A detailed bondgraph model of rolling element bearings with direct correspondence between parameters of the model and physical system components was developed as multibody systems, with vector bondgraphs to represent dynamics. The model incorporates gyroscopic and centrifugal effects, contact elastic deflections and forces, contact slip, and bearing faults. The model clearly defines how a healthy or faulty bearing behaves. Dents and pits are modeled through changes in surface profiles. Simulation results in form of time/frequency domain data, orbit plots and Poincare maps show the effectiveness of the multi-DOF bearing model in fault detection.

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