The Art ofThe Art ofInstrumentation & Instrumentation & Vibration AnalysisVibration Analysis

Back to the Basics –

Forward to the Future

Our Objective…Our Objective…• The objective of Condition The objective of Condition

Monitoring is to provide information Monitoring is to provide information that will keep machinery operating that will keep machinery operating longer at the least overall cost.longer at the least overall cost.

– What it is NOT:What it is NOT:• Establish new measured point recordsEstablish new measured point records• Means to show analytical brilliance Means to show analytical brilliance • The answer to every problem!The answer to every problem!

• The objective of Condition The objective of Condition Monitoring is to provide information Monitoring is to provide information that will keep machinery operating that will keep machinery operating longer at the least overall cost.longer at the least overall cost.

– What it is NOT:What it is NOT:• Establish new measured point recordsEstablish new measured point records• Means to show analytical brilliance Means to show analytical brilliance • The answer to every problem!The answer to every problem!

Back to the Basics…Back to the Basics…• VibrationVibration

– Simple Harmonic MotionSimple Harmonic Motion• Oscillation about a Reference PointOscillation about a Reference Point• Modeled Mathematically as… Modeled Mathematically as…

• VibrationVibration– Simple Harmonic MotionSimple Harmonic Motion

• Oscillation about a Reference PointOscillation about a Reference Point• Modeled Mathematically as… Modeled Mathematically as…

( ) sinx t X t

Back to the Basics…Back to the Basics…Period, T

RMS

Unit Circle

Peak-to-Peak

0 to Peak

0

Back to the Basics…Back to the Basics…

• Basic Signal Basic Signal AttributesAttributes

– StaticStatic• Slowly Slowly

ChangingChanging• TemperatureTemperature

• Basic Signal Basic Signal AttributesAttributes

– StaticStatic• Slowly Slowly

ChangingChanging• TemperatureTemperature

• Basic Signal Attributes

– Dynamic• Sensor must

respond in fractions of a Second

• Vibration, Amperage, Pressure

• Basic Signal Attributes

– Dynamic• Sensor must

respond in fractions of a Second

• Vibration, Amperage, Pressure

Back to the Basics…Back to the Basics…• Dynamic Signal Dynamic Signal

FundamentalsFundamentals– AmplitudeAmplitude– FrequencyFrequency– TimingTiming– ShapeShape

• Dynamic Signal Dynamic Signal FundamentalsFundamentals

– AmplitudeAmplitude– FrequencyFrequency– TimingTiming– ShapeShape

• AmplitudeAmplitude– Proportional to Proportional to

the severity of the severity of vibratory motionvibratory motion

– Expressed asExpressed as• Peak to PeakPeak to Peak• Zero to PeakZero to Peak• RMSRMS

• AmplitudeAmplitude– Proportional to Proportional to

the severity of the severity of vibratory motionvibratory motion

– Expressed asExpressed as• Peak to PeakPeak to Peak• Zero to PeakZero to Peak• RMSRMS

• FrequencyFrequency– Determined by Determined by

the reciprocal of the reciprocal of the Periodthe Period

• CPS or HzCPS or Hz• RPMRPM• OrdersOrders

• FrequencyFrequency– Determined by Determined by

the reciprocal of the reciprocal of the Periodthe Period

• CPS or HzCPS or Hz• RPMRPM• OrdersOrders

• Timing, or Timing, or PhasePhase

– Represented by Represented by the time delay the time delay between two between two signalssignals

– Leading Leading – LaggingLagging

• Timing, or Timing, or PhasePhase

– Represented by Represented by the time delay the time delay between two between two signalssignals

– Leading Leading – LaggingLagging

• Signal ShapeSignal Shape– WaveformWaveform

• SimpleSimple• ComplexComplex• Pattern Pattern

RecognitionRecognition

• Signal ShapeSignal Shape– WaveformWaveform

• SimpleSimple• ComplexComplex• Pattern Pattern

RecognitionRecognition

Peak and RMS ComparisonPeak and RMS Comparison

Relationships of Acceleration, Velocity and Displacement

Relationships of Acceleration, Velocity and Displacement

The Big PictureThe Big Picture

Sensor(s) Cables Signal Conditioning

Data Acquisition & Storage

Communications Remote Analysis and Diagnostics

Displacement SensorsDisplacement Sensors• Elements

– Probe, matched extension cable, Driver

• Elements– Probe, matched extension cable, Driver

Displacement SensorsDisplacement Sensors• How it Works:

The tip of the probe contains an encapsulated wire coil which radiates the driver's high frequency as a magnetic field. When a conductive surface comes into close proximity to the probe tip, eddy currents are generated on the target surface decreasing the magnetic field strength, leading to a decrease in the driver's DC output. This DC output is usually 200mV/mil or in a similar range.

• How it Works:The tip of the probe contains an

encapsulated wire coil which radiates the driver's high frequency as a magnetic field. When a conductive surface comes into close proximity to the probe tip, eddy currents are generated on the target surface decreasing the magnetic field strength, leading to a decrease in the driver's DC output. This DC output is usually 200mV/mil or in a similar range.

Displacement SensorsDisplacement Sensors• Pro’s and Con’s

– Pro’s• Measures Displacement• Rugged

– Con’s• Limited Frequency Range (0-1000Hz)• Susceptible to electrical or mechanical runout• Installation Issues

• Pro’s and Con’s– Pro’s

• Measures Displacement• Rugged

– Con’s• Limited Frequency Range (0-1000Hz)• Susceptible to electrical or mechanical runout• Installation Issues

Velocity SensorsVelocity Sensors• Pro’s and Con’s

– Pro’s• Measures Velocity• Easier Installation than Displacement

– Con’s• Limited Frequency Range (0-1000Hz)• Susceptible to Calibration Problems• Large Size

• Pro’s and Con’s– Pro’s

• Measures Velocity• Easier Installation than Displacement

– Con’s• Limited Frequency Range (0-1000Hz)• Susceptible to Calibration Problems• Large Size

Acceleration SensorsAcceleration Sensors• Pro’s and Con’s

– Pro’s• Measures Accel.• Small Size• Easily Installed• Large Frequency Range (1-10,000 Hz)

– Con’s• Measures Acceleration (requires Integration to Vel.)• Susceptible to Shock & Requires Power

• Pro’s and Con’s– Pro’s

• Measures Accel.• Small Size• Easily Installed• Large Frequency Range (1-10,000 Hz)

– Con’s• Measures Acceleration (requires Integration to Vel.)• Susceptible to Shock & Requires Power

Machine Speed SensorsMachine Speed Sensors

• Displacement Probes

• Active or Passive Magnetic Probes

• Optical Permanent

• Stroboscopes

• Laser Tach

• Displacement Probes

• Active or Passive Magnetic Probes

• Optical Permanent

• Stroboscopes

• Laser Tach

Voltage or Current?Voltage or Current?

• Current Output Accelerometers– 4-20 mA Output

• Proportional to Dynamic Signal and/or Overall

• Voltage Output Accelerometers– Preferred in U.S.– Generally 100mV per g Sensitivity

• Current Output Accelerometers– 4-20 mA Output

• Proportional to Dynamic Signal and/or Overall

• Voltage Output Accelerometers– Preferred in U.S.– Generally 100mV per g Sensitivity

AC and DC Signal ComponentsAC and DC Signal Components

• Signals have both AC and DC– AC considered the “Dynamic” Signal– DC is the “Static” Signal

• Displacement Probes – Set “Gap” for DC• Accelerometers – “Bias” voltage is DC

• Signals have both AC and DC– AC considered the “Dynamic” Signal– DC is the “Static” Signal

• Displacement Probes – Set “Gap” for DC• Accelerometers – “Bias” voltage is DC

AC and DC Signal Components

AC and DC Signal Components

• How AC and DC work together:

– AC signal “rides” the DC bias (VB)• Affects the Dynamic

Range of the Sensor.

• How AC and DC work together:

– AC signal “rides” the DC bias (VB)• Affects the Dynamic

Range of the Sensor.

Power Circuit for AccelerometersPower Circuit for Accelerometers

“Strips off” DC Voltage

“Strips off” DC Voltage

GroundsGrounds• A Potential Problem

Source– Ground Loops

• Caused when two or more grounds are at different potentials

• Sensors should be grounded only at the sensor, not the monitoring rack!

• A Potential Problem Source

– Ground Loops• Caused when two or

more grounds are at different potentials

• Sensors should be grounded only at the sensor, not the monitoring rack!

Sensor CablesSensor Cables

• Coaxial with BNC Connectors– Long Coaxial can become antennas!

• Twisted, Shielded Pair– Teflon Shield – ground at only one end!

• Coaxial with BNC Connectors– Long Coaxial can become antennas!

• Twisted, Shielded Pair– Teflon Shield – ground at only one end!

Sensor CablesSensor Cables• Driving Long Cables

– Under 90 feet, cable capacitance no problem –Cable Capacitance spec’d in Pico-farads per foot of cable length

– Over 90 feet or so, CCD must supply enough current to charge the cable as well as the sensor amplifier.

• May result in amplifier output voltage becoming “Slew Rate Limited”

• Driving Long Cables– Under 90 feet, cable capacitance no problem –

Cable Capacitance spec’d in Pico-farads per foot of cable length

– Over 90 feet or so, CCD must supply enough current to charge the cable as well as the sensor amplifier.

• May result in amplifier output voltage becoming “Slew Rate Limited”

Sensor CablesSensor Cables• Output of Sinusoid looks like this:• Output of Sinusoid looks like this:

• What’s Happening?– The + part of the signal is

being limited by the current available to drive the cable capacitance.

– In the – part of the sin wave, the op-amp must “sink” the current being discharged by the cable capacitance.

• What’s Happening?– The + part of the signal is

being limited by the current available to drive the cable capacitance.

– In the – part of the sin wave, the op-amp must “sink” the current being discharged by the cable capacitance.

Sensor CablesSensor Cables• Practical Effect:

– Signal distortion produces harmonics

– May lead to vibration signals being misinterpreted.

– To calculate the maximum frequency for a length of cable:

• Practical Effect:– Signal distortion produces

harmonics– May lead to vibration signals

being misinterpreted.– To calculate the maximum

frequency for a length of cable:

Signal ConditioningSignal Conditioning

• Gain

• Integration (Hardware)

• AC/DC Coupling

• Anti-Aliasing Filter(s)

• Sample and Hold Circuit

• Gain

• Integration (Hardware)

• AC/DC Coupling

• Anti-Aliasing Filter(s)

• Sample and Hold Circuit

Signal Gain CircuitSignal Gain Circuit

• X1 and X10 are Common– Gain is simply amplification of a Signal– Careful – Should know your vibration

level and the ADC input range first!• 100mV/g accel; +-5V input range = +-50 g’s• Can “Clip” Signal

• X1 and X10 are Common– Gain is simply amplification of a Signal– Careful – Should know your vibration

level and the ADC input range first!• 100mV/g accel; +-5V input range = +-50 g’s• Can “Clip” Signal

Signal IntegrationSignal Integration

• Best to Integrate as close to signal source as possible

– Reduces noise

• Best to Integrate as close to signal source as possible

– Reduces noise

AC/DC CouplingAC/DC Coupling• Normally, Systems are AC coupled

– Means that there is a DC blocking Capacitor that only allows AC signal through to the system

• MAARS Innovation– DC Switch that allows AC and DC to work on the

same data channel without contaminating phase– Allows use of same channel to record data for

shaft centerline (DC) and Transient data (AC)

• Normally, Systems are AC coupled– Means that there is a DC blocking Capacitor that

only allows AC signal through to the system

• MAARS Innovation– DC Switch that allows AC and DC to work on the

same data channel without contaminating phase– Allows use of same channel to record data for

shaft centerline (DC) and Transient data (AC)

Anti-Aliasing FiltersAnti-Aliasing Filters• What are they and why do I need them?

– Because “false Frequencies” are displayed when Aliasing is present in a system.

• The maximum frequency component a sampled data system can accurately handle is its Nyquist limit.

• The sample rate must be greater than or equal to two times the highest frequency component in the input signal. When this rule is violated, unwanted or undesirable signals appear in the frequency band of interest.

• What are they and why do I need them?– Because “false Frequencies” are displayed when

Aliasing is present in a system.• The maximum frequency component a sampled data

system can accurately handle is its Nyquist limit. • The sample rate must be greater than or equal to two

times the highest frequency component in the input signal. When this rule is violated, unwanted or undesirable signals appear in the frequency band of interest.

Aliased SignalsAliased Signals• In old western movies, as a

wagon accelerates, the wheel picks up speed as expected, and then the wheel seems to slow, then stop. As the wagon further accelerates, the wheel appears to turn backwards! In reality, we know the wheel hasn't reversed because the rest of the movie action is still taking place.

• What causes this phenomenon? The answer is that the shutter frame rate is not high enough to accurately capture the spinning of the wheel.

• In old western movies, as a wagon accelerates, the wheel picks up speed as expected, and then the wheel seems to slow, then stop. As the wagon further accelerates, the wheel appears to turn backwards! In reality, we know the wheel hasn't reversed because the rest of the movie action is still taking place.

• What causes this phenomenon? The answer is that the shutter frame rate is not high enough to accurately capture the spinning of the wheel.

Aliased SignalsAliased Signals• False low-frequency

sin wave…– Caused by sampling

too slowly– Violated the Nyquist

Criterion

• False low-frequency sin wave…

– Caused by sampling too slowly

– Violated the Nyquist Criterion

Anti-Aliasing FiltersAnti-Aliasing Filters• What are they

and why do I need them?

– Generally they are low-pass filters that do not pass frequencies above the ADC’s range.

– Here is a representation of an IDEAL filter…

• What are they and why do I need them?

– Generally they are low-pass filters that do not pass frequencies above the ADC’s range.

– Here is a representation of an IDEAL filter…

Real Anti-Aliasing FiltersReal Anti-Aliasing Filters• Trade-offs: Elliptic,

Chebyshev, Butterworth and Bessel

– Elliptic – sharpest rolloff, highest ripple

– Bessel – Lowest ripple, fat rolloff.

• key advantage is that it has a linear phase response

• Trade-offs: Elliptic, Chebyshev, Butterworth and Bessel

– Elliptic – sharpest rolloff, highest ripple

– Bessel – Lowest ripple, fat rolloff.

• key advantage is that it has a linear phase response

Sample and Hold CircuitSample and Hold Circuit• Purpose is to take a snapshot of

the sensor signal and hold the value.

– The ADC must have a stable signal in order to accurately perform a conversion.

– The switch connects the capacitor to the signal conditioning circuit once every sample period.

• The capacitor then holds the voltage value measured until a new sample is acquired.

• Purpose is to take a snapshot of the sensor signal and hold the value.

– The ADC must have a stable signal in order to accurately perform a conversion.

– The switch connects the capacitor to the signal conditioning circuit once every sample period.

• The capacitor then holds the voltage value measured until a new sample is acquired.

Data Acquisition and StorageData Acquisition and Storage

• Analog to Digital Converter– Hard disk vs. Flash Memory– Physical download vs. Ethernet file

Transfer– FFT Conversion

• Windowing

• Analog to Digital Converter– Hard disk vs. Flash Memory– Physical download vs. Ethernet file

Transfer– FFT Conversion

• Windowing

ADC Analog-to-Digital ConvertersADC Analog-to-Digital Converters• The purpose of the analog to digital converter is

to quantize the input signal from the S&H• The input voltage can range from 0 to Vref

– What this means is that the voltage reference of the ADC is used to set the conversion range

– 0V input will cause the converter to output all zeros.– If the input to the ADC is equal to or larger than Vref,

then the converter will output all ones. – For inputs between these two voltages, the ADC will

output binary numbers corresponding to the signal level.

• The purpose of the analog to digital converter is to quantize the input signal from the S&H

• The input voltage can range from 0 to Vref – What this means is that the voltage reference of the

ADC is used to set the conversion range – 0V input will cause the converter to output all zeros.– If the input to the ADC is equal to or larger than Vref,

then the converter will output all ones. – For inputs between these two voltages, the ADC will

output binary numbers corresponding to the signal level.

ADC Analog-to-Digital ConvertersADC Analog-to-Digital Converters

• Dynamic Range– Usually defined in dB, depends on the number

of bits used by the ADC• For example, a 12 bit ADC has 212 possible data

values, or 4,096 “steps” between the lowest and highest values the ADC can see (0 to 5 Volts, typ.)

• 8-bit is 256 steps• 16-bit is 65,536 steps, so more is better, right?

• Dynamic Range– Usually defined in dB, depends on the number

of bits used by the ADC• For example, a 12 bit ADC has 212 possible data

values, or 4,096 “steps” between the lowest and highest values the ADC can see (0 to 5 Volts, typ.)

• 8-bit is 256 steps• 16-bit is 65,536 steps, so more is better, right?

ADC Analog-to-Digital ConvertersADC Analog-to-Digital Converters

• Wrong!

• Steve Goldman’s Book – pp.46-47– “Dynamic Range: The Big Lie”

• “That the A/D Converter can sense one part in 16 binary bins is no assurance that the analog circuitry is good enough to insure that the information going into the lower bins is not contaminated by electrical noise.”

• Wrong!

• Steve Goldman’s Book – pp.46-47– “Dynamic Range: The Big Lie”

• “That the A/D Converter can sense one part in 16 binary bins is no assurance that the analog circuitry is good enough to insure that the information going into the lower bins is not contaminated by electrical noise.”

ADC Analog-to-Digital ConvertersADC Analog-to-Digital Converters

• Dynamic Range– For a 12 bit ADC…20 log (4095/1) = 72 db

• Theoretical only, electronic noise reduces to 65 db

– For a 16 bit ADC…20 log (65536/1) = 96 db• Electronic noise may make this only 80 db

• Massively more data to manipulate w/o much practical gain in Dynamic Range.

• Dynamic Range– For a 12 bit ADC…20 log (4095/1) = 72 db

• Theoretical only, electronic noise reduces to 65 db

– For a 16 bit ADC…20 log (65536/1) = 96 db• Electronic noise may make this only 80 db

• Massively more data to manipulate w/o much practical gain in Dynamic Range.

ADC Analog-to-Digital ConvertersADC Analog-to-Digital Converters

• Sampling Rate– “Real-Time” Rate in samples/sec

• 60,000 samples per sec/2.56 = 23,437 Hz Fmax• May also get divided by the number of channels in

a multi-channel system

• Sampling Rate– “Real-Time” Rate in samples/sec

• 60,000 samples per sec/2.56 = 23,437 Hz Fmax• May also get divided by the number of channels in

a multi-channel system

WindowingWindowing

• Required to solve “Leakage” – Several Types

• Uniform• Hanning – Most Commonly used• Hamming• Blackman-Harris

• Required to solve “Leakage” – Several Types

• Uniform• Hanning – Most Commonly used• Hamming• Blackman-Harris

WindowingWindowing

• Why do we use the Hanning Window?– Best compromise between frequency

resolution and amplitude accuracy for steady-state machinery analysis

– Uniform or Flat-Top is the best choice for transient machinery analysis.

• Why do we use the Hanning Window?– Best compromise between frequency

resolution and amplitude accuracy for steady-state machinery analysis

– Uniform or Flat-Top is the best choice for transient machinery analysis.

WindowingWindowing

• What is leakage?– Caused when the time waveform signal

does NOT begin and end at the same point, introducing spurious frequencies.

– The Window or weighting function attenuates the signal towards the edge of the window – minimizing leakage.

• What is leakage?– Caused when the time waveform signal

does NOT begin and end at the same point, introducing spurious frequencies.

– The Window or weighting function attenuates the signal towards the edge of the window – minimizing leakage.

WindowingWindowing

• Example:• Example:

WindowingWindowing

• Leakage Example:• Leakage Example:Time signal

Time [ms]10009008007006005004003002001000

Am

plitu

de [

V]

10.

50

-0.5

-1

WindowingWindowing

• Hanning Window:• Hanning Window:Time signal

Time [ms]10009008007006005004003002001000

Am

plitu

de [

V]

10.

50

-0.5

-1

Types of AveragingTypes of Averaging

• Linear – Most commonly used

• Peak Hold – Coastdown and Impact

• Exponential– Weights most recently acquired data

more heavily – used for Impact

• Time Synchronous –TSA– Triggered by tach – Shaft and Harmon.

• Linear – Most commonly used

• Peak Hold – Coastdown and Impact

• Exponential– Weights most recently acquired data

more heavily – used for Impact

• Time Synchronous –TSA– Triggered by tach – Shaft and Harmon.

Trending OverallsTrending Overalls

• Limited Value– Better than Nothing– May miss some

types of failures

• Limited Value– Better than Nothing– May miss some

types of failures

Spectral ResolutionSpectral Resolution

• Common Values– 100 to 3200 “Lines”– 400 or 800 typical– Fmax/Lines = Frequency Resolution

• 1000 Hz/400 lines = 2.5 Hz Resolution

• Common Values– 100 to 3200 “Lines”– 400 or 800 typical– Fmax/Lines = Frequency Resolution

• 1000 Hz/400 lines = 2.5 Hz Resolution

Spectral IntegrationSpectral Integration

• Where does the “Ski-Slope come from?

– Integrating Acceleration to get Velocity pops out a constant value, which is manifested as a “DC” component because it has no frequency dependence!

• Where does the “Ski-Slope come from?

– Integrating Acceleration to get Velocity pops out a constant value, which is manifested as a “DC” component because it has no frequency dependence!

Spectral IntegrationSpectral

Integration

• How do we solve this problem?

• How do we solve this problem?

Spectral IntegrationSpectral

Integration• Truth is – we

can’t!– It’s PHYSICS!

• What we can do is…

– “Zero” the first 5 or so Spectral Bins!

• Truth is – we can’t!

– It’s PHYSICS!

• What we can do is…

– “Zero” the first 5 or so Spectral Bins!

Spectrum AnalysisSpectrum Analysis

• Machine Component Condition– Identified by Frequency– Severity Indicated by Amplitude– Rate of Deterioration Indicated by

Spectral Comparison over Time

• Machine Component Condition– Identified by Frequency– Severity Indicated by Amplitude– Rate of Deterioration Indicated by

Spectral Comparison over Time

Spectrum AnalysisSpectrum Analysis

Waveform AnalysisWaveform Analysis

• Pattern Recognition is Key– Requires understanding of Machine

Components• Gearbox• Bearings

• Pattern Recognition is Key– Requires understanding of Machine

Components• Gearbox• Bearings

Waveform AnalysisWaveform Analysis

Orbit AnalysisOrbit Analysis

Transient AnalysisTransient Analysis

• Long-Term Time Waveforms

• Bode – Nyquist Plots

• RPM vs. Time

• Waterfall Plots

• Cascade Plots

• Long-Term Time Waveforms

• Bode – Nyquist Plots

• RPM vs. Time

• Waterfall Plots

• Cascade Plots

Machine TransientsMachine Transients

Vibration SeverityVibration Severity

• When do I make the call?– Alarm Levels– Fault Levels– Do you use GM, API, ISO Guidelines?– Risk vs. Reward

• When do I make the call?– Alarm Levels– Fault Levels– Do you use GM, API, ISO Guidelines?– Risk vs. Reward

CommunicationsCommunications

• Area of Greatest Technology Progress– Email, FTP, Internet (High Speed)– Industrial Ethernet– Wireless Phone, Modem, Ethernet– Satellite

• Digital Revolution! (Remote Desktop)

• Area of Greatest Technology Progress– Email, FTP, Internet (High Speed)– Industrial Ethernet– Wireless Phone, Modem, Ethernet– Satellite

• Digital Revolution! (Remote Desktop)

CommunicationsCommunications

Analysis and DiagnosticsAnalysis and Diagnostics• Area of LEAST Progress

– Not Fundamentally Changed in 20 years– Personnel Downsizing – not going to come

back, either– What is a Vibration Analyst’s Career Path?

• In-house are becoming contracted services• Constant re-training to solve yesterday’s

problems!

• Area of LEAST Progress– Not Fundamentally Changed in 20 years– Personnel Downsizing – not going to come

back, either– What is a Vibration Analyst’s Career Path?

• In-house are becoming contracted services• Constant re-training to solve yesterday’s

problems!

Analysis and DiagnosticsAnalysis and Diagnostics• Will Technology come to

the Rescue?– Remote, centralized

Diagnostics– Rapid Service Company

Growth– Rapid Growth in Wireless

Sensor Technology has Cooled

• Power Supply Problem• Spawned new VC-backed

Research Companies

• Will Technology come to the Rescue?

– Remote, centralized Diagnostics

– Rapid Service Company Growth

– Rapid Growth in Wireless Sensor Technology has Cooled

• Power Supply Problem• Spawned new VC-backed

Research Companies