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

Table 7

Errors in different prediction models.

Predictive model	Training set RMSE	Test set RMSE	Training set MAE/%	Test set MAE/%
MLP	0.017	0.234	8.792	8.555
BP neural network	0.018	0.246	9.916	7.903
RNN	0.012	0.125	8.841	8.227
LSTM	0.011	0.108	7.654	9.064
Attention-LSTM	0.008	0.086	6.915	7.029