Evaluation and Prediction Method of Rolling Bearing Performance Degradation Based on Attention-LSTM

Table 6

Errors in different prediction models.

Predictive model	Training set RMSE	Test set RMSE	Training set MAE (%)	Test set MAE (%)
MLP	0.060	0.026	6.754	8.647
BP neural network	0.062	0.035	6.886	9.095
RNN	0.067	0.021	6.757	8.346
LSTM	0.060	0.012	5.319	7.485
Attention-LSTM	0.052	0.009	4.170	5.988