Remaining Useful Life Estimation of Fan Slewing Bearings in Nonlinear Wiener Process with Random Covariate Effect

Table 5

Error analysis of RUL estimation value of the M1model and M2 model.

Measurement time (×10^4 min)	M1 Model (10^3 mm·s^−2)	Relative error (%)	MSE (10^−3)	M2 Model (10^3 mm·s^−2)	Relative error (%)	Real values (10^3 mm·s^−2)	MSE (10^−3)
0.3	7	40	22.09	3.55	70	11.7	66.4
2	6.6	34	11.56	4.24	58	10	33.2
4	5.23	35	7.67	3.51	56	8	20.2
6	4.77	21	1.51	3.14	48	6	8.18
7	3.89	22	1.23	2.68	46	5	5.38
8	3.16	21	0.71	2.31	42	4	2.86
9	2.55	15	0.20	2.01	33	3	0.98
10	1.79	11	0.04	1.45	28	2	0.30
11	0.83	17	0.03	0.63	37	1	0.14