Fft Basics 2008

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Baron Jean Baptiste Joseph Fourier

www.bksv.com Brüel & Kjær Sound & Vibration Measurement A/S. Copyright © 2009. All Rights Reserved.

FFT Analysis 101  Introduction  Practical Set Up of FFT Analysers  Pitfalls of an FFT Analyser  Real-time Analysis  Time Weighting  Overlap Analysis  Signal Types and Spectrum Units  FFT Summary

www.bksv.com, 3

The Measurement Chain Transducer

Preamplifier

Filter(s)

Detector/ Averager

RMS

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Display/ Output

Sources of Machine Vibration The moving parts of machines create vibration at different frequencies.

Vibration level

1st 2nd 3rd 4th 5th 6th 7th 8th 9th

12th

Order Frequency, Hz (Frequency, Hz)

Misalignment vibration at Vibrations at of 50the or shaft 60 Hzcauses (incl. harmonics) th st single Vibration Vibration Vibration Harmonics Extra Manyhigh different at (suborders amplified the level of rotational speed vibrations of by 6 at of structural 42-48% harmonic/order main frequency compose shaft of resonances RPM) caused (1 a due order) caused by to inof harmonics orders causedVibration bylower electromagnetic caused by=worn forces gear or electric bythe oil main film imperfect the whirl frequency shaft, machine misalignment orfan caused whip with spectrum structure in 6 journal blades unbalance bearing noise picked up from power (rotational frequency ×by 1, 2,cables 3,<) www.bksv.com, 5

Easier Than This& Imagine trying to determine all of the previous from just this!

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The Fourier Transform

G(f ) = ∫ g(t ) e − j2 π f t dt +∞

−∞

g(t ) = ∫ G(f ) e +∞

−∞

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j2 π f t

df

“All Complex Waves&” All Complex Waves are the Sum of Many Sine and Cosine Waves



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Fourier Transform is a Mathematical Filter! F (t ) ∗ sin 2Πt = Large #

F (t ) ∗ sin 4Πt = Med.#

F (t ) ∗ sin 8Π t = Small.#

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Types of Signals Stationary signals

Non-stationary signals Time

Deterministic Time

Frequency www.bksv.com, 10

Time

Random

Continuous Time

Frequency

Time

Frequency

Transient Time

Frequency

Types of Signals Sine wave Time

Frequency

Infinite duration in Time Finite bandwidth in Frequency

Square wave Time

Frequency

Transient Time Frequency

Ideal Impulse

Time Frequency

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Finite duration in Time Infinite bandwidth in Frequency

FFT Analysis 101  Introduction  Practical Set Up of FFT Analysers  Pitfalls of an FFT Analyser  Real-time Analysis  Time Weighting  Overlap Analysis  Signal Types and Spectrum Units  FFT Summary

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Filter Types Constant Bandwidth

Constant Percentage Bandwidth (CPB) or Relative Bandwidth

B = x Hz

0

20

40

60

B = y% =

80

Linear Frequency

B = 31,6 Hz B = 10 Hz B = 3,16 Hz www.bksv.com, 13

50

70

100

y × f0 100

150 200

Logarithmic Frequency

B = 1 octave B = 1/3 octave B = 3%

What is the Fast Fourier Transform?  An algorithm for increasing the speed of the computer

calculation of the Discrete Fourier transform. – Reduces the number of multiplications from N2 to (N/2)log2N – Computation speed increased by a factor of 372 for an 800 line FFT  Block analysis of time data samples to provide

equivalent frequency domain description  Analysis with constant bandwidth filters  “Rediscovered” in 1962 by Bell Lab scientists Cooley

and Tukey

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FFT Analyzer FFT Analysis Transducer

Memory 1

Preamplifier

Time Weighting

A/D

Memory 2

Squaring/ Averaging

FFT

GAA

Fourier Spectrum

Autospectrum

Display/ Output

Amplitude

0 www.bksv.com, 15

200 400 600 800

Linear 1k 1,2k 1,4k 1,6k 1,8k 2k Hz Frequency

FFT Time Assumption  Input signal

 Analysed signal

Rectangular or Uniform weighting

Hanning weighting

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FFT Fundamentals T=1s

Time

Lines = resolution  Span = upper freq. range 

df = Span/Lines  T = 1/df  dt = 1/(Span * 2.56) 

dt = 488.3 µs

df = 1 Hz

Freq. Span

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Frequency (Hz)

Most important Law in Frequency Analysis

B×T≥1 B = bandwidth T = measurement time

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Uncertainty Principle Example If the FFT Analyzer is:

800 Hz

1 Hz

To satisfy BT ≥ 1, then 1 Hz / 1 = 1s

T=1s Then the lowest freq. is 1 Hz

www.bksv.com, 19

Uncertainty Principle – Stationary Signals g(t)

G(f)

Time Freq. g(t)

G(f)

Time Freq. g(t)

G(f)

Time Freq.

If BT = 1 then we are ‘Certain’
Uncertainty Principle – Non Stationary Signals g(t)

G(f)

∆f = 1/∆t

Time ∆t

Freq.

h(t)

H(f)

2/τ

Time τ

Freq.

h(t)

H(f)

2/τ

Time τ

Freq.

With transients things get more complicated. More resolution is not always the best<

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Are You Certain About Uncertainty (1)?

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Are You Certain About Uncertainty (2)?

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Are You Certain About Uncertainty (3)?

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What Happened? Which Is Correct?

Whichever best fit the time block!

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Ensuring Repeatable Measurements  Think about the signal

you are measuring – Stationary – Transient – Combination<  Always report:

– – – – – – –

www.bksv.com, 26

Lines Span Window used Overlap Averaging Type # of Averages Start Trigger?

FFT Analysis 101  Introduction  Practical Set Up of FFT Analysers  Pitfalls of an FFT Analyser  Real-time Analysis  Time Weighting  Overlap Analysis  Signal Types and Spectrum Units  FFT Summary

www.bksv.com, 27

Pitfalls in DFT Time

Sampling

gives

Aliasing

Time limitation

gives

Leakage

Periodic repetition

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Frequency

gives Picket Fence Effect

ALIASING  Insufficient sampling allows a high frequency signal to masquerade

under a low frequency “alias”

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Aliasing Time fs

0 Hz

Freq.

Time fs

x Hz

?

Time 0 Hz

fs

?

Time x Hz www.bksv.com, 30

Freq.

fs + x Hz

Freq.

Freq.

Anti-aliasing Filter A/D

Input

2

1

Input 0

Anti-aliasing filter Off Anti-aliasing filter On

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f1 f3

fspan fs/2

f2

fs f3

Frequency Sampling Frequency

f1 f2

1

fs fspan = 2.56 f1 2

Example: fs= 65 536 kHz ⇒ fspan = 25.6 kHz

Leakage Signal periodic with record length

Signal not periodic with record length

a(t)

b(t) Time

Time

T

Rectangular weighting

T

A(f)

B(f)

(no weighting) Freq.

Hanning weighting

A(f)

Freq. B(f)

2πt   1 − cos  T  

Freq. www.bksv.com, 32

Freq.

“Picket Fence” Effect

Frequency

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How to Avoid the Pitfalls of DFT

1. Aliasing: Solution:

Caused by sampling in time  Use anti-aliasing filter (fc) and

sampling rate fs>2 fc

2. Leakage: Solutions:

3. Picket fence effect: Solutions:

Caused by time limitation  Use correct weighting (signals)  Increase the frequency resolution (systems) Caused by sampling in frequency  Use correct weighting (signals)  Increase the frequency resolution (systems)

www.bksv.com, 34

FFT Analysis 101  Introduction  Practical Set Up of FFT Analysers  Pitfalls of an FFT Analyser  Real-time Analysis  Time Weighting  Overlap Analysis  Signal Types and Spectrum Units  FFT Summary

www.bksv.com, 35

Discontinuities in the Time Record

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Windows “smooth” the discontinuity

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Windows

www.bksv.com, 38

Use of Weighting Functions in Signal Analysis Weighting Rectangular

Hanning Transient

Transients: 

General purpose



Short transient



Long decaying transients



Very long transients

Continuous signals: 

General purpose, RTA



Two-tone separation



Calibration



Pseudo random

www.bksv.com, 39

+ overlap

+ overlap

Exponential

KaiserBessel

Flat Top

FFT Analysis 101  Introduction  Practical Set Up of FFT Analysers  Pitfalls of an FFT Analyser  Real-time Analysis  Time Weighting  Overlap Analysis  Signal Types and Spectrum Units  FFT Summary

www.bksv.com, 40

Overlap Analysis with Hanning Weighting (1)  662/3% overlap

 No

overlap W(t) W(t)

Time

Time

 50% overlap

 75% overlap

W(t)

W(t)

Time

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Time

Overlap Analysis with Hanning Weighting (2)  662/3% overlap

 No overlap (1 -cosx)2 = 1 - 2cosx + cos2x W(t)

W(t)

2π 2 1/3 [ (1 -cosx)2 + (1 - cos(x )) 3 4π 2 + (1 -cos(x 3 )) ] = 1.5

Time

 50% overlap

 75% overlap

1/2 [(1 -cosx)2 = (1 + cosx)2 ] 1 = cos2x W(t)

Time

www.bksv.com, 42

Time

1/4 [ (1 -cosx)2 + (1 - sinx)2 + cosx)2 + (1 -cos(x + sinx)2 ] = 1.5 W(t)

Time

Window Summary

Window Rectangle Hanning Kaiser-Bessel Flat Top

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Noise Bandwidth 1.0 ∆F 1.5∆F 1.8∆F 3.8∆F

Ripple 3.92 dB 1.42 dB 0.98 dB 0.009 dB

Highest Sidelobe -13 dB -31 dB -68 dB -93 dB

FFT Analysis 101  Introduction  Practical Set Up of FFT Analysers  Pitfalls of an FFT Analyser  Real-time Analysis  Time Weighting  Overlap Analysis  Signal Types and Spectrum Units  FFT Summary

www.bksv.com, 44

Signal Types and Spectrum Units Correct use of Units Time Determistic, Periodic Signal

Frequency U

U

Root Mean Square RMS

Time

Random Signal

U

Freq. U2/Hz

Power Spectral Density PSD

Time B

Transient

U2s/Hz

U

Freq.

Energy Spectral Density ESD

Time T www.bksv.com, 45

B

Freq.

FFT - Summary The Discrete Fourier Transform:   

The DFT has properties very similar to the integral Fourier Transform The DFT has certain pitfalls: aliasing, leakage and picket fence effect Recording time, sampling interval, sampling frequency, frequency span and frequency resolution are all related

Weighting functions, leakage and picket fence effect:   

Many different weightings exist for different purposes Use of the proper weighting can reduce leakage and picket fence effect errors Weightings can be regarded as filters

Real-time Analysis, Overlap Analysis and Triggering:   

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Condition for real-time analysis: T ≥ Tcalc. Other weightings than rectangular may require overlap analysis to avoid loss of data or to get a flat overall weighting function Many different trigger functions exist for different purposes

CPB Advantages & Disadvantages Pros

Cons

Excellent response time

Limited, but optimized freq. resolution (1/1,1/3,1/12,1/24)

Can measure ‘peak’, ‘RMS’

Stereotyped as an acoustics analyzer

Internationally standardized

Not as common as FFT in North America

Results are consistent

Higher Processor Demands

Optimized , but limited freq. resolution

www.bksv.com, 47

FFT Advantages & Disadvantages Pros

Cons

High freq. resolution !ZOOM!

Poor response time

Wide selection of averaging types

Block time analysis

Constant bandwidth filters, make harmonic patterns obvious

Leakage

Very common

Windows

Great for ‘exact’ freq. determinations

No true ‘peak’ detection

Lower Processor Demands

“Ambiguous” results Not standardized

www.bksv.com, 48

Literature for Further Reading  Frequency Analysis by R.B.Randall (Brüel & Kjær Theory and Application Handbook BT 0007-11)

 The Fast Fourier Transform by E. Oran Brigham (Prentice-Hall, Inc. Englewood Cliffs, New Jersey)

 The Discrete Fourier Transform and FFT Analyzers by N. Thrane (Brüel & Kjær Technical Review No. 1, 1979)

 Zoom-FFT by N. Thrane (Brüel & Kjær Technical Review No. 2, 1980)

 Dual Channel FFT Analysis by H. Herlufsen (Brüel & Kjær Technical Review No. 1 & 2, 1984)

 Windows to FFT Analysis by S. Gade, H. Herlufsen (Brüel & Kjær Technical Review No. 3 & 4, 1987)

 Who is Fourier? (Transnational College of LEX, April 1995) www.bksv.com, 49

Questions Jason Kunio Application Engineer 678-250-7684 [email protected]

www.bksv.com, 50

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