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Abstract: In the following, a design method is presented for non-linear hybrid suspension systems of
vehicles based on neural networks. A hybrid suspension system is one that behaves as an active
suspension system only when the road excitation amplitude is above a prescribed value.
Discontinuous operation of the controller helps to minimize the energy consumed by the actuator.
The design targets of our method are the minimization of the vertical acceleration imposed on the
passengers as well as the respect of all the design and construction constraints. The neural network
used is obtained by a Taylor approximation of the unknown non-linear control function. Because
of the existence of numerous local minima of the neural network, an evolutionary algorithm is used
to solve the resulting neural network problem.
Keywords: vehicles’ suspension, vehicles’ hybrid suspension, neural networks, semistochastic optimi-
zation
is considered:
8
< 1 ¡ cos…8 t†
A for t 0:25 s
wˆ 2 …2†
:
0 for t > 0:25 s
The equations of motion taking into account the Firstly, solving the unconstrained problem (jzj not con-
dynamics of the actuator (the control law to be de®ned) strained) for Tact ˆ 0, immediately the following is
are the following: obtained:
A sudden disturbance from the road due to a bump [1] ) x2,unc ˆ w‰1 ¡ cos…«t†Š …5†
described by the following equation (plotted in Fig. 2)
Equations (4) and (5) indicate now clearly that a control
law that can cope with the constraint (3) must be non-
linear.
Neural networks oVer a general powerful tool for
designing a non-linear law. The basic arti®cial neuron
can be modelled as a multiple-input non-linear device
(zi ) with weighted interconnections wji (also called
synaptic weights) while the output uj is described by
the equation
³X
N ´
uj ˆ Á wji zi ‡ ³j …6†
iˆ1
de®ne an appropriate structure for the controller. For criterion is the convergence of the complex to one
this, the (unknown) non-linear law is expanded in a vector.
Taylor series: If F …wR † < F wb †, an expansion step takes place
(E ˆ constant):
fc ² uj …z, z†
_
wE ˆ w
· ‡ E…w
· ¡ ww † …11†
ˆ Á…w1 z ‡ w2 z_ ‡ w3 z2 ‡ w4 zz_ ‡ w5 z_2
Fig. 3 Time responses for the case of discontinuous operation of the controller, with road disturbance
maximum amplitude Amax ˆ 11 cm and time constant of the actuator, Tact ˆ 0 s
The structure of the neural network controller is tion with R ˆ 1:3, E ˆ 2 and C ˆ 0:5, leads to the
following values for Á and the synaptic weights:
fc ² uj …z, z†
_
wT ˆ f¡4:26 £ 10 4 4:28 £ 10 3 ¡34:78
ˆ Á…w3 z2 ‡ w4 zz_ ‡ w5 z_ 2 ‡ w6 z3 ‡ w7 z2 z_
¡4:02 £ 106 ¡1:05 £ 105 ¡7:21 £ 103
‡ w8 zz_2 ‡ w9 z_3 † …14†
¡211:72g, ¢t ˆ 0:05 s
It does not contain any linear feedbacks.
On the other hand, in order to ensure discontinuous Figure 3 shows the time traces for y, x 1 and f for the
operation, the Á function has to be activated. An appro- case where Tact ˆ 0 and for the bump maximum ampli-
tude Amax ˆ 11 cm. The controller is not activated for
priate Á function in equation (14) can be either a sigmoid
A < Amean ˆ 5 cm, while for Amax ˆ 11 cm the maximum
or a hard-type non-linearity:
passenger acceleration does not exceed x 1, max ˆ 12:2 m/s2
» and the maximum actuator forces and the power con-
0 for z ‡ ¢tz_ 0:08 m
Áˆ …15† sumption are kept small ( fmax ˆ 2438 N).
1 for z ‡ ¢tz_ > 0:08 m
Corresponding computations are performed also for
where ¢t is the prediction time. non-zero time constants (Tact ˆ 0:02 s) of the actuator.
In order to minimize passenger acceleration with the The training of the neural network, again using semi-
proposed control law, the following goal and constraints stochastic optimization with R ˆ 1:3, E ˆ 2 and
are de®ned: C ˆ 0:5, leads to the following values for Á and the
synaptic weights:
f …w† ˆ jxj ˆ minimum for Amax ˆ 11 cm
wT ˆ f¡2:789 £ 10 5 9:687 £ 105 256:8
g1 …w† ˆ jzj ¡ 0:08 m 0 6 5
…16† ¡2:564 £ 10 ¡2:342 £ 10 ¡6:059 £ 10 3
422g, ¢t ˆ 0:05 s
Equations (16) indicate that the neural network is trained
for minimum acceleration for Amax ˆ 11 cm. The train- In Fig. 4 are presented the results for the above case.
ing of the neural network, using semistochastic optimiza- Despite the small Tact value, the actuator is rather
Proc Instn Mech Engrs Vol 216 Part B: J Engineering Manufacture SC00102 IMechE 2002
A NEURAL NETWORK APPROACH TO THE DESIGN OF A SUSPENSION SYSTEM 837
Fig. 4 Time responses for the case of discontinuous operation of the controller, with road disturbance
maximum amplitude Amax ˆ 11 cm and time constant of the actuator, Tact ˆ 0:02 s
‘slow’; if the 3Tact ˆ 0:06 s value is compared with the Finally, in Fig. 5 are displayed the resulting (passive ‡
time needed for the force bump Tforce bump º 0:05 s, active) spring coe cient kres and damping coe cient cres :
3Tact =Tforce bump º 120 per cent. However, also in this
case, the neural network controller manages to control kres ² k ¡ w3 z
the acceleration, certainly at a cost of much higher
values for the acceleration (x1, max ˆ 14:2 m/s2 ) and for cres ² c ¡ w4 z ¡ w5 z_ ¡ w7 z2 ¡ w8 zz_ ¡ w9 z_2
the force ( fmax ˆ 4338 N). …17†
Fig. 5 Evolution of kres and cres with time in the case of discontinuous operation of the controller, with road
disturbance maximum amplitude Amax ˆ 11 cm and time constant of the actuator, Tact ˆ 0:02 s
SC00102 IMechE 2002 Proc Instn Mech Engrs Vol 216 Part B: J Engineering Manufacture
838 K N SPENTZAS AND S A KANARACHOS
It is interesting to note how the spring coe cient kres and REFERENCES
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Proc Instn Mech Engrs Vol 216 Part B: J Engineering Manufacture SC00102 IMechE 2002