I. Introduction
As the most common core component in rotating machinery, rolling bearings will bring huge economic losses and even casualties in case of failure [1], [2], [3]; therefore, real-time monitoring and early fault identification of rolling bearings are undoubtedly necessary, which can ensure the smooth and normal operation of equipment and prevent the occurrence of major accidents [4], [5]. Most of the traditional fault diagnosis methods use signal processing techniques to extract data features so as to identify faults in machinery; however, these methods not only require a certain level of expert knowledge but also lack the generalization ability in the face of increasing data [6], [7], [8]. In order to solve these problems, intelligent fault diagnosis methods based on deep learning have emerged. Deep learning models can automatically extract data features from the collected data, replacing the manual method of extracting features, and can realize an end-to-end diagnosis. Many deep learning algorithms have been widely used in the field of mechanical fault diagnosis, such as deep belief network (DBN), convolutional neural network (CNN), and recurrent neural network (RNN) approaches [9], [10], [11].