The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

DRC037

Genetic-based fuzzy control for full-car active suspension systems.

Rattapong Patikanang *, Nantawatana Weerayuth
Department of Mechanical Engineering,Ubon Ratchathani University,
Sathonmark Road, Warinchamrab, Ubonratchathani, Thailand, 34190
*Coressponding Author:patikanang@gmail.gmail.com,081-072-4307,045-353-309

Abstract
A mathematical model of vehicle active suspension systems with seven degree of freedom is
employed to investigate vehicle performance.This is to improve passenger comfort regarding to road
impulse disturbance.This paper propose the method to control system using fuzzy control action tuned
Fuzzy Membership Function and Rule Base with GA (Genetic Algorithm) .The response between passive
suspension,suspension system with PID controller and suspension system with Fuzzy control were
compared.Ingeneral, suspension system with Fuzzy control provides better result in term of smoother ride
and grip safety in driving.
Keywords: Active Suspension,Fuzzy Logic Control,Genetic Algorithm
1. Introduction
Properties of the suspension system of
the vehicle is required to make the vehicle better
traction and a smoother ride. The important
variable that affect such system is the uneven
road surface, which caused the vibration and tilt
of the vehicle. These affect traction and a
smoother ride.In the suspension system without
control (passive system),which is consisting of
spring and damper with constant coefficients,it
cannot provide smooth drive especially in a
condition of variable roughness of
road.Therefore,the mandatory suspension (active
suspension) has been developed [2-5].This
system enable to force control,consequently
better traction and smoother ride is achieved
This paper presents active suspension uses
fuzzy [6] and adaptive parameter of fuzzy
controller by Genetic Algorithm (GA) [1] to control

the variables affecting the suspension.The

paramater used in this study are acceleration of
car body (sprung mass) , inclination angle (pitchroll) and the motion of wheel (unsprung mass)
and compare with active suspension used PID
controller and the passive suspension.
2) Actlve Suspension Model
Z

s rr

s rr

r ls

f rr

B
m

u rr

s rr

s rl

u rr

u rr

r rr

ms

f rl

s fr

X
s fr

Z
u fr

f fr

r fr

s rl

K
u fr

r rl

s fl

s fr

u fr

u rl

u rl

s fl

f fl

m
K

u fl

s fl

u fl

u fl

r fl

Fig.1 Active suspension

From active suspension model in Fig. 1 the
equation of motion can be derived as follow;
The sprung mass equation of motion (heave)

u rl

The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

DRC037

2 K sr ) z (2 B 2 Bsr ) z (2aK 2bK sr )

sf
sf

(2aB 2bBsr ) K zu B zu K zu B zu
sf
sf fl
sf fl
sf fr
sf fr
ms z (2 K

sf

K sr zu Bsr zu K sr zu Bsr zu f f f f rr
fl fr rl
rr
rr
rl
rl

(1)

The sprung mass equation of motion (pitch)

2bK sr ) z (2aB 2bBsr ) z (2a 2 K
sf
sf
sf
2b 2 K sr ) (2a 2 B 2b 2 Bsr ) aK zu aB zu
sf
sf fl
sf fl
aK zu aB zu bK sr zu bBsr zu bK sr zu
sf fr
sf fr
rr
rl
rl
bBsr zu af af bf bf rr
( 2)
fl
fr
rl
rr

symbol
Ixx
Iyy

parameter
roll axis moment of inertia
pitch axis moment of
nertia
length between front of
vehicle and center of

value
460
2160

unit
kg-m2
kg-m2

1.4

gravity of sprung mass

length between rear of
vehicle and center of

1.7

gravity of sprung mass

width of sprung mass

I yy (2aK

The sprung mass equation of motion (roll)

I xx 0.25w2 (2 K

2 K sr ) 0.25w2 (2 B 2 Bsr )
sf
sf
0.5wK zu 0.5wB zu 0.5wK zu 0.5wB zu
sf fl
sf fl
sf fr
sf fr
0.5wK sr zu 0.5wBsr zu 0.5wK sr zu 0.5wBsr zu
rr
rr
rl
rl
0.5wf 0.5wf 0.5wf 0.5wf rr
(3)
fl
fr
rl

3) Fuzzy Logic Controller

Fuzzy logic process (fuzzy inferences) provide
mu zu K s z Bs z aK s aB 0.5wK s 0.5wBs
sf
fl
f
f
f
f
f
a formal methodology for representing,
( K s Ku ) zu Bs zu Ku zr f
(4)
fl
f
fl
f fl
fl
manipulating, and implementing a humans
mu zu K s z Bs z aK s aB 0.5wK s 0.5wBs
sf
fr
f
f
f
f
f
heuristic knowledge about how to control a
( K s Ku ) zu Bs zu Ku zr f
(5)
fr
f
fr
f
fr
fr
system.The fuzzy controller is composed of the
mu zu K s z Bs z bK s bBs 0.5wK s
r
r
r
rl
r
r
following four elements.
0.5wBs ( K s Ku ) zu Bs zu Ku zr f
(6)
rl
r
r
rl
rl
r rl
1.Fuzzy rules (a set of IF-Then rules),which
mu zu K s z Bs z bK s bBsr 0.5wK s
rr
r
r
r
r
contains a fuzzy logic quantification of the
0.5wBs ( K s Ku ) zu Bs zu Ku zr
r
r
rr
r rr
rr
f rr
(7 )
experts linguistic description of how to achieve
The definitions and value of symbol in eq.(1)
good control.
to eq.(7) are list in table 1.
2.An inference mechanism (also called
Table1.Definitions and value of symbols
inference engine or fuzzy inference
module),which emulates the experts decision
symbol
parameter
value
unit
making in interpreting and applying knowledge
ms
sprung mass
1500
kg
mu
unsprung mass
59
Kg
about how is the best to control the plant.
Ksf ,Ksfl,Ksfr
front suspension spring
35000 N/m
3.A fuzzification interface,which convert inputs
stiffness
into information that the inference mechanism can
Ksr,Ksr,Ksrr
rear suspension spring
38000 N/m
easily use to activate and apply rules.
stiffness
Ku,Kuf,Kufr,Kurl
tire spring stiffness
190000 N/m
4.A defuzzification interface,which convert the
Bsf,Bsfl,Bsfr front suspension damping 1000 N/m/s
conclusions of the inference mechanism into
Bsr,Bsrl,Bsrr rear suspension damping 1100 N/m/s
actual inputs for the process.
The fuzzy inference block diagram is shown
in Fig. 2
The unsprung mass equqtion of mation

The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

DRC037

NB

NM

NS

ZE

PS

PM

PB

Fig. 2 A block diagram of a fuzzy logic system

The Fuzzy Inference Systems in this paper is
Mamdani type with consisted of two inputs (body
displacement,unsprung mass displacement) and
one output (control force) and 49 rule bases
.Each input has seven membership function (two
trapezoidal shape and five triangular shape).The
membership function before tuned by GA is
shown in Figs. 3-8.

Degree of membership

0.8

0.6

0.4

0.2

-1

-0.8

-0.6

-0.4

-0.2

0
force

0.2

0.4

0.6

0.8

1
4

x 10

Fig5. membership function of control force for

Fuzzy Controller in front wheel
NB

NM

NS

ZE

PS

PM

PB

NB

NM

NS

ZE

PS

PM

PB

Degree of membership

0.8

Degree of membership

0.8

0.6

0.4

0.2
0.6

0
0.4

-0.1

0.2

-0.1

-0.08

-0.06

-0.04

-0.02
0
0.02
body-displacement

0.04

0.06

0.08

0.1

-0.08

-0.06

-0.04

-0.02
0
0.02
body-displacement

0.04

0.06

0.08

Fig6. membership function of first input(body

displacement) for Fuzzy Controller in
rear wheel

Fig3. membership function of first input (body

displacement) for Fuzzy Controller in front wheel

NB

NM

NS

ZE

PS

-0.1

-0.05
0
0.05
R-U-displacement

0.1

PM

PB

0.8
NB

NM

NS

ZE

PS

PM

PB

Degree of membership

Degree of membership

0.8

0.6

0.6

0.4

0.2
0.4

0.2

-0.25

-0.2

-0.15

0.15

0.2

0.25

-0.25

-0.2

-0.15

-0.1

-0.05
0
0.05
F-U-displacement

0.1

0.15

0.2

0.25

Fig4. membership function of second input (front

unsprung mass displacement)

0.1

Fig7. membership function of second input

(rear unsprung mass displacement)

The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

DRC037
NB

NM

NS

ZE

PS

PM

PB

Degree of membership

0.8

0.6

0.4

0.2

-1

-0.5

0
force

0.5

1
4

x 10

Fig8. membership function of control force for

Fuzzy Controller in rear wheel
Rule Base before tuned by GA is shown in
table 2
Table.2 Rule Base before tuned by GA
body displacement
NB NM NS ZE PS PM
NB PB PM PM PS PM PS
unsprung
NM ZE PS PS PM PS ZE
mass
NS PM PM PS ZE PS PS
displacement ZE ZE PS ZE ZE NS NS
PS PS PS ZE ZE NS NS
PM PM NS NM ZE NM ZE
PB ZE NS ZE ZE NM NM

4) Genetic Algorithms
Genetic Algorithms are search algorithms
based on mechanics of natural selection and
natural genetics.They combine sutvival of fittest
among string structure with a structures with a
structured yet randomized information exchange
to form search algorithms with some of the
innovative flair of human search.In every search,a
new set of artificial creatures (strings) is created
using bits and pieces of fittest of the old
creatures.Conventional search techniques are not
very suitable for optimizing non-linear function
which
multiple
variables.However,genetic
algorithms,this can be conveniently done.In the

PB
ZE
NM
PB
NS
NM
NS
NM

genetic algorithms,the parameters are

represented by encoded binary string called the
chromosoms and the elements in the binary
string or the gene are adjusted to maximize or
minimize the fitness values.The fitness function
has to be carefully selected specific to a particular
application and the kind of optimization
required.Thus,the entire process of genetic
algorithm starts with a set of proposed solutions
randomly generated and try to produce further
possible solutions to achieve he optimization.
The core components of GA are as
follows:
1.Fitness Value
2.Selection
3.Crossover
4.Mutation
Fitness Function : A measurement of
how well the chromosome fit the search space.
Selection : Selection is the base on the
survival of the fittest mechanism.
Crossover : The chromosome with
higher fitness values generate more offspring.
Mutation : After crossover,the string are
subjected to mutation,mutation of bit involves
flipping it changing 0 to 1 and vice versa with a
small probability.The diagram of a simple genetic
algorithm is shown in Fig. 9

DRC037

The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

Fig. 9 A block diagram of Genetic Algorithm

The Genetic Algorithm parameters in this
paper are as follows:
2
Objective function
J a max
( amax is absolute maximum acceleration)
Design variable
= 71
generation size
= 50
population size
= 100
cross-over probability
= 0.9
mutation probability
= 0.05
translation probability
= 0.01
GA is used to tune membership function and
rule base.The block diagram of tunning process is
shown in Fig. 10

Fig. 10 A block diagram of Fuzzy tunning by GA

The membership function after tuned by GA is
shown in Figs. 11-16.

Fig11. membership function of first input (body

displacement)for Fuzzy controller in front wheel

DRC037

The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

Fig12. membership function of second input

(front unsprung mass displacement)

1 5. membership function of second input

( rear unsprung mass displacement)

Fig13. membership function of control force

for Fuzzy controller in front wheel

1 6. membership function of control force

for Fuzzy controller in rear wheel
Rule Base after tuned by GA is shown in
table 3
Table.3 Rule Base after tuned by GA

Fig14. membership function of first input

(body displacement) for Fuzzy controller in
rear wheel

body displacement
NB NM NS ZE PS
NB PB PB PB PM PM
unsprung
NM PB PB PM PM PS
mass
NS PM PM PS PS ZE
displacement ZE PM PM PS ZE NS
PS PM PM PS NS NS
PM PS PS ZE NM NM
PB ZE ZE ZE NB NB

PM
PS
ZE
NS
NM
NM
NB
NB

PB
ZE
NS
NM
NB
NM
NB
NB

DRC037

The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

5)PID controller
PID controller gain is tuned by ZieglerNichols Close-Loop method (KP=63,000
KI=252,000 KD=3,938).
6) Result
From the equations of motion Esq.(1)-(7).They
are rewritten and run in Simulink program. The
comparison of passive control suspension,PID
control suspension and GA active control
suspension was made.The results are shown in
Figs. 17 24.

Fig 19. Front left wheel displacement

Fig 20. Front right wheel displacement

Fig 17.body displacement

Fig 21. Rear left wheel displacement

Fig 18.body accelleration

DRC037

The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

Fig 22. Rear right wheel displacement

Fig 23. pitch angle

Fig 24. roll angle

The results from Figs.17-18 are the
results in term of smooth ride.The body
displacement of fuzzy active suspension shown
in Fig.15 has smaller overshoot than passive
suspension and PID suspension and from Fig.16
the overshoot of body acceleration is quite
similar.

The results from Figs.19-24 are in term

of grip safety in driving .The displacement of front
left wheel in fuzzy suspension has slightly more
overshoot passive suspension and PID
suspension.In contrast,the overshoot of the rest 3
wheel appears to be smaller than that of PID and
passive suspension.The tilt angle are showns in
Figs.23-24 ,the responses of Fuzzy suspension
have small overshoot and oscillation than other.
7)Conclusion
The response between passive
suspension,PID suspension and Fuzzy
suspension were compared. Ingeneral, Fuzzy
suspension provides better result in term of
smoother ride, which is determine by the
acceleration and vibration of car.The Fuzzy
suspension also provides better result in term of
grip safety in driving, which is determined by the
motion of the wheel spindle tilt and pitch of the
vehicle.
8)Acknowledgement
Researcher is deeply grateful to
Associate Professor Dr. Sujin Bureerat for his
recommendation about genetic algorithm methods
for optimization.
Reference
[1] Goldberg, D.E. (1989). Genetic algorithms in
search,optimization, and machine learning,1st
edition,ISBN:078-5342157673,AddisonWesley Longman Publishing Co., Inc. Boston,
MA, USA.
[2] N. Al-Holou, A. Shaout. (1995). The
Development of fuzzy Logic based controller
for Semi-Active Suspension System,paper
presented in Circuits and Systems,
1994,LA,USA.

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The 5th TSME International Conference on Mechanical Engineering

17-19th December 2014, The Empress, Chiang Mai

[3] J.Barr, L.Ray .(1996).Control of an active

suspension using fuzzy logic, IEEE,vol.1(811),September 1996,pp.42-48.
[4] S.Ikenaga, F.L.Lewis, J.Campos, L.Davis.
Active Suspension Control of Ground Vehicle
based on a full-Vehicle Model, IEEE, vol.6,
June 2000,pp. 4019-4024.
[5] S. Yong,Wook and W. Hyun Kwon. (1998).
Genetic-based fuzzy control for half-car active
suspension systems,Systems science, vol.
29,January,pp. 699-710.
[6] Hoa Ying .(2000). fuzzy control and modeling:
analytical foundations and applications, WileyIEEE Press, New York.