Abstract

Fractional calculus and generalised norms provide a powerful toolkit for analysing vibration from rotating machines. They have been used effectively in the condition monitoring of immobile machines. A harsh environment and varying operating conditions complicate the reliable condition monitoring of mobile machines in underground mining industry. In this paper, we focus on the condition monitoring of the front axle of a load haul dumper and the numerical calculation of complex order derivatives and integrals. Measurements are performed with accelerometers, which measure horizontal and vertical vibrations near the planetary gearboxes. A tachometer records the rotational speed of the drive shaft, which is essential for recognising different operation stages of the machine. We describe how the mentioned difficulties can be overcome and what real order derivatives and generalised norms can reveal about the condition of the axle. An improved algorithm for the numerical calculation of complex order derivatives and integrals is given.