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

Table 6

Error analysis of RUL estimation value of the M1 model and M3 model.

Measurement time (×10^4 min)	M1 Model (10^3 mm·s^−2)	Relative error (%)	MSE (10^−3)	M3 Model (10^3 mm·s^−2)	Relative error (%)	Real values (10^3 mm·s^−2)	MSE (10^−3)
0.3	7	40	22.09	5.43	54	11.7	39.31
2	6.6	34	11.56	5.13	49	10	23.72
4	5.23	35	7.67	3.87	52	8	17.06
6	4.77	21	1.51	3.57	41	6	5.90
7	3.89	22	1.23	3.04	39	5	3.84
8	3.16	21	0.71	2.57	36	4	2.04
9	2.55	15	0.20	2.22	26	3	0.61
10	1.79	11	0.04	1.68	16	2	0.10
11	0.83	17	0.03	0.73	27	1	0.07