Acoustic Ship Monitoring System - Kolerus.de

Acoustic Ship Monitoring SystemDr. Josef KolerusDipl.-Ing. Ingmar PascherMÜLLER BBM1

Tasks of acoustic ship monitoring• Monitoring of waterborne sound radiation• Acoustic quality control• Acoustic lifetime historyMÜLLER BBM2

Tasks of acoustic ship monitoring• Monitoring of waterborne sound radiation• Acoustic quality control• Acoustic lifetime history• Machine monitoring• with acoustic background• machine faults• switch on listMÜLLER BBM3

Tasks of acoustic ship monitoring• Monitoring of waterborne soundradiation• Acoustic quality control• Acoustic Machine monitoring lifetime history• with acoustic background• machine faults• Fault diagnosis• switch on listMÜLLER BBM4

Bild der Anlage OMSMÜLLER BBM5

Components• Acoustical relevant machines• Incoherent sound sources• Different switch on conditionsMÜLLER BBM6

Components• Acoustical relevant machines• Incoherent sound sources• Different switch on conditions• Acoustic componentsMÜLLER BBM7

Components• Acoustical relevant machines• Incoherent sound sources• Different switch on conditions• Acoustic components• Different structure mode excitations• Various sound radiation characteristicsMÜLLER BBM8

Components• Acoustical relevant machines• Incoherent sound sources• Different switch on conditions• Acoustic components• Environmental sound sources• NoiseMÜLLER BBM9

Components• Acoustical relevant machines• Incoherent sound sources• Different switch on conditions• Acoustic components• Environmental sound sources• NoiseMÜLLER BBM10

The ProblemMÜLLER BBM11

Multiple radiation characteristicsMÜLLER BBM12

Exclusion of environmental influenceMÜLLER BBM13

Problems• Component separation• Component specific sound radiationcharacteristics• Exclusion of near field components– no far field influence– overrepresented in hull vibration• Exclusion of environmental excitationMÜLLER BBM14

Calculation of sound radiation from hull vibrationMÜLLER BBM15

AlgorithmsMÜLLER BBM16

Basic schemaMÜLLER BBM17

Ship HullAußenhaut - FFTvibrationFFT18

Ship hullAußenhaut - PCAvibrationFFTPSDPCA(SVD)19

Ship hullAußenhaut - PCAvibrationFFTPSDPCA(SVD)Singular Value DecompositionPrincipal Component AnalysisKarhunen-Loeve Expansion20

Ship hullAußenhaut - PCAvibrationFFTPSDPCA(SVD)Singular Value Decomposition SVDPrincipal Component Analysis PCAKarhunen-Loeve Expansion KLE21

Ship hullMesspunkte - PCAMachinevibrationvibrationFFTFFTPSDPSDPCA(SVD)PCA(SVD)22

Ship hullMesspunkte - TransferfunktionMachinevibrationvibrationFFTFFTPSDPSDPSDPCA(SVD)PCA(SVD)Transfer functionx→ y23

Ship hullWasserschall - FFTMachinevibrationvibrationFar fieldwater soundFFTFFTFFTPSDPSDPSDPCA(SVD)PCA(SVD)Transfer functionx→ y24

Ship hullTransferfunktion Maschine - WasserMachinevibrationvibrationFar fieldWater soundFFTFFTFFTPSD PSDPSD PSDPCA(SVD)PCA(SVD)Transfer functionx→ yTransfer functionx → z25

MachinevibrationHullSignalFarfieldWS SignalFFTFFTFFTPSD PSDPSD PSD PSDPCA(SVD)PCA(SVD)Transfer functionx→ yTransfer functionx → zTransfer functiony → z26

Reference MeasurementExperimental comparisonhull vibration – water soundMÜLLER BBM27

ComponentscomponentsXYReferenzmessung – QuellenzuordnungComponentassignmentComponentsXassorting acc.to sources28

ComponentsComponentsXYReferenzmessung Y(X) - AußenhautzuordnungComponentassignmentComponenttransfer functionsComponentsXassorting acc.to sourcesTransfer functionsY(X)assorting acc. tosourcesVectorcomparisonMACComponentsYassorting acc.to sources29

ComponentsComponenttransfer functionsComponentsXYReferenzmessung Y(X) – WS Z(X) TransferfunktionComponentassignmentComponenttransfer functionsComponenttransfer functionsZ(Y)ComponentsXassorting acc.to sourcesTransfer functionsY(X)assorting acc. tosourcesVectorcomparisonMACcomponentsYassorting acc.to sources30

ComponentsComponenttransfer functionsComponentsXYReferenzmessung Y(X) – WS Z(X) Transfer ZuordnungComponentassignmentComponenttransfer functionsComponenttransfer functionsZ(Y)componentsXassorted acc. tosourcesTransfer functionsY(X)assorting acc. tosourcesTransfer functionsZ(X)assorting acc. tosourcesVectorcamparisonMACComponentsYassorting acc.To sourcesComponenttransfer functionsZ(Y)assorting31

ComponentsComponenttransfer functionsComponenttransfer functionsXReferenzmessung Y(X) - ReferenzwerteZ(X)ComponentsYComponenttransfer functionsZ(Y)ComponentassignmentComponentsXassorting acc.to sourcesTransfer functionsY(X)assorting acc. tosourcesTransfer functionsZ(X)assorting acc. tosourcesReferenzwerteVectorcomparisonMACComponentsYassorting acc.to sourcesComponenttransfer functionsZ(Y)assorting32

MonitoringRoutine procedureMÜLLER BBM33

Überwachung - ReferenzwerteComponentsXassortedComponentsYassortedComponenttransfer functionsY(X)assortedComponenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assorted34

ComponentsComponentsXXÜberwachung – Komponenten MaschineassortedComponentsYassortedVectorcomparisonMACComponenttransfer functionsY(X)assortedComponents XassortedLevelcomparison(scaling)Componenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assorted35

ComponentsComponentsComponentsXXYÜberwachung – Komponenten AußenhautassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponents XassortedLevelcomparison(scaling)Components YassortedLevelcomparison(scaling)Componenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assorted36

ComponentsComponenttransfer functionsComponentsXYÜberwachung Y(X) - PegelvergleichComponentsXassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponents XassortedLevelcomparison(scaling)Transfer functionsY(X)assortedComparison(scaling)Components YassortedLevelcomparison(scaling)Componenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assorted37

ComponentsComponenttransfer functionsComponentsComponentsXXYÜberwachung Y(X) – WS Prognose MaschineassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponents XassortedLevelcomparison(scaling)Transfer functionsY(X)assortedComparison(scaling)Components YassortedLevelcomparison(scaling))Componenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)38

ComponentsComponenttransfer functionsComponentsComponentsXXYÜberwachung Y(X) – WS Prognose AußenhautassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponents Xassorted Levelcomparison(scaling)Transfer functionsY(X)assortedComparison(scaling)Components YassortedLevelcomparison(scaling))Componenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)Prognosisfar field (Y)39

ComponentsComponenttransfer functionsComponentsComponentsXassortedXYÜberwachung Y(X) - GesamtorganisationComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponents Xassorted Levelcompßarison(scaling)Transfer functionsY(X)assortedComparison(scaling)Components YassortedLevelcomparison(scaling))Check ofSource/elastic mountingPrognosisfar fieldComponenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)Prognosisfar field (Y)40

ComponentsComponenttransfer functionsComponentsComponentsXXYÜberwachung Y(X) – Organisation mit assorted AnzeigeComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponentsXassortedComparison(scaling))Transfer functionsY(X)AssortedComparison(scaling)ComponentsYassortedComparison(scaling)Check ofSource/elastic mountingPrognosisfar fieldComponenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)Prognosisfar field (Y)Water sound41

ScenariosRoutine operationMÜLLER BBM42

ComponentsComponenttransfer functionsXNormalzustand Y(X)ComponentsYComponentsXassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponentsXassortedComparison(scaling)Transfer functionsY(X)assortedComparison(scaling)ComponentsYassortedComparison(scaling)Check ofSource/elastic mountingNormal conditionOKOKComponenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)Prognosisfar field (Y)Water sound43

ComponentsComponenttransfer functionsXMaschinenfehler Y(X)ComponentsYComponentsXassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponentsXassortedComparison(scaling)Tansfer functionsY(X)assortedComparison(scaling)ComponentsYassortedComparison(scaling)Check ofSource/elastic mountingMachine faultAlarmAlarmComponenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)Prognosisfar field (Y)Water sound44

ComponentsComponenttransfer functionsXLagerungsfehler Y(X)ComponentsYComponentsXassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponentsXassortedComparison(scaling)Transfer functionsY(X)assortedComparison(scaling)ComponentsYassortedComparison(scaling)Check ofSource/elastic mountingMounting faultOKAlarmComponenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)Prognosisfar field (Y)Water sound45

ComponentsComponenttransfer functionsXFremdkomponenteY(X)ComponentsYComponentsXassortedComponentsYassortedVectorcomparisonMACVectorcomparisonMACComponenttransfer functionsY(X)assortedComponentsXassortedComparison(scaling)Transfer functionsY(X)assortedComparison(scaling)ComponentsYassortedComparison(scaling)Check ofSource/elastic mountingEnvironmental noiseAlarmAlarmComponenttransfer functionsZ(X)assortedComponenttransfer functionsZ(Y)assortedPrognosisfar field (X)Prognosisfar field (Y)Water sound46

EvaluationPhysical meaningMÜLLER BBM47

Evaluation• Component separation (PCA)• Component identification (MAC)• Selection of far field components• Watersound radiation calculation• ExpansionMÜLLER BBM48

AspectsMonitoringMÜLLER BBM49

Aspects• Component separation complies selectivetransducer positions• Increased selectivity by transducerpositioning close to sourcesMÜLLER BBM50

Ende51

Blind Source Separation BSS• Factor analysis• Independent Component Analysis ICA• Principal Component Analysis PCAMÜLLER BBM52

Principal Component Analysis• Measurement of covariance matrix• Separation in Eigenvectors(Singular Value Decomposition SVD)MÜLLER BBM53

Principal Component Analysis• Measurement of covariance matrix• Separation in Eigenvectors– (Singular Value Decomposition SVD)Assumption:Independent sourcesStationary processMÜLLER BBM54

Karhunen Loeve Expansion• Basics for PCA• Set on for component separation of nonergodic process ensemblesMÜLLER BBM55

Karhunen Loeve Expansion• Set on– Orthogonal basis vector set f i– Uncorrelated staochastic time functions ψ i (θ)• Measurement– State vector u(θ)MÜLLER BBM56

Karhunen Loeve ExpansionSet on:u ( θ )f∑= λ f ψiiii( θ ){ ψ ( ) ( )} iθ ψjθijTifj= δij,E = δMÜLLER BBM57

Karhunen Loeve ExpansionSet on:u ( θ )u∑= λ f ψiiii( θ )⎧⎨⎩{T} ( )Tu(θ ) u ( θ = E λ f ψ θ λ f ψ ( θ )= E ∑ ∑i i iC )ijjjj⎫⎬⎭Cu∑= λ fiii∑jλ fjTjE{ ψ ( θ ) ψ ( θ )}ijMÜLLER BBM58

Karhunen Loeve ExpansionSet on:u ( θ )CCuu∑= λ f ψ= ∑λififjiifiTiii( θ )= ∑Tλ = ∑ifififj( C − λ I) f = 0ujijjλ fjjMÜLLER BBM59

Doppler CompensationPassing by in distance bMÜLLER BBM60

Doppler CompensationTime difference ∆tx=l(t)a=− vtx2+b2=( a − vt )2+b2∆t(t)=lc=( a − vt )c2+b2MÜLLER BBM61

Doppler CompensationMonofrequent sourceSq( t)=A0ejωtResponseSa( t)=A e0jω( t −∆t)=A0e⎛jω⎜⎜t −⎝( a−vt)c2+ b2⎞⎟⎟⎠MÜLLER BBM62

Doppler CompensationFrequency mixtureSq ( t)ResponseSa( t)+∞∫−∞( ω )j= ω tA e dω+∞∫−∞( ω )⎛jω⎜⎜t −⎝( a−vt)+ b= A edωc22⎞⎟⎟⎠MÜLLER BBM63