力学元件网络数值计算方法与数据驱动建模应用
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国家自然科学基金资助项目 (12372065,12372022) ,机器人技术与系统国家重点实验室开放基金资助(SKLRS-2023-KF-19)


Numerical Computation of Elementary Mechanical Networks and its Applications in Data-Driven Modeling
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    摘要:

    系统辨识的手段主要分为两类,一类是基于第一性原理的建模体系,另一类则是基于机器学习方法的数据驱动建模.尽管数据驱动模型在精度上更有优势,但物理可解释性的缺乏往往导致模型可靠性难以论证,从而限制了其在工程领域的广泛应用.力学元件网络 (elementary mechanical network, EMN) 作为一种数据驱动建模新方法, 其模型范式遵循现有的力学理论框架,从而确保辨识结果可以通过力学的视角加以解释.然而,由于EMN结构中存在诸多约束,其模型精度不及神经网络等数据驱动方法.因此,在模型架构的基础上提高网络的逼近能力是EMN进一步发展和应用的关键.本文首先从EMN的数值计算角度出发,为EMN建立了一套微分-代数显式求解框架,并基于此框架设计了包含欧拉法、二阶龙格-库塔法和四阶龙格-库塔法在内的数值求解算法.其次,通过数值算例分析了新框架下EMN的计算精度及其初值敏感性,同时比较了三种数值计算方法在求解能力、稳定性和时间复杂度上的差异,为后续方法的选择提供依据.最后进行仿真实验,通过训练EMN构建LuGre摩擦力的等效模型.实验结果表明,训练后EMN均方误差 (mean square error, MSE) 仅为0.0018,且能够有效还原模型的内部状态变量,验证了EMN用于模型定量、定性特征双逼近的可行性.

    Abstract:

    System identification methods are primarily divided into two categories: one is based on first-principles modeling, and the other on data-driven modeling via machine learning. Although data-driven models provide higher accuracy, their lack of physical interpretability can lead to challenges in validating model reliability, thereby limiting their widespread application in engineering. As a novel data-driven modeling approach, the Elementary Mechanical Network (EMN) adheres to the existing mechanical theory framework, ensuring that the identified results can be interpreted from a mechanical perspective. However, due to the numerous constraints within the EMN structure, its modeling accuracy is inferior to other data-driven methods such as neural networks. Therefore, enhancing the network's fitting capability within the existing model architecture is key to further development and application of EMN. This paper first develops a set of differential-algebraic explicit solution frameworks for EMN from the perspective of numerical computation and designs numerical solving algorithms, including the Euler method, the second-order Runge-Kutta method, and the fourth-order Runge-Kutta method based on this framework. Next, numerical examples are provided to analyze the computational accuracy and initial sensitivity of EMN under the new framework, while comparing the three numerical methods in terms of solving capability, stability, and time complexity, offering a basis for subsequent method selection. Finally, simulation experiments are conducted to build an equivalent model of LuGre friction by training the EMN. The experimental results show that the trained EMN achieves a mean square error (MSE) of only 0.0018 and can effectively reproduce the internal state variables of the model, verifying the feasibility of EMN for both quantitative and qualitative feature approximation.

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孙昊,吴启迪,高泽洋,张晓旭,徐鉴.力学元件网络数值计算方法与数据驱动建模应用[J].动力学与控制学报,2025,23(5):9~20; Sun Hao, Wu Qidi, Gao Zeyang, Zhang Xiaoxu, Xu Jian. Numerical Computation of Elementary Mechanical Networks and its Applications in Data-Driven Modeling[J]. Journal of Dynamics and Control,2025,23(5):9-20.

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  • 收稿日期:2024-09-11
  • 最后修改日期:2025-01-26
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  • 在线发布日期: 2025-06-11
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