高忠実度BLDCモータモデリングのための残差物理情報ニューラルネットワーク
Residual Physics-Informed Neural Networks for High-Fidelity BLDC Motor Modeling
BLDCモータの全6状態の連続時間ダイナミクスを学習する物理情報ニューラルネットワークを提案し、従来のODEソルバーより最大118倍高速な推論を実現した。
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分類: cs.RO
原文アブストラクト
Accurate dynamics modeling of Brushless DC (BLDC) motors is fundamental to high-performance robotic joint control. This paper presents a Physics-Informed Neural Network (PINN) with a deep residual (ResNet) backbone that learns a continuous-time surrogate of the full six-state BLDC motor dynamics. Given simulation time, applied three-phase voltages, and excitation parameters as inputs, the network directly predicts all motor state variables -- rotor angle, angular velocity, three-phase currents, and winding temperature -- while simultaneously satisfying the governing electromechanical and thermal ODEs through a composite physics-data loss. A curriculum scheduling strategy gradually activates the physics penalty to prevent premature convergence. Training runs are completed in under two minutes on a standard CPU. Crucially, once trained, PINN inference achieves latencies of 0.1--22, mu s per query, up to 118x faster than conventional ODE solvers, making it suitable for real-time observer and control applications.
