Vehicle powertrain systems integration and optimization ( TQL)

For engineering students, we hope we have provided a sound explanation of theprinciples behind the design of vehicle powertrain systems.. BMEP brake mean effective pressureBSFC brake spe

VEHICLE POWERTRAIN SYSTEMS

VEHICLE POWERTRAIN SYSTEMS

Behrooz Mashadi

Iran University of Science and Technology

David Crolla

University of Sunderland, UK

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Library of Congress Cataloging-in-Publication Data

Mashadi, Behrooz.

Vehicle powertrain systems / Behrooz Mashadi, David Crolla.

p cm.

Includes bibliographical references.

ISBN 978-0-470-66602-9 (cloth) – ISBN 978-1-119-95836-9 (ePDF) – ISBN 978-1-119-95837-6

(oBook) – ISBN 978-1-119-96102-4 (ePub) – ISBN 978-1-119-96103-1 (Mobi)

1 Automobiles–Power trains 2 Automobiles–Dynamics I Crolla, David

A II Title.

TL260.M37 2012

A catalogue record for this book is available from the British Library.

Set in 9/11pt Times New Roman by Thomson Digital, Noida, India

an unusually full and productive life both in work and play, achieving great success and popularity David was a leading researcher, an inspiring teacher, an excellent supervisor of research postgraduates and a friend to many David’s energy, enthusiasm and irrepressible humour made a lasting impression on me and everyone who knew him He is sorely missed and his essential contribution to the publication of this book will

always be remembered.

About the Authors xiii

2.4 Multi-cylinder Engines 70

3.5.7 Time of Travel and Distance 155

Behrooz Mashadi is an Associate Professor in the Department of AutomotiveEngineering, Iran University of Science and Technology (IUST), Tehran, Iran Hereceived his BSc and MSc in Mechanical Engineering from Isfahan University ofTechnology (IUT), Isfahan, Iran, and his PhD degree in Vehicle DynamicsEngineering from the University of Leeds, in 1996 under the supervision ofProfessor D A Crolla He was then engaged in several R&D projects in theautomotive engineering industry and joined the academic staff at IUST in 2002.

He has developed and taught a wide range of courses for undergraduate andpostgraduate students in the field of Automotive Engineering He served as Deputy for Education in theDepartment of Automotive Engineering and is currently Deputy of the Automotive Research Centre atIUST, which is the leading centre for automotive R&D in Iran

His current research interests include vehicle powertrain systems, hybrid propulsion systems, vehicledynamics, vehicle modelling, simulation and control He has presented and published over 100 papers injournals and conferences He also serves on the editorial board of several international journals

David Crolla, FREng, was a Visiting Professor of Automotive Engineering atthe Universities of Leeds, Sunderland and Cranfield After graduating fromLoughborough University, he first worked as a research engineer in off-roadvehicle design, and then joined the University of Leeds (1979–2001) becominghead of the Mechanical Engineering Department His research interests in-cluded vehicle dynamics, chassis control systems, powertrain systems, suspen-sions and terramechanics, and he had published and presented over 250 papers

in journals and conferences

His activities included research in low carbon vehicles, industrial short courses in vehicle dynamics andchassis control, and engineering consultancy, for example, the BLOODHOUND SSC 1000mph landspeed record attempt

He was Editor-in-Chief of the world’s first Encyclopedia of Automotive Engineering to be published

in 2013

In writing this book, we have aimed it at the needs of both students and practising engineers in theautomotive industry For engineering students, we hope we have provided a sound explanation of theprinciples behind the design of vehicle powertrain systems For practising engineers, we have tried toprovide a comprehensive introduction to the subject area, which will set the scene for more specializedtexts on, for example, engines, transmissions or hybrid electric components.

The book has arisen from our combined teaching experiences at a range of institutions including theIran University of Science and Technology (IUST), Tehran, and the Universities of Leeds, Sunderlandand Cranfield We have attempted to incorporate two important themes which distinguish our book fromother texts:

1 The inclusion of numerous worked examples and the provision of a MATLABÒcode for many of theproblems

2 A systems approach to powertrain design – focusing on the integration and interactions of all thecomponents, e.g engine, transmission final drive, wheels and tyres – in analyzing the overall vehicleperformance

Our experience of teaching engineering students suggests that one of the most useful ways of learningengineering principles is through actually doing problems oneself Hence, we have tried to provide a widerange of examples together with worked solutions, often with an accompanying MATLAB code Wehope that readers will run these short programmes themselves and modify them to examine otherperformance issues

The term ‘systems approach’ is widely used in engineering but is not always clarified in the particularcontext Here, we simply mean that in order to understand vehicle performance, it is necessary to analyzeall the powertrain components together and examine how they interact, and how the designer tries tointegrate them in a coordinated way Our experience suggests that there are relatively few texts which dealcomprehensively with this critical aspect of integration

At the time of writing, there is considerable pressure on the automotive industry to minimize energyconsumption and reduce global emissions This has led to a huge upsurge in interest in alternativepowertrain systems – and the development of a range of electric and hybrid electric vehicles However,consumers do not appear to be willing to compromise some of the traditional aspects of vehicleperformance, e.g acceleration, speed, etc in the interests of overall energy consumption Drivabilityremains a key commercial issue and there is a demand for vehicles which are ‘fun-to-drive’ Hence, thedesign challenge continues to involve a compromise between vehicle performance and energy usage Wehave tried in this book to provide a comprehensive coverage of both these – often conflicting – aspects ofvehicle behaviour

Vehicle Powertrain Systems is accompanied by a website (www.wiley.com/go/mashadi) housing asolution manual with detailed explanations for the solution methods of more than a hundred exercises in

this book The solutions of the majority of the problems are carried out in MATLAB environment and theprogram listings are also provided In addition to the worked examples of the book itself, the website offersinvaluable guidance and understanding to students.

Finally, we would like to thank all our colleagues and friends over the years who have contributed insome way or influenced us in writing this text

BMEP brake mean effective pressure

BSFC brake specific fuel consumptionCAFE corporate average fuel economy

COP conformity of production

CTP constant torque performanceCVT continuously variable transmission

DCT dual clutch transmission

DOH degree of hybridization

EFCC Efficient Fuel Consumption CurveEGR exhaust gas recirculation

EOP engine operating point

EPA Environmental Protection AgencyEREV extended range electric vehicleEUDC extra-urban European driving cycle

FBD free body diagram

FCVs fuel cell vehicles

FEAD front engine accessory drive

FEM finite elements methods

FTP fixed throttle performance

GDI gasoline direct injection

HCCI homogeneous charge compression ignition

HEV hybrid electric vehicle

ICE internal combustion engine

IMEP indicated mean effective pressure

ISG integrated starter-generator

ISO International Standard Organization

IVT infinitely variable transmission

kg/J kilogram per joule

MPD mechanical power distribution

MPI multi-point (port) injection

NVH noise, vibration and harshness

OOL optimal operating line

PHEV plug-in hybrid electric vehicle

PID proportional integral derivative

SCU supervisory control unit

SPH series-parallel hybrid

TAD torque amplification device

TBI throttle body injection

TPS throttle position sensor

VVT variable valve timing

The output from the power source – to date, dominated by the internal combustion (IC) engine – iscontrolled by a transmission system and driveline to deliver tractive effort to the wheels And all thesecomponents, collectively referred to as the powertrain system, are controlled by the driver Drivers, whoare also viewed as discerning customers by the vehicle manufacturers, have a range of performancecriteria: acceleration, top speed, fuel economy, gradeability, and towing capacity are some of the moreobvious quantitative features But subjective judgements such as driveability, fun to drive, refinement anddriving pleasure play a huge part in the commercial success of vehicles On the other hand, societyimposes different performance demands – with a huge recent emphasis on emissions and CO2usage ofvehicles And governments have gone as far as imposing overall emissions control targets on man-ufacturers’ fleets of vehicles.

In order to meet all these conflicting demands, engineers must master the complete powertrain system

If there is one underlying theme to this book, it is that in order to understand vehicle mobility, one mustanalyze the entire system together – driver, engine, transmission, driving cycles, etc The aim of thischapter is to provide the background to this theme

1.1.1 Systems Approach

The key issue at the heart of this textbook is to adopt a systems approach to vehicle powertrain design

In simple terms, this means collecting all the individual components in the powertrain – or drivetrain as it

is sometimes called – and analyzing how they combine and interact The ultimate aim is, of course, topredict the overall vehicle behaviour in terms of speed, acceleration, gradeability, fuel economy, etc.First, the behaviour of the powertrain components is analyzed – and then these components are puttogether as a complete system to capture the overall vehicle driveline from the prime mover, traditionally,

an IC engine, through the transmission – clutch, gears, differential, etc – to the final drive at the wheels.The important theme is that it is only by taking a system-level view of the powertrain that the vehicledesigner can achieve the desired goals of vehicle performance In a systems approach to any problem, it isimportant at the outset to define the system boundaries So, for example, if we wish to study the overall use

Vehicle Powertrain Systems, First Edition Behrooz Mashadi and David Crolla.

Ó 2012 John Wiley & Sons, Ltd Published 2012 by John Wiley & Sons, Ltd.

of energy in passenger car transportation, the system would look like that shown in Figure 1.1 – in whichthe energy is tracked from its original source through to its final usage in propelling a vehicle Thisoverview is important in the context of powertrain system design, and is now commonly referred to as theWell-to-Wheels analysis of energy consumption.

1.1.2 History

There are lots of fascinating books describing the historical development of the automobile It is not ourintention in this book to dwell upon the history of automotive engineering; however, there are someinteresting observations which set the scene for our analysis of powertrain systems

In 1997, the SAE published an informative book [1] on the history of the automobile to celebrate itscentenary Each chapter was written by an invited US expert and all the powertrain components –powerplant (engine), transmissions, tyres, etc – were covered From the viewpoint of engineeringinnovation, it is very clear that there was plethora of innovative designs published in the late 1800s toearly 1900s – but their practical exploitation was only realized decades later when material properties andmass manufacturing techniques had improved For example, there were plenty of designs for what weconsider fairly complex engineering components – automatic transmissions and continuously variabletransmissions – patented in this period, but they had to wait several decades before they could be exploitedcommercially The historical development of manufacturing, mass production and the economic context

of automobile engineering is given in an excellent textbook by Eckerman [2]

In relation to powertrain systems, the two major components – the IC engine and the transmission havebeen reviewed from a historical perspective The title of Daniels’ book Driving Force [3] summarizes therole of the IC engine as the dominant power source for vehicles during the twentieth century He presents

a comprehensive overview of the detailed engineering development of engine design from its crudebeginnings in 1876 as the stationary Otto engine to its current state of the art, characterized as much bysophisticated control systems as by mechanical design

Some engineers would argue that developments in transmission design were equally important over thetwentieth century Taking the systems viewpoint, one would have to agree with this argument – since the

IC engine power is only available over a limited speed range, and hence the transmission is crucial in

transforming it into usable power at the wheels Gott [4] traces the history of engineering developments intransmissions – albeit with a bias towards the US preference for automatic transmissions This reviewdoes, however, reinforce the systems approach since the control of the transmission must be totallyintegrated with the engine management control.

This holistic approach, in which all the interacting parts of the powertrain are considered together, leads

to the idea of system optimization For example, while it is clearly important to optimize the design ofindividual components, such as the engine and transmission, the overall aim must be that they are matchedtogether as an integrated system

1.1.3 Conventional Powertrains

This book concentrates mainly on what are commonly referred to as conventional powertrains – in which

an IC engine drives the vehicle wheels through a transmission, incorporating a gearbox and final drive unit

A typical structure for a front-engined, rear wheel drive (RWD) car is shown in Figure 1.2, with a notation

of how the chapters in this book are mapped on to the powertrain system The most common layout forsmall passenger cars is front-engined, front wheel drive (FWD) but the principles associated withpowertrain analysis are exactly the same

The world’s total population of cars and light trucks was estimated in 2009 at around 900 million,with a production of new cars and light trucks of about 61 million in the same year The vast majority ofthese – more than 99% – employ conventional powertrains as described above Hence, despitethe enormous interest from 2000 onwards in alternative powertrains, described under the general heading

of Low Carbon Vehicles (LCVs), it is clear that the principles of analysing and understandingconventional powertrain systems as described in this textbook will certainly be of interest for severalmore decades

1.1.4 Hybrid Powertrains

During the late 1800s and early 1900s when engineers became fascinated with the opportunities forpersonal transportation provided by the motor car, there were three competing technologies for thepowerplant – steam, electric and petrol Each of these had their own merits and disadvantages, and it wasnot at all clear at the time which was likely to dominate in the longer term In fact, a 1900 census in theeastern US states [5] showed that each of these technologies shared about a third each of the emergingmarket – however, horse-drawn carriages still dominated in terms of total vehicles!

Clutch Gearbox Driveshaft Differential

Transmission Chapter 4

Engine Chapter 2

Vehicle performance

Resistive forces

Driving force

Chapter 3

Fuel economy Chapter 5 Driveline dynamics Chapter 6

Figure 1.2 Overview of vehicle powertrain system and related book chapters

Steam had a longer history of development and there was no problem installing sufficient power to givegood performance But fuel economy was poor, the boiler needed firing up prior to a journey and bothwater storage and usage were problems Electric vehicles looked extremely promising – they were quiet,clean and remarkably easy to operate Range was the major problem limited by the available energystorage in the battery – a problem which remains to this day! Gasoline cars in that period were less welldeveloped and appeared extremely troublesome – they were difficult to start and when running they werenoisy, dirty and pretty unreliable But their fundamental advantage – which of course is obvious now – wasthe energy density of gasoline which was about 300 times better than a lead-acid battery This meant it wasworthwhile investing in the engineering refinement of the gasoline-based powertrain – and this approach

of relentless development and refinement has continued to the present day

Given these discussions at the time about the best way forward for the automobile powerplant, it is notsurprising that several forward-thinking engineers have suggested combining two powerplants in order toextract the benefits of each – and hence, the notion of a hybrid vehicle was born around the turn of thenineteenth century They were not called ‘hybrid’ at the time, but it is nevertheless remarkable that, forexample, the 1902 Woods gas-electric car [5] did realize the potential of what we now know as a series-electric hybrid layout The vehicle was driven by a motor which doubled as a generator, it could run onbattery power alone at low speeds, the downsized gasoline engine could be used to charge the battery, and

it featured regenerative braking

Although there are a substantial number of different powertrain architectures for hybrid vehicles, at thetime of writing this book in 2011, three are of particular interest, all linked to commercially availablevehicle models These three types are summarized in Figure 1.3 and are:

(c) Hybrid electric vehicle – tractive power provided by engine, motor

or a combination of both

Engine

Motor/ Generator

Battery pack

Figure 1.3 Three types of typical hybrid/electric vehicle architectures available in 2011

(a) plug-in electric vehicle (EV), e.g Nissan Leaf;

(b) EV with range extender, e.g Chevrolet Volt;

(c) hybrid electric vehicle (HEV), e.g Toyota Prius

Chapter 7 in this book introduces the highly topical subject of hybrid vehicle powertrains It is notintended to provide a comprehensive treatment of the rapidly changing subject of hybrid vehicletechnology – many excellent texts have already been written on this topic and they are referenced atthe end of Chapter 7 Rather, the chapter is intended to show how the same principles of powertrainsystems analysis, which are the core of this textbook, can be applied to different technologies The aim is

to show how the systems approach to the analysis of so-called conventional powertrain components canreadily be applied to powertrains built up of different components such as batteries, motor-generators, fuelcells, super-capacitors, etc

1.2 Powertrain Components

The components in the powertrain are described in detail in each of the following chapters in the book –and references for further reading of the best books are also provided Needless to say, all thesecomponents are subject to relentless efforts to improve their performance – efficiency, emissions control,refinement – as well as their overall cost effectiveness The most recent trends in powertrain componentengineering are summarized below

1.2.1 Engine

. Stratified charge combustion

. Lean burn combustion

. HCCI (homogeneous charge compression ignition) combustion

. Variable valve timing

. Supercharging or twin-charging (when coupled with a downsized engine)

. Turbocharged direct injection diesel engines

. Gasoline direct injection petrol engines

. Common rail diesel engines

. Variable geometry turbocharging

1.2.2 Transmission

. Lower-friction lubricants (engine oil, transmission fluid, axle fluid)

. Locking torque converters in automatic transmissions to reduce slip and power losses in the converter. Continuously variable transmission (CVT)

. Automated manual gearbox

. Dual clutch gearbox

. Increase in the number of gearbox ratios in manual or automatic gearboxes

1.2.4 Systems Operation

. Automatically shutting off engine when vehicle is stopped.

. Recapturing wasted energy while braking (regenerative braking)

. Augmenting a downsized engine with an electric drive system and battery (mild hybrid vehicles).. Improved control of water-based cooling systems so that engines reach their efficient operatingtemperature sooner

According to a review paper in 1936 by the pioneering automobile engineer, Olley [7], the typicalAmerican car of that period weighed around 2 tons (2000 kg) and had an engine power of around

100 horsepower (75 kW), resulting in a typical acceleration of about 10 ft/s2(
3 m/s2

), a gradeability ofabout 11% and a top speed around 85 m.p.h (38 m/s
140 km/h) The accuracy of these performancepredictions gradually improved from the 1930s onwards as measurement techniques for engine perfor-mance [8], tyre rolling resistance characteristics [9] and aerodynamic drag effects [10] improved Anexample to illustrate approximately where all the energy is used in vehicle longitudinal performance isshown in Figure 1.4 for typical urban and highway conditions

In the 1970s, there was a massive shift in interest in vehicle performance to focus on fuel economycalculations In the USA, this was prompted by the Corporate Average Fuel Economy (CAFE) regulationsfirst enacted by Congress in 1975; these were federal regulations intended to improve the average fueleconomy of cars and light trucks sold in the USA in the wake of the 1973 oil crisis Basically, it was thesales-weighted average fuel economy of a manufacturer’s range of passenger cars or light trucks,manufactured for sale in the United States This signalled the start of a huge amount of interest around theworld in both fuel economy and the linked topic of emissions – and governments became very active inlegislating for the measurement and control of both these aspects of vehicle performance

In recent decades, the highly competitive commercial environment for selling cars has meant thatconsumers require data and performance figures to compare different manufacturers’ models Longitu-dinal performance – maximum speeds, acceleration, hill climbing, towing abilities, etc – are straight-forward to measure and fairly non-controversial In contrast, however, comparative data on fuel economy,and hence emissions – have proved extremely controversial

The established method of quantifying a vehicle’s fuel economy is to subject the vehicle, mounted on aninstrumented dynamometer, to a standard drive cycle The drive cycle simply consists of a set of datapoints which specify a speed vs distance travelled profile Different drive cycles have been developed tosimulate different types of vehicle operation, for example, extra-urban, urban, highway, and combinedurban-highway

Although this approach is internationally accepted, substantial detailed differences have emerged indifferent countries and different regions of the world Thus, global comparisons of the fuel economy ofvehicles are fraught with difficulties! Broadly speaking, the current range of standard drive cycles hasemerged from the world’s big three automotive markets – Europe, the USA and Asia – and the differences

to some extent reflect different driving patterns in those regions An excellent overview of the comparative

driving cycles is reported in [11] The situation is further complicated by the fact that different countries orregions have developed different targets for fuel economy and emissions – which of course, makes lifedifficult for global manufacturers in meeting different standards for different markets.

Because of these regional differences, drive cycle testing has been a source of considerable controversy

in the industry But it has also proved extremely controversial from the consumer’s point of view, because

in real-world driving it has proved virtually impossible to achieve the ideal figures obtained under thestandard test conditions To the engineering community, this is an expected outcome – the tests andmeasurements are carried out in laboratory conditions over a repeatable drive cycle which can only be

‘typical’ of millions of real driving conditions The key advantage is, of course, that vehicles are at leastcompared under fair and repeatable conditions Nevertheless, consumer organizations and popular carpublications continue to argue that the quoted figures – which now usually have to be displayed in thevehicle windscreen while on sale – should reasonably be achievable in practice

In the European Union, the fuel economy of passenger vehicles is commonly tested using two drivecycles, referred to as ‘urban’ and ‘extra-urban’ The urban test cycle (ECE-15) was introduced in 1999 andsimulates a 4 km journey at an average speed of 18.7 km/h and a maximum speed of 50 km/h The extra-urban cycle (EUDC) simulates a mixture of urban and highway running; it lasts 400 seconds with anaverage speed of 62.6 km/h and a top speed of 120 km/h In the USA, the testing procedures areadministered by the Environmental Protection Agency (EPA) and were updated in 2008 to include five

(a) Urban driving

− 17 % Standby

− 62 % Engine

19 %

Driveline

13 % Driving Energy

− 3 %

Aerodynamic

− 4 % Rolling

− 6 % Braking

− 4 % Standby

− 69 % Engine 25 %

Driveline

20 % Driving Energy

− 11 %

Aerodynamic

− 7 % Rolling

− 2 % Braking

Figure 1.4 Example of typical energy flows during urban (a) and highway (b) driving

separate tests – which are then weighted together to give an EPA City and Highway figure that must bequoted in car sales information It is claimed – with some justification – that these figures are a betterreflection of real-world fuel economy performance than the EU figures.

Just to add to the confusion, fuel economy continues to be quoted in different units around the world.For example, both the USA and the UK use miles per gallon (mpg) – although even these are notcomparable since the US gallon is 0.83 of an imperial gallon! In Europe and Asia, fuel consumption isquoted in units of l/100km Note that both lower (l) and upper case (L) can be used for litres This iseffectively an inverse of the mpg approach and a large mpg is comparable to a small l/100km – so, forexample, 30 mpg¼ 9.4 l/100km and 50 mpg ¼ 5.6 l/100km

However, most vehicle analysts agree that overall, the drive cycles are all less aggressive than typicalreal-world driving; in practice, this means that they include lower values of acceleration and decelerationthan typically used in normal driving situations With the upsurge of interest in hybrid powertrains over thefirst two decades of 2000, there has inevitably been an enormous focus on promoting their potential fueleconomy relative to conventional powertrains This has generated an on-going debate about whether thedrive cycles tend to favour HEV powertrains over conventional ICE-based powertrains The underlyingprinciple is that HEVs offer the biggest scope for improvement under stop-start driving conditions inheavy city traffic, for example; hence, it is argued that since most drive cycles have their bias towardsurban operation and inclusion of idle periods, they can distort the potential benefits available from hybridpowertrains – but again, there are a wide range of views!

In relation to emissions, there are two aspects; both of them are commonly referred to as ‘tailpipeemissions’ for the rather obvious reason that they emerge from the exhaust pipe as products of thecombustion process The first issue is the pollutant emissions – these include carbon monoxide (CO),unburnt hydrocarbons (HC) and oxides of nitrogen (NOx) In Europe, engine emission standards wereintroduced in the early 1990s to reduce all these pollutants from vehicles It led to significantimprovements in harmful emissions from passenger cars Euro 5 is due to come into effect for passengercars in 2011 and a further tightening of the regulations, Euro 6, is planned after that for both commercialvehicles and cars

The second issue is the carbon dioxide (CO2) emission levels of vehicles These have assumedincreasing attention during the early part of the twenty-first century due to global concerns about theenvironment – and they form part of the carbon footprint calculations which have now become embedded

in all aspects of life In the UK from 2001, the vehicle tax was linked to the CO2emissions of new vehicle,

so that vehicle emitting less than 100g/km were actually free of road tax And in 2008, an ambitious piece

of legislation was passed which committed European car manufacturers to cut average CO2emissionsfrom new cars to 130g/km by 2015

1.4 Driver Behaviour

Although the focus of this textbook is entirely on the vehicle and the engineering of its powertrain system,

it is important to recognize that whenever a vehicle is used on the road, the complete system actuallyinvolves both the vehicle and its driver The complete system is shown in Figure 1.5, in which the drivereffectively acts as a feedback controller – monitoring the performance of the vehicle and feeding back thisinformation to compare with his demand signals to the accelerator, brake, gear selection, etc Thus, from adynamics point of view, we are in practice dealing with a control system In designing the vehicleengineering system, therefore, we must be aware of the driver preferences as a controller

In subjective terms, drivers tend to prefer systems which are:

. responsive

. controllable

. repeatable

. stable

. involving minimum time lags

. linear

. free from jerks or sudden changes.

The study of drivers’ assessments of the longitudinal control of the vehicle is called ‘driveability’ and it

is emerging as a crucial feature of vehicle refinement to assess the customer acceptance of new powertraincomponents For example, it has been used in the industry from 2000 onwards to assess the smoothness ofgear changes in new transmissions developments such as dual clutch gearboxes and continuously variabletransmissions (CVTs) Indeed, procedures for the assessment of the highly subjective perception of thedriver have been incorporated into specialized vehicle software packages such as AVL-DRIVE [12].The idea is to generate an objective measure which is based on subjective judgements made by driversusing a range of vocabulary such as – jerk, tip-in, tip-out, kick, response delay, oscillations, ripple,backlash, etc – some of which have more obvious interpretations than others

There are occasions in vehicle performance calculations and simulations in which it is necessary toinclude a mathematical model of the driver in the complete system, as shown in Figure 1.5 In the so-called

‘forward-facing’ simulation, discussed in the next section, it is necessary to have a driver model whichattempts to follow the specified driving cycle by applying appropriate signals to the accelerator and brakeinputs The approach used in this case is often a simple PID (Proportional Integral Derivative) model This

is good for tracking the speed profile, but is not necessarily representative of actual driver behaviour which

is likely, for example, to include some element of look-ahead preview

1.5 The Role of Modelling

The whole ethos of this book is based on a modelling approach to analyzing and understandingpowertrain system design The underlying aim is to explain how components function and then representtheir behaviour through mathematical models based on the physics of their operation Then, thecomponents can be combined together as a complete powertrain system – and the resulting model shouldprovide an important tool to contribute to vehicle design Thus, although an analytical approach is used inorder to understand the fundamental behaviour, the results are always aimed at being of practical value tovehicle engineers

The models used throughout the text are relatively simple – and examples are provided in whichthe models are expressed and solved in the MATLABÒ/SIMULINK environment Thus, it should beeasy to follow the complete process from the derivation of the governing equations, through to theircoding in MATLAB/SIMULINK to their solution and presentation of results Since the book is based

on fundamental issues, it is felt to be important that the reader – whether a student or a practisingengineer – can follow this whole procedure and try it out for themselves

DriverTarget

AcceleratorGear selectionBrake

Acceleration

Distance travelled (Drive cycle) Speed Fuel input

Fuel usageEmissions

Figure 1.5 Overview of the driver–vehicle system governing vehicle longitudinal performance

In calculations of vehicle performance over a specified driving cycle, there are two fundamentallydifferent approaches – which are often not well understood by newcomers to the subject area The mostcommon simulation is called a ‘backwards-facing’ calculation This means that at each point on the speed

vs distance profile, the current values of both the vehicle speed and acceleration are known and using these

it is possible to work backwards through the powertrain to calculate the speeds, accelerations, torques andpowers of all the components This process is simply repeated for all the points on the driving cycle and theresults summed together at the end This is the simplest and most commonly used method of predictingvehicle performance over a drive cycle

The other approach is called a ‘forward-facing’ simulation; this requires a driver model in addition to thevehicle model The drive cycle is a target trajectory which the driver tries to track via inputs to the vehiclesystem The simulation is performed then as a conventional time history simulation, involving integration

of the dynamic equations This approach is required when developing control systems for the powertrainelements in order to simulate how the controller would actually behave in real time in the vehicle.For more detailed analyses of powertrain components and systems, several commercial packagesare available These are used extensively in vehicle design offices around the world, and while theyundoubtedly offer increased fidelity in their representation of the engineering systems involved, they areless informative of the underlying mechanics Examples of such packages include;

. ADVISOR – (ADvanced VehIcle SimulatOR) was created by the U.S Department of Energy’s NationalRenewable Energy Laboratory’s (NREL) Center for Transportation Technologies and Systems in 1994

It was a flexible modelling tool that rapidly assesses the performance and fuel economy of conventional,electric, hybrid, and fuel cell vehicles It was acquired by AVL in 2003 [12]

. AVL CRUISE – Vehicle and driveline system analysis for conventional and future vehicle concepts [12].. AVL-DRIVE – Assessment of driveability [12]

. CarSim – Vehicle performance in response to braking, steering and accelerating inputs [13].. IPG CarMaker – Vehicle performance in response to braking, steering and accelerating inputs [14].. Dymola – A multibody systems dynamics packages with automotive as well as other industrialapplications [15]

. WAVE – 1D engine and gas dynamics simulation; also includes a drivetrain model to allow full vehiclesimulation [16]

. SimDriveline – Blocks to characterize driveline components to include in a Simulink environment [17].. Easy5 – Multi-domain modelling and simulation of dynamic physical systems [18]

1.6 Aim of the Book

The overall aim of this book is to provide a comprehensive and integrated overview of the analysis anddesign of vehicle powertrain systems This has the following objectives:

. to present a summary of the systems approach to vehicle powertrain design;

. to provide information on the analysis and design of powertrain components, in particular:

T internal combustion engine

T transmissions

T driveline components

. to analyze the longitudinal dynamics of the vehicle in order to predict performance;

. to analyze and discuss the fuel economy performance of vehicles;

. to analyze the torsional dynamics behaviour of the driveline system;

. to describe the fundamentals of hybrid electric components and the architecture of their usage in ahybrid vehicle powertrain;

. to present examples – some with worked solutions – throughout the text;

. to present case studies of powertrain performance using MATLAB as an analysis tool

Further Reading

The books listed as references [1–5] all provide excellent background information on the history ofautomotive engineering, IC engine, transmissions and hybrid vehicle developments They are all worthreading to set the scene for powertrain systems analysis

References

[1] SAE (1997) The Automobile: A Century of Progress SAE, ISBN 0-7680-0015-7.

[2] Eckermann, E (2001) World History of the Automobile SAE, ISBN 0-7680-0800-X.

[3] Daniels, J (2003) Driving Force: The Evolution of the Car Engine Haynes Manuals, 2nd edn, ISBN 978-1859608777.

[4] Gott, P.G (1991) Changing Gears; The Development of the Automatic Transmission SAE, ISBN 1-56091-099-2.

[5] Fuhs, A.E (2009) Hybrid Vehicles and the Future of Personal Transportation CRC Press, ISBN 978-1-4200-7534-2.

[6] Kerr Thomas, H (1932) Automobile Engineering, Vol 1 Sir Isaac Pitman & Sons.

[7] Olley, M (1936) National Influences on American Passenger Car Design Proc Institution of Automobile Engineers, Vol XXXII, pp 509–541.

[8] Plint, M.J (2007) Engine Testing, 3rd edn SAE International, ISBN: 978-0-7680-1850-9.

[9] Clark, S.K (ed.) (1981) Mechanics of Pneumatic Tyres DOT HS 805 952, U.S Dept of Transportation [10] Hucho, W-H (ed.) (1998) Aerodynamics of Road Vehicles, 4th edn SAE International, ISBN 0-7680-0029-7 [11] Samuel, S., Austin, L and Morrey, D (2002) Automotive Test Drive Cycles for Emission Measurement and Real- World Emission Levels: A Review Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 216 (7): 555–564.

[12] www.avl.com (last accessed March 2011).

[13] www.carsim.com (last accessed March 2011).

[14] www.ipg.de (last accessed March 2011).

[15] www.dymola.com (last accessed March 2011).

[16] www.ricardo.com (last accessed March 2011).

[17] www.mathworks.com (last accessed March 2011).

[18] www.mscsoftware.com (last accessed March 2011).

Power Generation Characteristics

of Internal Combustion Engines

2.1 Introduction

The engine plays a dominant role in overall vehicle performance and it is essential to learn about itsbehaviour prior to performing vehicle studies The internal combustion engine is a complicated systemand its thorough analysis requires a multi-disciplinary knowledge of physics, chemistry, thermodynamics,fluid dynamics, mechanics, electrics, electronics and control Electronics and control are becoming crucialparts of all modern engines and engine control units (ECUs) manage the engine operating parameters to try

to achieve a good compromise between drivability, fuel consumption and emissions control

Traditionally, in the literature on internal combustion engine design, the material discussed included:working fluids, thermodynamics, gas dynamics, combustion processes and chamber design, heat transfer,engine efficiency, friction, emissions and pollution Also, the dynamics of engine moving parts and loadsacting on the engine bearings and components are traditionally discussed in books on mechanism design

or the dynamics of machinery On the other hand, in areas related to the vehicle powertrain designs, theengine properties are needed as inputs to the system Such vital information suitable for powertrainanalysis cannot be found in the aforementioned books Students have always seemed to have difficultiesrelating the engine design materials to powertrain design requirements Moreover, it has been found thatthe engine performance characteristics described by full throttle engine maps usually given in the enginedesign books are misleading and confuse students, due to the fact that they try to explain the vehiclemotion without sufficient information

In this chapter, a review of internal combustion engine behaviour over a full range of operations isprovided This includes torque generation principles and characteristics as well as engine modelling forboth petrol and diesel engines This chapter is not intended to explain those materials generally covered bybooks written on the topics of internal combustion engines; instead, the torque generation principles ofengines that are required in powertrain analysis will be the focus of this chapter

2.2 Engine Power Generation Principles

In vehicle powertrain studies, the power generation properties of engines are of vital importance as thetorque produced by the engine drives the vehicle in different and diverse driving situations Internalcombustion engines convert chemical energy contained in the fuel into mechanical power that is usuallymade available at a rotating output shaft The fuel includes chemical energy that is converted to thermalenergy by means of combustion or oxidation with air inside the engine The pressure of the gases within

Vehicle Powertrain Systems, First Edition Behrooz Mashadi and David Crolla.

Ó 2012 John Wiley & Sons, Ltd Published 2012 by John Wiley & Sons, Ltd.

the engine builds up because of the combustion process that is generating heat The high pressure gas thenexpands and pushes the surfaces inside the engine This expansion force moves the mechanical linkages ofthe engine and eventually rotates a crankshaft The output shaft of an internal combustion engine is usuallycoupled to a gear box, as in the case of transport vehicles.

Most internal combustion engines are of the reciprocating type, having pistons that move back and forthinside cylinders fixed to the engine blocks Reciprocating engines range from single cylinder engines up toseveral cylinders arranged in many different geometric configurations Internal combustion engines can

be classified in different ways but the classifying method according to ignition type is most common Twomajor ignition types are spark-ignition (SI) and compression-ignition (CI) types Details of thecombustion processes in SI and CI engines depend entirely on the characteristics of the fuel used ineach type Since the combustion process is quite different between SI and CI engines, the types andquantities of the various exhaust emission materials that are formed vary as a result

2.2.1 Engine Operating Modes

The slider-crank mechanism is a basic linkage to convert the reciprocating motion of the piston into therotating motion of a crankshaft in reciprocating engines The piston acts as the slider and moves inside thecylinder and with the provision of the valves and manifolds, an engine with the ability to compress andexpand gases results Figure 2.1 shows the schematic of a typical slider-crank mechanism used in a singlecylinder engine At zero crank angle y, the piston is at the position known as top dead centre (TDC),because the piston speed reaches zero at this point Rotation of the crank arm through 180
displacesthe piston from TDC to the other bottom extreme, again with zero piston speed, called bottom dead centre(BDC) The total distance that the piston travels during this 180
rotation of the crank is called one strokethat is twice the radius of the crank Returning from BDC to TDC will take another 180
rotation ofthe crank and the piston behaviour is reverse of that between zero and 180

Reciprocating engines, both spark ignition and compression ignition, need four basic phases, namelyintake (or induction), compression, combustion (or power) and exhaust to complete a combustion cycle

2.2.1.1 Four-Stroke Engines

Some engines are designed to have four distinctive strokes for the piston in a complete working cycle andare called four stroke engines In a four-stroke engine, the piston has to go through four strokes in order to

Cylinder wall

Piston

Main bearing

Crank pin Connecting rod Piston pin

Crank

(TDC) Top dead centre

(BDC) Bottom dead centre

θ

Figure 2.1 Schematic of engine slider-crank mechanism

complete the cyclic thermodynamic processes The crankshaft must perform two full turns in order thatthe piston completes four strokes Figure 2.2 illustrates the basic parts of a four-stroke engine including thecylinder, the piston, the cylinder head, ports and valves.

Starting from TDC at the beginning of intake stroke, the inlet valve opens and the outlet valve closes.With the piston motion towards the BDC, fresh air (or mixture) flows into the cylinder At BDC, the firststroke is complete and the inlet valve closes and the piston moves towards the TDC, compressing the gasesinside the cylinder At the TDC, the compression stroke ends and while both valves are closed, the powerstroke starts with combustion and the resulting gases expand, pushing the piston down to the BDC at whichthe fourth and last stroke starts by opening the outlet valve to let the pressurized combustion products leavethe cylinder The motion of the piston to TDC helps the exhaust process by pushing the gases out Table 2.1summarizes these four strokes

Note that the valve opening/closing crank angles given in Table 2.1 are only theoretical values and will

be different in practice For example, when the next intake process starts, it is better to leave the outletvalve open for a while in order that the burned gases leaving the combustion chamber continue their flowdue to their momentum (also the fresh air can push them out) This will provide more room for fresh air andincrease the combustion efficiency Similarly when the piston is starting to move towards the TDC at thebeginning of compression stroke, it is better to leave the inlet valve open for a while, so that the incomingair continues to flow into the cylinder due to its momentum

2.2.1.2 Two-Stroke Engines

A two-stroke engine performs the four basic phases of a combustion cycle only in two piston strokes In thetwo-stroke engine, the inlet and exhaust valves are eliminated and the ports for the entrance and exit ofthe gases are built on the cylinder walls and crankcase instead The piston covers and uncovers the portswhen it moves back and forth inside the cylinder (see Figure 2.3)

Cylinder wall

Cylinder head

Inlet port

Outlet port

Piston

(TDC) Top dead centre

(BDC) Bottom dead centre Valves

Figure 2.2 A classic four-stroke engine components

Table 2.1 The four strokes of a reciprocating engine

valve

Crank angle (degrees) Start of cycle End of cycle

Let us start the cycle with the combustion stroke The mixture in the combustion chamber is ignited inthe same way as in the four-stroke engine at the top of the stroke The piston moves downwards anduncovers the outlet port, allowing the pressurized burned gases to flow out of the cylinder The downwardmovement of the piston at the same time compresses the gases in the crankcase Further down, the pistonuncovers the transfer port and the compressed gases in the crankcase flow through the channel into thecombustion chamber and push the combustion products out through the outlet port So, in a single stroke

of the piston both combustion and exhaust cycles are accomplished The upward movement of the pistoncompresses the gases in the combustion chamber and simultaneously depressurizes the crankcase to allowthe pressure of the atmosphere to fill the crankcase with fresh air Further up, the compression stroke willend and a new cycle will start by the combustion process Again in a single upward piston stroke, bothinduction and compression cycles are accomplished

It appears that two-stroke engines are more advantageous since they perform the power cycle faster thanfour-stroke engines and do not need the valves and valve trains either But, in practice, two-stroke enginesare not as efficient as four-stroke cycle engines, especially at high speeds Two-stroke engines aregenerally used in small SI engines for motorcycles and in large CI engines for locomotives and marineapplications that work in lower speeds At large CI engine sizes, the two-stroke cycle is competitive withthe four-stroke cycle, because in the CI cycle, only air is lost in the cylinder (see Section 2.2.2)

In the rest of this chapter it will be assumed that the engine works only on the four-stroke basis

2.2.2 Engine Combustion Review

It is common to refer to engines as either petrol (gasoline in the USA) or diesel, according to the nature

of the ignition and combustion, however, the terms ‘spark ignition’ (SI) and ‘compression ignition’ (CI)are also used In SI engines the air and fuel are usually premixed before the initiation of combustion

by sparking In CI engines the fuel burns as it is injected into hot compressed air and produces acombustible mixture

In order to have ideal combustion, the amount of fuel must be related exactly to the amount of intake air

In fact, according to the burning chemistry, for a specific amount of air molecules, there must be specificnumber of fuel molecules for perfect burning of the fuel This fuel/air ratio is called the stoichiometricratio and the objective in engine combustion is to produce fuel/air ratios as close to the stoichiometric aspossible More details will be discussed in the following sections

Outlet port

Inlet port

Piston

Channel Crank

case

Transfer port

Combustion chamber

(TDC) Top dead centre

(BDC) Bottom dead centre

Figure 2.3 Schematic of a classic two-stroke engine

2.2.2.1 SI Engine Combustion

In SI engines, the fuel is mixed with the air in the intake system prior to entry to the cylinder In the past,carburettors were used for the homogenized mixing of the air and fuel The basis of a carburettor operationwas a pressure drop when air passed through a venturi and an appropriate amount of fuel (at higherpressure) surged into the air flow at the venturi throat from the float chamber The throttle openingcontrolled the air flow inside the venturi and as a result the amount of fuel entering the engine was adjustedaccordingly This type of fuel metering was very sensitive to atmospheric changes and could not maintainaccurate fuel to air ratios and resulted in poor engine performance and high levels of pollution

In newer generations of engines, fuel injection systems that replace the carburettors inject the fuel inmore accurate amounts Injection systems are electronically controlled systems – the air flow rate must bemeasured and the desired amount of fuel per cylinder that is required for a proper combustion must becalculated and injected accordingly

Currently there are two different fuel injection systems, namely, throttle body injection (TBI) and port injection (MPI) TBI systems are something like a carburettor which contains one or more injectors.When fuel is injected, it will be mixed with the air and the mixture will move in the inlet manifold exactlylike in the case of carburettor In MPI systems, instead of having a throttle body for all cylinders, air ismoved directly to the inlet port of each cylinder without mixing The fuel is injected just at the entrance toeach cylinder and is mixed with the air In MPI systems, therefore, the number of injectors is equal tothe number of cylinders MPI systems are more efficient than TBI systems; first, because the fuel is moreprecisely metered for each cylinder in MPI systems and, second, the fuel is completely moved intothe cylinder, whereas in TBI some part of the fuel in contact with the surface of intake manifold will stickand remain

multi-The newer generation of injection systems for SI engines includes the gasoline direct injection (GDI)systems that use the injection concept in CI engines (see Section 2.2.2.2) in which the fuel is injected intothe combustion chamber inside the cylinder These systems allow the achievement of both the fuelefficiency of a diesel engine and the high output of a conventional petrol engine

Regardless of the injection type, the SI engine cycle can be described as follows During the intakeprocess the inlet valve is open and the air and fuel mixture is inducted in the cylinder After the inlet valvecloses, the cylinder contents are compressed by the piston movement upwards Before the piston gets tothe TDC, a high voltage electric discharge across the spark plug starts the combustion process Burning thefuel during the combustion process increases the temperature in the cylinder to a very high peak value.This, in turn, raises the pressure in the cylinder to a very high peak value This pressure forces the pistondown and a torque about the crank axis is developed The expansion stroke causes the pressure and thetemperature to drop in the cylinder For a given mass of fuel and air inside the cylinder, an optimum sparktiming produces the maximum torque

Before the end of the expansion stroke, the exhaust valve starts to open and the burned gases find away through the valve into the exhaust port and into the manifold Pressure in the cylinder is still highrelative to the exhaust manifold and this pressure differential causes much of the hot products to be blownout of the cylinder before the piston starts its upward motion The piston motion during the exhaust stroketransfers the remaining combustion products into the exhaust manifold The timing for the exhaust valveopening is important since an early opening will reduce the work on the piston (less output torque) and alate opening will need external work delivered to the piston during the exhaust phase (see Section 2.2.3.1).The intake valve opens before TDC and the exhaust valve closes some time after in order to help thecombustion products trapped in the clearance volume when the piston reaches TDC to leave and to replacethem with a fresh mixture This period when both the inlet and exhaust valves are open is calledvalve overlap The combustion process of SI engines is divided into four phases, namely ignition, flamedevelopment, flame propagation and flame termination [1] Flame development is sometimes taken as part

of the first phase and a total of three phases is considered [2] The flame development interval is betweenthe spark discharge and the time when a fraction of the fuel-air mixture has burned This fraction is defined

differently such as 1, 5 or 10% During this period, although ignition occurs and the combustion processstarts, very little pressure rise and useful work is achieved.

In the interval between the end of the flame development stage and the end of the flame propagationprocess, usually the bulk of the fuel and air mass is burned and an energy release of about 90% is achieved.During this period, the pressure in the cylinder is greatly increased and thus the useful work of an enginecycle is the result of the flame propagation period The remaining 5–10% of the fuel-air mass burningtakes place in the flame termination phase During this time, the pressure quickly decreases andcombustion stops The combined duration of the flame development and propagation phases is typicallybetween 30
and 90
of the crank angle

2.2.2.2 CI Engine Combustion

The operation of a typical four-stroke CI engine during the intake stroke is the same as for the intake stroke

in an SI engine in terms of valve openings The only difference is that air alone is inducted into the cylinder

in this stroke The compression ratio is higher for CI engines and during the compression stroke, air iscompressed to higher pressures and temperatures than SI engines The fuel is injected directly into thecylinder in the combustion stroke where it mixes with the very hot air, causing the fuel to evaporate andself-ignite and combustion to start The power stroke continues as combustion ends and the piston travelstowards BDC The exhaust stroke is also the same as for SI engines

In a CI engine at a given engine speed, the air flow is unchanged and the output power is controlled byonly adjusting the amount of fuel injected The nature of the fuel-air mixture in compression ignitionengines is essentially different from SI engines In SI engines, a homogeneous mixture is available andduring the combustion process a flame moves through the mixture In CI engines, however, the liquid fuelthat is injected at high velocities through small nozzles in the injector tip, atomizes into small drops andpenetrates into the hot compressed air inside combustion chamber As a result, the nature of combustion is

an unsteady process occurring simultaneously at many spots in a very non-homogeneous fuel-air mixture.The process involved in the combustion of fuel after injection can be divided in four phases The firstphase is ‘atomization’ in which the fuel drops break into very small droplets In the second phase called

‘vaporization’, due to the hot air temperatures resulting from the high compression, the droplets of fuelevaporate very quickly After vaporization, because of the high fuel injection velocity and the swirl andturbulence of the air, in the ‘fuel-air mixing phase’ the fuel vapour will mix with the air to form acombustible mixture Since the air temperature and air pressure are above the fuel’s ignition point,spontaneous ignition of portions of the already-mixed fuel and air occurs in the ‘combustion phase’ Thecylinder pressure increases as combustion of the fuel-air mixture occurs It also reduces the evaporationtime of the remaining liquid fuel The injection of liquid fuel into the cylinder will continue after the firstfuel injected is already burning After the start of combustion when all the fuel-air mixture that is in acombustible state is quickly consumed, the rest of the combustion process is controlled by the rate atwhich the fuel can be injected Since only air is compressed in the cylinder during the compression stroke,much higher compression ratios are used in CI engines compared to those of SI engines Compressionratios of modern CI engines range from a minimum of 14 up to 24

Engine types include naturally aspirated engines where atmospheric air is inducted directly, charged engines where the inlet air is compressed by an exhaust-driven turbine-compressor combination,and supercharged engines where the air is compressed by a mechanically driven pump or blower Bothcharging systems enhance engine output power by increasing the air mass flow per unit displaced volume,thereby allowing more fuel combustion energy

turbo-2.2.3 Engine Thermodynamics Review

During real engine cycles (intake, compression, combustion and exhaust), the composition of thesubstances inside the process is changing The variable state of gases makes the analysis difficult and