automotive control systems

Uwe KienckeLars Nielsen Automotive Control Systems For Engine, Driveline, and Vehicle... All rights are reserved, whether the whole or part of the material is concerned, specifically the

Uwe Kiencke

Lars Nielsen

Automotive Control Systems

For Engine, Driveline, and Vehicle

Library of Congress Control Number: 2005922217

ISBN 3-540-23139-0 Springer Berlin Heidelberg New York

This work is subject to copyright All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in other ways, and storage in data banks Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965,

in its current version, and permission for use must always be obtained from Springer-Verlag Violations are liable to prosecution under German Copyright Law.

Springer is a part of Springer Science+Business Media

Typesetting: Data conversion by the author.

Final processing by PTP-Berlin Protago-TEX-Production GmbH, Germany

Cover-Design: Medionet AG, Berlin

Prof Dr.-Ing Uwe Kiencke

Prof Dr Lars Nielsen

Division of Vehicular Systems

Department of Electrical Engineering

Linköping University

581 83 Linköping

Sweden

lars@isy.liu.se

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! 'GEV[!E[ C!VV G3 ;!V ![ ! 42=A2A 6<!==D<!M B.!V EG[ [= +?4.T.E' [G[= IT.`?G_V V.'[?GE* !V [= VI.'?7' =.![ 'GEV[!E[ 2?V EGa +.7E.+ !V)

21 H3

#:+

= 42=A2A 2
-A- 4!%-!2A

= T.B![?GEV=?I $.[a E 2 !E+ A '!E $ V E $c _V?E; [= .E[=!BIc JO_!>[?GE ^M/K !E+ [= ?+.!B ;!V O_![?GE JO_![?GE ^MHK)

= V[![ '=!E; ?V O_?`!B.E[ [G ! =GT?dGE[!B B?E ?E [= 9 >+?!;T!C a=?'= '!E

$ V E ?E ?;_T ^M8M = ?VG$!T?' V[![ '=!E; H  ^ T.V_B[V ?E !E G_[I_[ G3C.'=!E?'!B aGTA K , +_ [G [= .bI!EV?GE G3 [= ;!V* !E+ ![ [= V!C [?C ?[T.V_B[V ?E !E ?E'T.!V.+ ?E[.TE!B E.T;c I +_ [G [= [.CI.T![_T T?V.M = ?EI_[G3 [=.TC!B E.T;c ? ?V O_?`!B.E[ [G [= ?E'T.!V G3 [= .E[=!BIc +M

E [=?V '!V.* [= 7TV[ [=.TCG+cE!C?' B!a '!E $ aT?[[.E !V)

"? 1 "+   "9 1 "+

V?E' IT.VV_T '=!E; `!E?V=.V) "9 1 eM = +?4.T.E[?!B '=!E; G3 [=.TC!B E.T;c

?V ;?`.E $c)

"? 1 3 2"HE[.;T![?GE B.!+V [G)

=4+4<- +2*!  1 75CF

E [=?V '!V.* [= ?+.!B ;!V O_![?GE ?V)

 1 3  H

9 1 75CF

= V[![ '=!E; ?V O_?`!B.E[ [G ! `.T[?'!B B?E ?E [= I>+?!;T!C ?BB_V[T![.+ ?E

?;_T ^MYM = C.'=!E?'!B aGTA `!E?V=.V 3GT !E ?VG'=GT?' V[![ '=!E; H  ^M

= ?EI_[ G3 [=.TC!B E.T;c "? ?V O_?`!B.E[ [G [= ?E'T.!V.+ ?E[.TE!B E.T;c "IM

V "? 1 "I N 9 " 1 "I* [= [=.TC!B E.T;c ?V ;?`.E $c)

!+?!$![?' '=!E; ?E [= 9 >+?!;T!C ?V V[ I.T [=!E [= =cI.T$GB?' '_T` G3 [=.

?VG[=.TC?' '=!E;.M =?V ?V +_ [G [= 3!'[ [=![ EG [=.TC!B E.T;c ?V $TG_;=[ ?E[G[= ;!VM

E ?VG'=GT?' '=!E; a=.T "?A1 3 A"HA1 "IM

= V_CC![?GE G3 b'=!E;.+ [=.TC!B E.T;?.V ?V V_IIGV.+ [G $ d.TG)

GBc[TGI?' V[![ '=!E;.V !T E.'.VV!Tc [G CG+.B ! T.!B?V[?' ?V.E[TGI?' ITG'.VV a?[=

?EV_5'?.E[ ?EV_B![?GEM =.T.3GT.* [= IGBc[TGI?' bIGE.E[ 5 =!V `!B_.V VC!BB.T[=!E [= ?V.E[TGI?' bIGE.E[ /)

9 . 1 75CFa?[= 5 2 /M

B848( * ;03G10, G/ <

2A<46H

aG +?4.T.E[ [cI.V G3 V[![ '=!E;.V =!` [G $ +?V[?E;_?V=.+) T.`.TV?$B !E+

?TT.`.TV?$B V[![ '=!E;.VM =.c '!E $ +.V'T?$.+ $c [= 3GBBGa?E; '=!T!'[.T?V[?'VM

.`.TV?$B V[![ '=!E;.V)

E!$B [= VcV[.C [G T.[_TE [G [= ?E?[?!B V[![

+G EG[ E + E.T;c 3TGC G_[V?+ [= VcV[.C a=.E T.V[GT.+ [G [=.?T ?E?[?!BV[![.M

+G EG[ B.!` ! I.TC!E.E[ V[![ '=!E; ?E ! 'BGV.+ VcV[.C !3[.T T.V[GT![?GEMTT.`.TV?$B V[![ '=!E;.V)

;G ?E[G 42! +?T.'[?GEM GT b!CIB.* bI!EV?GE G3 CGB.'_B.V a=.E ! B!T;.T

?VG[=.TC!B !E+ T.`.TV?$B V[![ '=!E; ![ BGa [.CI.T![_T H,

K , ?V +.B?`.T.+ $c V_'= !E ?+.!B E;?E a=?'= ?V O_?`!B.E[ [G [= +?4.T.E' G3[= [=.TC!B E.T;?.V) K ,1 ? ?,M = .E[TGIc '=!E; V=!BB $ d.TG)

!$VGB_[ [.CI.T![_T.V H[G H,M & ?V !Ba!cV VC!BB.T [=!E HM B.!V EG[ [=![ ?EEGE>?+.!B 'c'B ITG'.VV.V [= .E[TGIc '=!E; ?V !Ba!cV EGE>d.TG* ?M M  * eM

<24A H0!

= !TEG[ 'c'B ?V '=!T!'[.T?d.+ $c 3G_T V[![ '=!E;.VM
[ [= .E+ G3 [= ITG'.VV*[= ?E?[?!B V[![ ?V T.!'=.+ !;!?E a=?'= ?V [= '!V 3GT !BB I.T?G+?' ITG'.VV.V ?E.E;?E.VM aG +?4.T.E[ 'c'B.V =!` [G $ +?V[?E;_?V=.+)

!A-42 F-A+-2  04=! 41D=A-42 +1!< E;?E.V a?[= I.T?G+?''GC$_V[?GE 'c'B.V !E+ C?VV?GE G3 C.'=!E?'!B aGTAM

= (4F A+<4D*+ 2 46!2 41D=A-42 +1!< _T$?E.V a?[= 'GE[?E_>G_V 'GC$_V[?GE !E+ C?VV?GE G3 C.'=!E?'!B aGTAM

= !TEG[ 'c'B ?V _V.+ !V T.3.T.E' CG+.B 3GT [=.TCG+cE!C?' ITG'.VV.VM [ ?V

^  \ V.E[TGI?' bI!EV?GE G3 [= ;!V 3TGC , [G +M G [=.TC!B E.T;c ?V.b'=!E;.+ ?, +1 eM _[I_[ G3 A?E.[?' E.T;c)

K, +1 3 AJH, H+K

G ;?` !E b!CIB.)
VV_C?E; !$VGB_[ [.CI.T![_T.V)

H 1 ^/ee J^MYXK

H+ 1 \ee J^MY/K[= [=.TC!B 5'?.E'c aG_B+ $.)

& 1 e;/F

!E+ [= 'GCIT.VV?GE T![?G)

% 1 ^YYV_IIGV?E; ! / 1 H;:M _'= ! 'GCIT.VV?GE T![?G '!E =!T+Bc $ ITG+_'.+ $c T.!B.E;?E.VM cI?'!B 'GCIT.VV?GE T![?GV !T ![ B.!V[ [.E [?C.V VC!BB.TM

GCCGEBc _V.+ 'GC$_V[?GE E;?E.V ?E '!TV !T 3G_T>V[TGA .E;?E.VM =.c =!`.[aG ?E[.TC?[[.E[ 'c'B.V) [= ;!V ?V 'GCIT.VV.+* 'GC$_V[.+ !E+ bI!E+.+ ?E [=.7TV[ 'c'B.* !E+ [= ;!V ?V b'=!E;.+ ?E [= V.'GE+ 'c'B.M E [=?V V.'[?GE [= V.'GE+JGT I!VV?`.K 'c'B a?BB EG[ $ 'GEV?+.T.+ [G V?CIB?3c [= C![=.C![?'!B +.T?`![?GEVM

= ITG'.VV.V T.B![.+ [G [= V.'GE+ 'c'B a?BB $ +?V'_VV.+ ?E =!I[.T \M

aG +?4.T.E[ [cI.V G3 'GC$_V[?GE E;?E.V =!` [G $ +?V[?E;_?V=.+)

HM I!TA>?;E?[.+ JK E;?E.) GC$_V[?GE '!_V.+ $c !E B.'[T?' VI!TA>?;E?[?GEM

^M ?.V.B E;?E.) GC$_V[?GE '!_V.+ $c V.B3 ?E9!CC![?GE +_ [G 'GCIT.V>V?GE!B =.![M

E CGV[ V.'[?GEV* 9 T.IT.V.E[V [= ?E>'cB?E+.T IT.VV_T.*  [= 'cB?E+.T `GB_C.* H[= ?E>'cB?E+.T [.CI.T![_T.*  [= .E[TGIc* ? [= [=.TC!B E.T;c G3 [= ;!V* I ?[V

?E[.TE!B E.T;c !E+ + ?[V E[=!BIcM

`GB_C +G.V EG[ '=!E; $.[a E V[.I ^ !E+ V[.I \M = T![?G G3 C!b?C_C [GC?E?C_C `GB_C ?V ;?`.E $c)

= BGVV G3 [=.TC!B E.T;c ?  ?V +_ [G [= ;!V b'=!E;.) = $_TE[ =G[

;!V ?V I_CI.+ ?E[G [= .b=!_V[ !E+ [= 'GC$_V[?GE '=!C$.T ?V 7BB.+ a?[=

! 'GB+ C?b[_T G3 _E$_TE[ 3_.B `!IGT !E+ !?T J?  ?V E.;![?` $.'!_V G3

H2 HKM

= [=.TC!B 5'?.E'c G3 [= .E;?E ?V O_?`!B.E[ [G [= T![?G G3 !BB [= A?E.[?'.E.T;?.V [G [= ?EI_[ G3 [=.TC!B E.T;c ?, + ![ [= 'GC$_V[?GE G3 ! 'GCIB.[

$c [= ?E@.'[?GE G3 3_.B [G C!?E[!?E ! 'GEV[!E[ IT.VV_T ![ [= .bI!EV?GE 3TGC ^ [G

\M = ?VG$!T?' V[![ '=!E; ?V ?E+?'![.+ $.[a E V[.IV ^ !E+ \ ?E [= 9 >+?!;T!C

?E ?;_T ^MHHM = CGT 3_.B ?V ?E@.'[.+* [= BGE;.T [= +?V[!E' $.[a E V[.IV ^

=?V T![?G ?V '!BB.+ -2.!A-42 <A-4 GT 04 M = ?E@.'[?GE T![?G A =!V !E ?CI!'[

GE [= [=.TCG+cE!C?' 5'?.E'c a=?'= ?V +.T?`.+ !3[.T bIB!?E?E; [= +?4.T.E[I!T[V G3 [= 'c'B.)

H

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A* H

A  H J^MX\K[ '!E $ V E [=![ [= .5'?.E'c &=&+.'T.!V.V !V [= BG!+ A ?V ?E'T.!V.+M
[ =?;=BG!+V* [= +?.V.B E;?E =!V ! BGa.T 5'?.E'c 'GCI!T.+ [G [=  E;?E.* V_IIGV?E;[= V!C 'GCIT.VV?GE T![?G % 3GT $G[= JV ?;_T ^MH\KM = 'GCIT.VV?GE T![?G3GT ?.V.B E;?E.V ?V =Ga.`.T C_'= =?;=.T [=!E 3GT  E;?E.V [G ?CITG` [=.[=.TCG+cE!C?' 5'?.E'cM

B8B8A  ,/,) ; ;3 <<

= .?B?;.T ITG'.VV CG+.BV [= [=.TCG+cE!C?' ITG'.VV ?E !_[GCG[?` .E;?E.VC_'= $.[[.T [=!E [= IT.`?G_VBc +.V'T?$.+ CG+.BV G3  !E+ ?.V.B E;?E.VM ?;>_T ^MH^ V=GaV [=![ [= 'GC$_V[?GE ?V EGa +?`?+.+ ?E[G [aG I!T[V) E [= 7TV[