
using the of
EMD
signal obtained by using the EMD algorithm. the IMF1
algorithm. of the inner race fault of the rolling bearing vibration
79 signal obtained by using the EMD algorithm.
0.016
0.016
0.014 X: 161.9
Y: 0.01258
0.014 X: 161.9
0.012 Y: 0.01258
)s )
-2
0.012
0
0 50 100 150 200 250 300 350 400
77 Frequency(f/Hz)
78 Figure 21. The envelope spectrum of the IMF1 of the inner race fault of the rolling bearing vibration
Sensors 2020, 20, 1946 18 of 23
0.016
0.014 X: 161.9
Y: 0.01258
0.012

0.01
0.008
0.006
0.004
0.002
0
0 50 100 150 200 250 300 350 400
80 Frequency(f/Hz)
81 Figure 22. The22.envelope

Figure spectrum
The envelope ofthe
spectrum of the IMF1
IMF1 of theofroller
theelement
roller fault
element fault bearing
of the rolling of the vibration
rolling bearing
Sensors 2020, 20,signal
x FOR PEER REVIEW
obtained by using the EMD algorithm. 18 of 23
82 vibration signal obtained by using the EMD algorithm.
0.012
0.01 X: 107.7
Y: 0.01056
X: 30.03
Y: 0.007974
0.008
0.006
0.004
0.002
0
0 50 100 150 200 250 300 350 400
83 Frequency(f/Hz)
84 Figure 23. The23.

The envelope of the
spectrum IMF1
of the IMF1of theouter
of the outerrace
race fault
fault ofrolling
of the the rolling
bearingbearing
vibrationvibration
signal obtained by using the EMD algorithm.
As shown in Figure 20, the motor rotation frequency of the normal bearing was 30.03 Hz, which was
86 As obtained
shown from in Figure 20, the
the envelope motor
spectrum rotation
of the frequency
IMF1 using the EMD of the normal
algorithm. However,bearing was
there are many 30.03 Hz,
87 which was obtained
noise frequencies from theenvelope
in the envelope spectrum
spectrum, which oflead
the toIMF1 usingidentification.
inaccurate the EMD algorithm.
As shown in However,
88 there are many noise frequencies in the envelope spectrum, which lead to inaccurate identification.
Figure 21, the fault frequency of the inner race of the rolling bearing was 161.9 Hz, which was obtained
from the envelope spectrum of the IMF1 after using the EMD algorithm. However, there are many
89 As shown in Figure 21, the fault frequency of the inner race of the rolling bearing was 161.9 Hz,
noise frequencies in the envelope spectrum. In addition, the fault feature frequency of the motor
90 which was obtained
rotation frequency from
double the envelope
frequency 60.06spectrum
Hz was alsoof the IMF1
extracted afterbyusing
accurately the EMD
the envelope algorithm.
spectrum.
91 However, As there
shownare many22,
in Figure noise frequencies
the fault frequency in theroller
of the envelope
elementspectrum. In bearing
of the rolling addition, wasthe fault feature
135.5Hz,
92 frequency of the
which cannotmotor rotation
be obtained frequency
accurately fromdouble frequency
the envelope 60.06
spectrum HzIMF1
of the wasafter
alsousing
extracted
the EMD accurately
93 by the envelope spectrum. As shown in Figure 22, the fault frequency of the roller element of the
algorithm. However, unknown frequencies exist in the envelope spectrum, which lead to inaccurate
identification. As shown in Figure 23, the fault frequency of the outer race of the rolling bearing was
94 rolling bearing was 135.5Hz, which cannot be obtained accurately from the envelope spectrum of
107.7 Hz, which was obtained accurately from the envelope spectrum of the IMF1 after using the EMD
95 the IMF1 after using
algorithm. the EMD
In addition, algorithm.
the fault However,
feature frequency unknown
of the motor frequencies
rotation exist
frequency, 30.03 Hz,inwasthe
alsoenvelope
96 spectrum, whichaccurately
extracted lead to inaccurate
by the envelope identification. As shown
spectrum. In general, in Figure
the EMD algorithm 23, theeffective
is less fault frequency
than the of the
97 outer race of the rolling bearing was 107.7 Hz, which was obtained accurately from the envelope
GMPSO-VMD algorithm for fault feature extraction of rolling bearing vibration signals.
98 spectrum of the IMF1 after using the EMD algorithm. In addition, the fault feature frequency of the
99 motor rotation frequency, 30.03 Hz, was also extracted accurately by the envelope spectrum. In
00 general, the EMD algorithm is less effective than the GMPSO-VMD algorithm for fault feature
01 extraction of rolling bearing vibration signals.
91 However, there are many noise frequencies in the envelope spectrum. In addition, the fault feature
92 frequency of the motor rotation frequency double frequency 60.06 Hz was also extracted accurately
93 by the envelope spectrum. As shown in Figure 22, the fault frequency of the roller element of the
94 rolling bearing
Sensors 2020,was 135.5Hz, which cannot be obtained accurately from the envelope19spectrum
20, 1946 of 23 of
95 the IMF1 after using the EMD algorithm. However, unknown frequencies exist in the envelope
96 spectrum, whichFigurelead to inaccurate
24 is the identification.
envelope spectrum of the IMF1 As
of shown
the normalin bearing
Figure vibration
23, the fault
signalfrequency
obtained of the
97 outer race of the
using theCEEMDAN
rolling bearing wasFigure
algorithm. 107.725Hz, which
is the wasspectrum
envelope obtained accurately
of the IMF1 of thefrom
innerthe
raceenvelope
98 spectrum of of
fault thetheIMF1
rollingafter using
bearing the EMD
vibration signalalgorithm. In addition,
obtained by using the fault
the CEEMDAN featureFigure
algorithm. frequency
26 is of the
99 motor rotation frequency, 30.03 Hz, was also extracted accurately by the envelope spectrum. In
the envelope spectrum of the IMF1 of the roller element fault of the rolling bearing vibration signal
obtained by using the CEEMDAN algorithm. Figure 27 is the envelope spectrum of the IMF1 of the
00 general, the EMD algorithm is less effective than the GMPSO-VMD algorithm for fault feature
outer race fault of the rolling bearing vibration signal obtained by using the CEEMDAN algorithm.
01 extraction of rolling bearing vibration signals.
-3
x 10
1.2
X: 30.03
Y: 0.001175
1
0.8
0.6
0.4
0.2
0
signal obtained by using the CEEMDAN algorithm. Figure 27 is the envelope spectrum of the IMF1
0 50 100 150 200 250 300 350 400
10
02 Frequency(f/Hz)
11 of the outer race fault of the rolling bearing vibration signal obtained by using the CEEMDAN
03
algorithm. the complete ensemble empirical mode decomposition adaptive noise (CEEMDAN) algorithm.
04 using the complete ensemble empirical mode decomposition adaptive noise (CEEMDAN)
05 algorithm. 0.04
0.035
06 Figure 24 is the envelope spectrum of the IMF1 of the normal bearing vibration signal obtained
X: 161.9
Y: 0.03546
07 using the CEEMDAN algorithm. Figure 25 is the envelope spectrum of the IMF1 of the inner race
0.03
08 fault of the rolling bearing vibration

0.025 signal obtained by using the CEEMDAN algorithm. Figure 26
09 is the envelope spectrum of 0.02the IMF1X: of
60.06 the roller element fault of the rolling bearing vibration
Y: 0.01683
0.015
0.01
0.005
0
0 50 100 150 200 250 300 350 400
13 Frequency(f/Hz)

The envelope of the
spectrum IMF1
of the IMF1of
of the innerrace
fault of rolling
of the the rolling
bearingbearing
vibrationvibration
signal obtained by using the CEEMDAN algorithm.
15 signal obtained by using the CEEMDAN algorithm.
0.016
0.014 X: 30.03
Y: 0.01249
0.012
X: 137.7
0.01 Y: 0.008949
0.008
0.006
0.004
0.002
0
0 50 100 150 200 250 300 350 400
13 0
0 50 100 150Frequency(f/Hz)
200 250 300 350 400
13 Frequency(f/Hz)
14 Figure 25. The envelope spectrum of the IMF1 of the inner race fault of the rolling bearing vibration
14 Figure 25.2020,
The20,envelope spectrum of the IMF1 of the inner race fault of the rolling bearing 20
vibration
15 signal obtained
Sensors by
1946using the CEEMDAN algorithm. of 23
0.016
0.016
0.014 X: 30.03
0.014 Y: 0.01249
X: 30.03
Y: 0.01249
0.012
-2) -2)
0.012
magnitude(a/ms
X: 137.7
magnitude(a/ms
0.01 Y: 0.008949
X: 137.7
0.01 Y: 0.008949
0.008
0.008
Spectrum
0.006
Spectrum
0.006
0.004
0.004
0.002
0.002
0
0 50 100 150 200 250 300 350 400
0
16 0 50 100 150Frequency(f/Hz)
200 250 300 350 400
16 Frequency(f/Hz)
17 Figure 26. The envelope spectrum of the IMF1 of the roller element fault of the rolling bearing
17 Figure 26. The26.envelope
Figure spectrum
The envelope spectrum of theIMF1
of the IMF1
of theofroller
theelement
roller fault
element fault bearing
of the rolling of the vibration
rolling bearing
18 vibrationsignal
signal obtained by using the CEEMDAN
obtained by using the CEEMDAN algorithm. algorithm.
18 vibration signal obtained by using the CEEMDAN algorithm.
0.01
0.01
0.009
X: 107.7
0.009 Y: 0.009132
0.008 X: 107.7
Y: 0.009132
0.008
-2) -2)
0.007 X: 30.03
magnitude(a/ms
0.007 Y: 0.005985
X: 30.03
magnitude(a/ms
0.006 Y: 0.005985
0.006
0.005
0.005
Spectrum
0.004
Spectrum
0.004
0.003
0.003
0.002
0.002
0.001
0.001
0
0 50 100 150 200 250 300 350 400
19 0
0 50 100 150Frequency(f/Hz)
200 250 300 350 400
19 Frequency(f/Hz)

The envelope of the
spectrum IMF1
of the IMF1ofof the outerrace
the outer race fault
fault ofrolling
of the the rolling
bearingbearing
vibrationvibration
20 Figure 27. Theobtained
signal envelope spectrum
by using of the IMF1
the CEEMDAN of the outer race fault of the rolling bearing vibration
algorithm.
As shown in Figure 24, the motor rotation frequency of the normal bearing is 30.03 Hz, which was
22 As shown
obtainedin Figure
from 24, thespectrum
the envelope motor rotation frequency
of the IMF1 ofthe
after using the normal bearing
CEEMDAN algorithm.is However,
30.03 Hz, which
22
23 As shown in Figure 24, the motor rotation frequency of the normal bearing is 30.03 Hz, which
23 was obtained
there arefrom
many the
noiseenvelope
frequenciesspectrum of the
in the envelope IMF1 which
spectrum, after lead
using the CEEMDAN
to inaccurate algorithm.
identification.
24 was obtained
As shown from the envelope
in Figure the faultspectrum of the
the IMF1 raceafter
of theusing
rolling the CEEMDAN algorithm.
24 However, there are many25,noise frequency of
frequencies in theinner
envelope spectrum, bearing
whichwas 161.9 Hz,
lead to inaccurate
However, there are many noise frequencies in the envelope spectrum, which lead to inaccurate
which was obtained from the envelope spectrum of the IMF1 by using the CEEMDAN algorithm.
However, there are many noise frequencies in the envelope spectrum. In addition, the fault feature
frequency of the motor rotation frequency double frequency, 60.06 Hz, was also extracted accurately
by the envelope spectrum. As shown in Figure 26, the fault frequency of the roller element of the
rolling bearing was 137.7Hz, which was obtained from the envelope spectrum of the IMF1 by use
of the CEEMDAN algorithm. The roller element fault frequency value was close to the theoretical
value f2 . In addition, the fault feature frequency of the motor rotation frequency, 30.03 Hz, was also
extracted by the envelope spectrum. However, there are many noise frequencies in the envelope
spectrum, which lead to inaccurate identification. As shown in Figure 27, the fault frequency of the
outer race of the rolling bearing was 107.7 Hz, which was obtained from the envelope spectrum of
the IMF1 after use of the CEEMDAN algorithm. In addition, the fault feature frequency of the motor
Sensors 2020, 20, 1946 21 of 23
rotation frequency, 30.03 Hz, was also extracted accurately by the envelope spectrum. In general,
the CEEMDAN algorithm was less effective than the GMPSO-VMD algorithm in fault feature extraction
of rolling bearing vibration signals.
The application results show that the GMPSO-VMD algorithm not only has better performance
than the FP-VMD, CEEMDAN and EMD algorithms for simulation signals, but also has an advantage
over these algorithms for rolling bearing fault feature extraction.
5. Conclusions
The GMPSO-VMD algorithm is proposed for analyzing rolling bearing early weak fault vibration
signals in this paper. A constraint parameter L2 norm optimization model is established. Due to
the influence of mode mixing and fixed parameters, the accuracy of some signal decomposition was
reduced, as occurred in the CEEMDAN and FP-VMD algorithms. Furthermore, the effectiveness of the
GMPSO-VMD algorithm was confirmed by testing it with both a simulation signal and an experimental
rolling bearing signal using actual real-world data. The results show that the GMPSO-VMD algorithm
can accurately extract the feature frequency in the form of a spectrum diagram. The main contributions
of the GMPSO-VMD algorithm are as follows:
(1) The minimum value of the envelope entropy is taken as the objective function of the GMPSO
algorithm to obtain the optimal parameter combination [K, α] of the VMD algorithm.
(2) The accuracy of signal decomposition can be increased by transforming the signal decomposition
problem into the parameter optimization problem in the VMD algorithm.
(3) GMPSO-VMD can effectively extract the rotation frequency and fault feature frequency of a
rolling bearing vibration signal. Additionally, GMPSO-VMD can accurately classify each type of
rolling bearing fault.
The proposed method was verified by using a rolling bearing fault vibration signal. However,
the GMPSO-VMD algorithm is still has some problems, such as taking longer to execute than the
FP-VMD algorithm. Therefore, we aim to research fast-optimization methods for VMD in the future.
Finally, we note that the GMPSO-VMD algorithm can be applied to other fault diagnosis fields, such as
fault signal processing applications in welding and additive manufacturing processes.
Author Contributions: Conceptualization: J.D. and D.X.; funding acquisition: D.X. and X.L.; methodology: J.D.
and D.X.; writing – original draft: J.D.; writing – review & editing: J.D., L.H., D.X. and X.L. All authors have read
and agreed to the published version of the manuscript.
Acknowledgments: The authors would like to express their thanks to Bearing Data Center of Case Western
Reserve University. The funding for this research has been provided by the National Natural Science Foundation
of China (No. 51875195, 51875196).
Conflicts of Interest: The authors declare no conflict of interest.
Data Availability: The roller bearing vibration data were obtained from the website of Case Western Reverse
Laboratory (Cleveland, Ohio, United States) and is available at: https://csegroups.case.edu/bearingdatacenter/
pages/download-data-file (accessed 25 October 2015).
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2. Rolling Bearing Fault Feature Extraction Method

2.1. VMD Algorithm

where: t is time, δ(t) is the impact function.

Step 4. Update Lagrange multiplication operator λ̂(ω);

Step 5. Repeat steps 1–4 until the inequality is established;

2.2. GMPSO Algorithm

2.3. The Proposed Algorithm

146 [1,10] ,Sensors α represents

147 Figure 1 shows the flow chart of GMPSO-VMD algorithm.

3. Simulation Signal Analysis

Simulation signal amplitude

93 Figure 4. The genetic mutation

0 0.4 0.6 0.2 0.8 1 0 100 200 300 400 500

0-0.2 0.2 0.4 0.6 0.8 1 00 Y:100

97 Figure 5. GMPSO-VMD decomposes the simulation signal.

Spectrum magnitude(a/ms -2)

227 rolling bearing

Spectrum magnitude(a/ms -2)

Spectrum magnitude(a/ms -2)

0.1 40 0.2 400

0.2 0.4 0.6 0.8 1 2000 4000 6000

0.2 0.4 0.6 0.8 1 2000 4000 6000

-0.1 Time(t/s) 0 Frequency(f/Hz) -0.2 Time(t/s) 0 Frequency(f/Hz)

Sensors 2020, 20, x FOR PEER REVIEW 12 of 23

0.05 200 0.1 500

Spectrum magnitude(a/ms -2)

261 Figure 11.

264 The optimal

0.03 X: 30.03 X: 263.7

Sensors 2020, 20, x2020,

Sensors 2020, 20, x FOR PEER REVIEW 15 of 23

Spectrum magnitude(a/ms -2)

81 Figure 22. The22.envelope

84 Figure 23. The23.

08 fault of the rolling bearing vibration

14 Figure 25. The25.

20 Figure 27. The27.

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