Neural Network Augmented Physics Models for Systems with Partially Unknown Dynamics: Application to Slider-Crank Mechanism

TL;DR

This paper introduces a neural network augmented physics model that effectively captures unknown dynamics in mechatronic systems, demonstrated on a slider-crank mechanism, improving prediction accuracy and providing insights into hidden interactions.

Contribution

The paper presents a novel NNAP modeling approach that combines physics-based and neural network layers, optimized simultaneously with physical parameters, for systems with partially unknown dynamics.

Findings

NNAP achieves stable, accurate modeling of the slider-crank system.

Recurrent NNAP improves robustness and prediction accuracy.

Extracted neural network reveals unknown physical interactions.

Abstract

Dynamic models of mechatronic systems are abundantly used in the context of motion control and design of complex servo applications. In practice, these systems are often plagued by unknown interactions, which make the physics-based relations of the system dynamics only partially known. This paper presents a neural network augmented physics (NNAP) model as a combination of physics-inspired and neural layers. The neural layers are inserted in the model to compensate for the unmodeled interactions, without requiring direct measurements of these unknown phenomena. In contrast to traditional approaches, both the neural network and physical parameters are simultaneously optimized, solely by using state and control input measurements. The methodology is applied on experimental data of a slider-crank setup for which the state dependent load interactions are unknown. The NNAP model proves to be a stable and accurate modeling formalism for dynamic systems that ab initio can only be partially described by physical laws. Moreover, the results show that a recurrent implementation of the NNAP model enables improved robustness and accuracy of the system state predictions, compared to its feedforward counterpart. Besides capturing the system dynamics, the NNAP model provides a means to gain new insights by extracting the neural network from the converged NNAP model. In this way, we discovered accurate representations of the unknown spring force interaction and friction phenomena acting on the slider mechanism.