Simulation-Driven Bearing Fault Diagnosis Under Fault-Free Conditions with Hierarchical Convolutional Attention Networks

Reliable and intelligent fault diagnosis of rotating machinery is crucial for the safety and stability of industrial systems. Nevertheless, the acquisition of labeled fault data is often difficult in practical applications because of the high cost of maintenance, the rarity of fault events, and the inherent safety risks associated with fault induction experiments. As a result, most real-world datasets consist mainly of healthy operating samples, which makes bearing fault diagnosis under fault-free training conditions particularly challenging. The objective of this study was to develop a simulation-driven diagnostic framework capable of identifying real bearing faults without using real fault samples during model training. To achieve this objective, pseudo-fault data were generated by superimposing periodic impulse–resonance responses, governed by theoretical bearing fault characteristic frequencies, onto healthy vibration signals. The synthesized dataset was further analyzed using wavelet packet decomposition and envelope spectrum analysis to extract discriminative time–frequency features. These features were then fed into the proposed Hierarchical Convolutional Attention Network (HCANet), which captured hierarchical multi-scale representations while emphasizing fault-related components. Furthermore, a Central Clustering Loss was employed to encourage intra-class compactness and enhance inter-class separability, thereby improving the generalization capability of the diagnostic model. Experimental validation on two bearing datasets showed that the proposed method achieved high diagnostic accuracy when tested on real fault samples, despite being trained exclusively on healthy signals and synthesized pseudo-fault samples. These results demonstrated the effectiveness of the proposed simulation-driven strategy and highlighted its potential as a practical solution for bearing fault diagnosis in zero-real-fault-data scenarios.