Intelligent electronically-controlled suspension system based on soft computing optimizer

• US 20060293817A1
• Filed: 06/23/2005
• Published: 12/28/2006
• Est. Priority Date: 06/23/2005
• Status: Abandoned Application

• Current Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Original Assignee: Yamaha Hatsudoki Kabushiki Kaisha (Yamaha Corporation)
• Inventors: Ulyanov, Sergei V., Panfilov, Sergei A., Hagiwara, Takahide
• Application Number:
  US11/159,830
• Publication Number:
  US 20060293817A1
• Time in Patent Office: Days
• US Class Current: 701/40
• CPC Class Codes: B60G 17/0152 characterised by the action on a particular type of suspension unit B60G17/01941 takes precedence
• CPC Class Codes: B60G 17/018 characterised by the use of a specific signal treatment or control method
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60G 2600/187 Digital Controller Details and Signal Treatment
• CPC Class Codes: B60G 2600/1879 Fuzzy Logic Control

Abstract

A Soft Computing (SC) optimizer for designing a Knowledge Base (KB) to be used in a control system for controlling a suspension system is described. The SC optimizer includes a fuzzy inference engine based on a Fuzzy Neural Network (FNN). The SC Optimizer provides Fuzzy Inference System (FIS) structure selection, FIS structure optimization method selection, and teaching signal selection and generation. The user selects a fuzzy model, including one or more of: the number of input and/or output variables; the type of fuzzy inference model (e.g., Mamdani, Sugeno, Tsukamoto, etc.); and the preliminary type of membership functions. A Genetic Algorithm (GA) is used to optimize linguistic variable parameters and the input-output training patterns. A GA is also used to optimize the rule base, using the fuzzy model, optimal linguistic variable parameters, and a teaching signal. The GA produces a near-optimal FNN. The near-optimal FNN can be improved using classical derivative-based optimization procedures. The FIS structure found by the GA is optimized with a fitness function based on a response of the actual suspension system model of the controlled suspension system. The SC optimizer produces a robust KB that is typically smaller that the KB produced by prior art methods.

Claims

1. An optimization control method for controlling an electronically-controlled suspension system, comprising:

using a controller genetic algorithm to develop an optimzed teaching signal, said genetic algorithm having a fitness function that computes a difference between a time differential of entropy inside a shock absorber and/or inside the whole vehicle including passengers and/or other load and a time differential of entropy in a control signal provided to said shock absorber from an fuzzy controller that controls said shock absorber while said shock absorber is being perturbed by a road signal;

using first genetic algorithm to optimize a fuzzy inference engine to develop a knowledge base structure by optimizing at least one of, a number of input variables of said knowledge base, a number of output variables of said knowledge base, a type of fuzzy inference model used by said fuzzy inference engine, and a preliminary type of membership function;

using said teaching/training signal to learn/train said fuzzy inference engine by setting knowledge paramteres in said knowledge base; and

providing said knowledge base to said fuzzy controller to control said shock absorber.

2. The optimization control method of claim 1, wherein said time differential reduces an entropy provided to said shock absorber from said control unit.

3. The optimization control method of claim 1, wherein said fuzzy controller comprises a fuzzy neural network, and wherein a value of a coupling coefficient for a fuzzy rule is optimized by using a second genetic algorithm.

4. The optimization control method of claim 1, wherein said fuzzy controller comprises an offline module and a online control module, said method further comprising optimizing a control parameter based on said controller genetic algorithm by using said fitness function, determining said control parameter of said online control module based on said control parameter and controlling said shock absorber using said online control module.

5. The optimization control method of claim 4, wherein said offline module provides optimization using a simulation model, said simulation model based on a kinetic model of a vehicle suspension system.

6. The optimization control method of claim 4, wherein said shock absorber is arranged to alter a damping force by altering a cross-sectional area of an oil passage, and said control unit controls a throttle valve to thereby adjust said cross-sectional area of said oil passage.

7. The soft computing optimizer of claim 1, wherein said fuzzy inference engine comprises a Fuzzy Neural Network.

8. The soft computing optimizer of claim 1, wherein said fuzzy inference model comprises a Mamdani model.

9. The soft computing optimizer of claim 1, wherein said fuzzy inference model comprises a Sugeno model.

10. The soft computing optimizer of claim 1, wherein said fuzzy inference model comprises a Tsukamoto model.

11. The soft computing optimizer of claim 1, wherein said first genetic algorithm is configured to optimize said knowledge base according to said teaching signal.

12. The soft computing optimizer of claim 1, further comprising a classical derivative-based optimizer to further optimize an optimized knowledge base produced by said first genetic algorithm.

13. The soft computing optimizer of claim 1, where said first genetic algorithm uses a fitness function based on a response of a model of a suspension system comprising said shock absorber.

14. The soft computing optimizer of claim 1, where said first genetic algorithm uses a fitness function based on a response of said shock absorber in a suspension system.

15. The soft computing optimizer of claim 1, where said first genetic algorithm uses a fitness function based on minimizing entropy production.

98. The soft computing optimizer of claim 1, wherein said first genetic algorithm is configured to optimize said knowledge base according to said teaching signal.

16. A method for control of a suspension system comprising the steps of:

determining a fitness function for a teaching signal genetic optimizer using a first entropy production rate and a second entropy production rate;

providing said fitness function to said teaching signal genetic optimizer;

providing a teaching signal output from said teaching signal genetic optimizer to an information filter;

providing a compressed teaching signal from said information filter to a soft computing optimizer for optimizing a structure of a knowledge base for a fuzzy neural network, providing said knowledge base to a fuzzy controller, said fuzzy controller using an error signal and said knowledge base to produce a coefficient gain schedule; and

providing said coefficient gain schedule to a linear controller.

17. The method of claim 16, wherein said genetic optimizer minimizes entropy production under one or more constraints.

18. The method of claim 17, wherein at least one of said constraints is related to a user-perceived evaluation of control performance.

19. The method of claim 16, wherein said model of said suspension system comprises a model of a suspension system.

20. The method of claim 16, wherein said second control system is configured to control a physical suspension system.

21. The method of claim 16, wherein said second control system is configured to control a shock absorber.

22. The method of claim 16, wherein said second control system is configured to control a damping rate of a shock absorber.

23. The method of claim 16, wherein said linear controller receives sensor input data from one or more sensors that monitor a vehicle suspension system.

24. The method of claim 23, wherein at least one of said sensors is an acceleration sensor that measures a vertical acceleration.

25. The method of claim 23, wherein at least one of said sensors is a length sensor that measures a change in length of at least a portion of said suspension system.

26. The method of claim 23, wherein at least one of said sensors is an angle sensor that measures an angle of at least a portion of said suspension system with respect to said vehicle.

27. The method of claim 23, wherein at least one of said sensors is an angle sensor that measures an angle of a first portion of said suspension system with respect to a second portion of said suspension system.

28. The method of claim 16, wherein said second control system is configured to control a throttle valve in a shock absorber.

29. The method of claim 16, where optimizing a structure of the knowledge base comprises:

selecting a fuzzy model by selecting one or more parameters, said one or more parameters comprising at least one of a number of input variables, a number of output variables, a type of fuzzy inference model, and a teaching signal;

optimizing linguistic variable parameters of a knowledge base according to said one or more parameters to produce optimized linguistic variables;

ranking rules in said rule base according to firing strength;

eliminating rules with relatively weak firing strength leaving selected rules from said rules in said rule base; and

optimizing said selected rules, using said fuzzy model, said linguistic variable parameters and said optimized linguistic variables, to produce optimized selected rules.

30. The method of claim 29, further comprising optimizing said selected rules using a derivative-based optimization procedure.

31. The method of claim 29, further comprising optimizing parameters of membership functions of said optimized selected rules to reduce approximation errors.

32. The method of claim 16, said soft computing optimizer comprising:

a first genetic optimizer configured to optimize linguistic variable parameters for a fuzzy model in a fuzzy inference system;

a first knowledge base trained by a use of a training signal;

a rule evaluator configured to rank rules in said first knowledge base according to firing strength and eliminating rules with a relatively low firing strength to create a second knowledge base; and

a second genetic analyzer configured to optimize said second knowledge base using said fuzzy model.

33. The method of claim 32, further comprising an optimizer configured to optimize said fuzzy inference model using classical derivative-based optimization.

34. The method of claim 32, further comprising a third genetic optimizer configured to optimize a structure of said linguistic variables using said second knowledge base.

35. The method of claim 32, further comprising a third genetic optimizer configured to optimize a structure of membership functions in said fuzzy inference system.

36. The method of claim 32, wherein said second genetic analyzer uses a fitness function based on measured suspension system responses.

37. The method of claim 32, wherein said second genetic analyzer uses a fitness function based on modeled suspension system responses.

38. The method of claim 32, wherein said second genetic analyzer uses a fitness function configured to reduce entropy production of a controlled suspension system.

39. The method of claim 32, wherein said first genetic algorithm is configured to choose a number of membership functions for said first knowledge base.

40. The method of claim 32, wherein said first genetic algorithm is configured to choose a type of membership functions for said first knowledge base.

41. The method of claim 32, wherein said first genetic algorithm is configured to choose parameters of membership functions for said first knowledge base.

42. The method of claim 32, wherein a fitness function used in said second genetic algorithm depends, at least in part, on a type of membership functions in said fuzzy inference system.

43. The method of claim 32, further comprising a third genetic analyzer configured to optimize said second knowledge base according to a search space from the parameters of said linguistic variables.

44. The method of claim 32, further comprising a third genetic analyzer configured to optimize said second knowledge base by minimizing a fuzzy inference error.

45. The method of claim 32, wherein said second genetic optimizer uses an information-based fitness function.

46. The method of claim 32, wherein said first genetic optimizer uses a first fitness function and said second genetic optimizer uses said first fitness function.

47. The method of claim 32, wherein said second genetic optimizer uses a fitness function configured to optimize mechanical characteristics of a controlled suspension system.

48. The method of claim 32, wherein said second genetic optimizer uses a fitness function configured to optimize entropy properties of a controlled suspension system.

49. The method of claim 32, wherein said second genetic optimizer uses a fitness function configured to optimize based on user preferences.

50. The method optimizer of claim 32, wherein said second genetic optimizer uses a nonlinear model of a controlled suspension system.

51. The method optimizer of claim 32, wherein said second genetic optimizer uses a nonlinear model of an unstable suspension system.

52. The method of claim 32, wherein said teaching signal is obtained from an optimal control signal.

53. The method of claim 32, wherein said optimal control signal comprises a filtered measured control signal.

54. The method of claim 32, wherein said optimal control signal comprises a lowpass filtered measured control signal.

55. The method of claim 32, wherein said optimal control signal comprises a bandpass filtered measured control signal.

56. The method of claim 32, wherein said optimal control signal comprises a highpass filtered measured control signal.

57. A control apparatus comprising:

off-line optimization means for determining a control parameter from an entropy production rate;

soft computing optimizer means to configure a knowledge base;

training means for training said knowledge base; and

online control means for using said knowledge base to develop a control parameter to control a suspension system.

58. A soft computing optimizer for a suspension control system, comprising:

an off-line optimizer for developing a training signal from data obtained by providing at least one road signal disturbance to a first suspension system;

a soft computing optimizer configured to use said training signal to find a structure for a knowledge base;

a training optimizer configured to generate knowledge base corresponding to said structure; and

an online control system configured to use said knowledge base to develop a control parameter to control a second suspension system.

59. The soft computing optimizer of claim 58, said soft computing optimizer configured to:

optimize linguistic variable parameters of a knowledge base for a fuzzy model according to one or more selected parameters to produce optimized linguistic variables;

rank rules in said rule base according to firing strength;

eliminate rules with relatively weak firing strength leaving selected rules from said rules in said rule base;

optimize said selected rules, using said fuzzy model, said linguistic variable parameters and said optimized linguistic variables, to produce optimized selected rules.

60. The soft computing optimizer of claim 58, further comprising an optimizer configured to optimize said fuzzy inference model using classical derivative-based optimization.

61. The soft computing optimizer of claim 58, further comprising a third genetic optimizer configured to optimize a structure of said linguistic variables using said second knowledge base.

62. The soft computing optimizer of claim 58, further comprising a third genetic optimizer configured to optimize a structure of membership functions in said fuzzy inference system.

63. The soft computing optimizer of claim 58, wherein said second genetic analyzer uses a fitness function based on measured suspension system responses.

64. The soft computing optimizer of claim 58, wherein said second genetic analyzer uses a fitness function based on modeled suspension system responses.

65. The soft computing optimizer of claim 58, wherein said second genetic analyzer uses a fitness function configured to reduce entropy production of a controlled suspension system.

66. The soft computing optimizer of claim 58, wherein said first genetic algorithm is configured to choose a number of membership functions for said first knowledge base.

67. The soft computing optimizer of claim 58, wherein said first genetic algorithm is configured to choose a type of membership functions for said first knowledge base.

68. The soft computing optimizer of claim 58, wherein said first genetic algorithm is configured to choose parameters of membership functions for said first knowledge base.

69. The soft computing optimizer of claim 58, wherein a fitness function used in said second genetic algorithm depends, at least in part, on a type of membership functions in said fuzzy inference system.

70. The soft computing optimizer of claim 58, further comprising a third genetic analyzer configured to optimize said second knowledge base according to a search space from the parameters of said linguistic variables.

71. The soft computing optimizer of claim 58, further comprising a third genetic analyzer configured to optimize said second knowledge base by minimizing a fuzzy inference error.

72. The soft computing optimizer of claim 58, wherein said second genetic optimizer uses an information-based fitness function.

73. The soft computing optimizer of claim 58, wherein said first genetic optimizer uses a first fitness function and said second genetic optimizer uses said second fitness function.

74. The soft computing optimizer of claim 58, wherein said second genetic optimizer uses a fitness function configured to optimize mechanical characteristics of a controlled suspension system.

75. The soft computing optimizer of claim 58, wherein said second genetic optimizer uses a fitness function configured to optimize entropy properties of a controlled suspension system.

76. The soft computing optimizer of claim 58, wherein said second genetic optimizer uses a fitness function configured to optimize based on user preferences.

77. The soft computing optimizer of claim 58, wherein said second genetic optimizer uses a nonlinear model of a controlled suspension system.

78. The soft computing optimizer of claim 58, wherein said second genetic optimizer uses a nonlinear model of an unstable suspension system.

79. The soft computing optimizer of claim 58, wherein said teaching signal is obtained from an optimal control signal.

80. The soft computing optimizer of claim 58, wherein said optimal control signal comprises a filtered measured control signal.

81. The soft computing optimizer of claim 58, wherein said optimal control signal comprises a lowpass filtered measured control signal.

82. The soft computing optimizer of claim 58, wherein said optimal control signal comprises a bandpass filtered measured control signal.

83. The soft computing optimizer of claim 58, wherein said optimal control signal comprises a highpass filtered measured control signal.

85. The self-organizing control system of claim 83, wherein said genetic analyzer module uses a fitness function that reduces entropy production in a plant controlled by said PID controller.

86. The self-organizing control system of claim 83, wherein said genetic analyzer is used in an off-line mode to develop said training signal.

87. The self-organizing control system of claim 83, wherein said step-coded chromosomes include an alphabet of step up, step down, and hold.

88. The self-organizing control system of claim 83, further comprising an evaluation model to provide inputs to an entropy-based fitness function.

89. The self-organizing control system of claim 83, wherein said fuzzy logic classifier optimizes a number of membership functions in said knolwedge base.

91. The control system of claim 89, wherein said genetic analyzer uses a difference between a time derivative of entropy in a control signal from a learning control unit and a time derivative of an entropy inside the plant as a measure of control performance.

92. The control system of claim 89, wherein said linear controller produces a control signal based on data obtained from one or more sensors that measure said plant.

93. The control system of claim 89, wherein fuzzy rules in said knowledge base are evolved using a kinetic model of the plant in an offline learning mode.

94. The soft computing optimizer of claim 89, wherein said fuzzy logic classifier comprises a Fuzzy Neural Network.

95. The soft computing optimizer of claim 89, wherein said fuzzy logic classifier comprises a Mamdani model.

96. The soft computing optimizer of claim 89, wherein said fuzzy logic classifier comprises a Sugeno model.

97. The soft computing optimizer of claim 89, wherein said fuzzy logic classifier comprises a Tsukamoto model.

84. A self-organizing control system for optimization of a knowledge base, comprising:

an fuzzy logic classifier configured to optimize a structure of a knowledge base for a fuzzy inference system;

a genetic analyzer configured to develop a teaching signal for said fuzzy-logic classifier, said teaching signal configured to provide a desired set of control qualities, said genetic analyzer using chromosomes, a portion of said chromosomes being step coded; and

a PID controller with discrete constraints, said PID controller configured to receive a gain schedule from said fuzzy controller.

90. A control system for a suspension system, comprising:

a fuzzy logic classifier system configured to optimize a structure of a knowledge base for a fuzzy controller, said fuzzy controller configured to control a linear controller with discrete constraints; and

a genetic analyzer configured to provide a training signal to said fuzzy logic classifier, said genetic analyzer configured to use step-coded chromosomes.