Jingquan Wang, Shu Wang, Huzaifa Mustafa Unjhawala, Jinlong Wu, Dan Negrut
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MBD-NODE: physics-informed data-driven modeling and simulation of constrained multibody systems
We describe a framework that can integrate prior physical information, e.g., the presence of kinematic constraints, to support data-driven simulation in multibody dynamics. Unlike other approaches, e.g., Fully Connected Neural Network (FCNN) or Recurrent Neural Network (RNN)-based methods, which are used to model the system states directly, the proposed approach embraces a Neural Ordinary Differential Equation (NODE) paradigm, which models the derivatives of the system states. A central part of the proposed methodology is its capacity to learn the multibody system dynamics from prior physical knowledge and constraints combined with data inputs. This learning process is facilitated by a constrained optimization approach, which ensures that physical laws and system constraints are accounted for in the simulation process. The models, data, and code for this work are publicly available as open source at https://github.com/uwsbel/sbel-reproducibility/tree/master/2024/MNODE-code.
期刊介绍:
The journal Multibody System Dynamics treats theoretical and computational methods in rigid and flexible multibody systems, their application, and the experimental procedures used to validate the theoretical foundations.
The research reported addresses computational and experimental aspects and their application to classical and emerging fields in science and technology. Both development and application aspects of multibody dynamics are relevant, in particular in the fields of control, optimization, real-time simulation, parallel computation, workspace and path planning, reliability, and durability. The journal also publishes articles covering application fields such as vehicle dynamics, aerospace technology, robotics and mechatronics, machine dynamics, crashworthiness, biomechanics, artificial intelligence, and system identification if they involve or contribute to the field of Multibody System Dynamics.