I have the same problem using XFCE on Ubuntu 17.10.  But Markus's
solution does fix the problem.

My setup is as follows:

In XFCE Power Manager under the security tab set:
Automatically lock the session to "Never"

Uncheck "Lock the screen when the system is going for sleep".

Under the display tab I still blank the screen after 15 minutes.  Put to
sleep and Switch off times appear to be disabled (greyed out).

Under the system tab I still have system sleep mode going to "Suspend" after an 
hour.
Interestingly the screen still locks when it suspends.

So everything still works fine and as I want it to. I get a full screen
white on black message when I activate the machine again telling me the
screen is locked and to wait a few seconds for a dialog box to appear.
Haven't seen that before but fine nonetheless.

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https://bugs.launchpad.net/bugs/1605189

Title:
  Authentication is required for suspending the system

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