Automotive control systems  for engine, driveline, and vehicle

Tai ngay!!! Ban co the xoa d Uwe Kiencke Lars Nielsen Automotive Control Systems For Engine, Driveline, and Vehicle Uwe Kiencke Lars Nielsen Automotive Control Systems For Engine, Driveline, and Vehicle Second edition With 345 figures and 13 tables Prof Dr.-Ing Uwe Kiencke Universität Karlsruhe (TH) Department of Electrical Engineering 76187 Karlsruhe Germany kiencke@iiit.uni-karlsruhe.de Prof Dr Lars Nielsen Division of Vehicular Systems Department of Electrical Engineering Linköping University 581 83 Linköping Sweden lars@isy.liu.se 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 springeronline.com © Springer-Verlag Berlin Heidelberg 2005 Printed in Germany The use of general descriptive names, registered names, trademarks, etc in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use Typesetting: Data conversion by the author Final processing by PTP-Berlin Protago-TEX-Production GmbH, Germany Cover-Design: Medionet AG, Berlin Printed on acid-free paper 62/3141/Yu – 4  TA?E; GE[TGB !E+ TM !T'_V ?.C.T !V a.BB !V , GT; !TT=G 3GT [=.?T aGTA ?E .=?'B cE!C?'V !E+ T.`?.a?E; [=?V $GGAM G`.C$.T ^ee: a ?.E'A !TV ?.BV.E ZJ; K& H- % & - %C+ & -  ' %A;ZV& -  %A;ZV& ' ( = %+.;& =& +=& %TIC& [= G_[I_[ 3TGC [= [=TG[[B 'GE[TGBB.T C!E?3GB+ IT.VV_T [= ;!V 'GEV[!E[ C!E?3GB+ !?T [.CI.T![_T a=?'= ?V !VV_C.+ [G $ .O_!B [G [= !C$?.E[ [.CI.T![_T C!E?3GB+ `GB_C !?T C!VV 9Ga ?E[G [= C!E?3GB+ !VV_C.+ O_!B [G [= !?T 9Ga I!V[ [= !?T C!VV 9Ga C.[.T !?T C!VV 9Ga G_[ 3TGC [= C!E?3GB+ V[![?' 3_E'[?GE +.V'T?$?E; [= 9Ga I!V[ [= [=TG[[B V[![?' 3_E'[?GE +.V'T?$?E; [= 9Ga ?E[G [= 'cB?E+.TV J`GB_C.[T?' 5'?.E'cK [=TG[[B !E;B EGTC!B?d.+ [GTO_ GE [= [=TG[[B IB![ ;.E.T![.+ $c [= !?T 9Ga I!V[ [= [=TG[[B V[![?' 3_E'[?GE +.V'T?$?E; [= [GTO_ GE [= [=TG[[B IB![ ;.E.T![.+ $c [= !?T 9Ga I!V[ [= [=TG[[B .E;?E VI + E [= !?T VcV[.C !IIB?'![?GE [=.T ?V EG E + 3GT b[T.C.Bc 3!V[ 3!_B[ +.[.'> [?GE* !E+ [=.T.3GT ! C.!E `!B_ CG+.B %:\& !V +.T?`.+ ?E .'[?GE \M^MY ?V '=GV.E* a=?'= C.!EV [=![ EG a?[=?E 'c'B `!T?![?GEV !T 'G`.T.+ $c [= CG+.BM _T[=.T* `.E ?3 `!T?![?GEV ?E !C$?.E[ IT.VV_T !E+ [.CI.T![_T +G !4.'[ [= VcV[.C* [=.c !T =.T !VV_C.+ [G $ VBGaBc `!Tc?E;M = 3_E+!C.E[!B CG+.B _V.+ ?V O_!> " [?GE \M8eM = [?C 'GEV[!E[ 3TGC O_![?GE \M8H* G ? " * ?V aT?[[.E G_[ 3GT ?+.E[?7'![?GE I_TIGV.V bIB!?E.+ $.BGaM = !?T C!VV G_[ G3 [= ?E[!A ?E[G [= 'cB?E+.T* -  * ?V CG+.B.+ !V ?E O_![?GE \M:F a?[= ! C!I ' (J9- ! 5KM = !?T 9Ga I!VV?E; [= [=TG[[B ?E[G [= ?E[!A.* -  ' * ?V !BVG CG+.B.+ !V ! C!I !V ?E O_![?GE \M\X $_[ I!T!C.[.T?d.+ ?E IT.VV_T !E+ [=TG[[B !E;B !V ?E+?'![.+ ?E [= I!T!;T!I= $.3GT [=![ O_![?GEM = T.V_B[?E; CG+.B ?V -  ' 1 -  HJ3 -  '  -  K ' J9- ! = K (J9- ! 5K JYMH^K JYMH\K JYMH:K = !?T +cE!C?'V CG+.B [=_V =!V GE V[![ a=?'= ?V [= C!E?3GB+ IT.VV_T.* M = V[![?' 3_E'?[GE (J9- ! 5K ?V O_?`!B.E[ [G ' J5! 9- K ?E .'[?GE \M^MYM HXe ?: 
  G 3!T 3!_B[V =!`. EG[ $ E 'GEV?+.T.+* VG 'GBB.'[?E; [=. CG+.B O_![?GEV +.V'T?$.V[=.'GCIB.[.3!_B[3T CG+.B!V 8- =& - =& =& 1 8=& N JIJFK  =& K 8=& JYMH8K JYMHYK JYMHXK -  ' -  1 +J9- ! -  ' ! = K HJ3 -  '  -  K ' J9- ! = K (J9- ! 5K JYMH/K JYMHFK JYM^eK = 7E!B CG+.B?E; V[.I ?V EGa [G ?E[TG+_' [= 3!_B[V* !E+ [G +.7E !`!?B!$B ?E3GTC![?GE ?E [.TCV G3 ?EI_[V !E+ G_[I_[VM = ITG'.VV ?EI_[V 3GT [= +?!;EGV?V CG+.B !T [= [=TG[[B 'GE[TGB V?;E!B I* !E+ [= .E;?E VI + 5M = G_[I_[V !T -  ' ; * !E+ C!E?3GB+ [=TG[[B !E;B V.EVGT V?;E!B = ; * C!VV !?T 9Ga V.EVGT V?;E!B IT.VV_T V.EVGT V?;E!B 9- ; M = 3!_B[V !T CG+.B.+ !V !++?[?` 3!_B[VM = 7E!B CG+.B ?V V=GaE ?E ?;_T YMHHM I$ @+= +=& =& 9#$  [=TG[[B I 'GE[TGBB.T    8=&  ; ; = ' 3 ' >V.T`G  ;   9- ( =& $ @+= 3 ' $ @+=  = ;  3 ' ; 9- $ @+=  9- ;    1% 7;#%6 ;( J1% 3E 39J5% FQFJ%7 396M#390 J1% J1E;JJ6% ;9JE;66%E 9# 7;93J;E%# (M6JFA >8=8B 3 /  1@,%@,31 G 7E+ [= V[![?' 3_E'[?GEV ' * ( !E+ +=& * ! V[.!+c V[![ .bI.T?C.E[ a!V I.T> 3GTC.+M = .E;?E ?V CG_E[.+ ?E ! [.V[ $.E'= [G;.[=.T a?[= ! '=.EA
 +cE!CGC.[.T* !E+ H^ O_!BBc VI!'.+ E;?E VI +V JH8ee [G \eee TICK !E+ / O_!BBc VI!'.+ C!E?3GB+ IT.VV_T.V J\8 [G Ye A!K a.T _V.+ [G $_?B+ ! C!I G3 I* -  ' * = !E+ C.!V_T.C.E[V ?E FY +?4.T.E[ V[.!+c V[![ GI.T![?E; IG?E[VM 9- * G T.IT.V.E[ [= V[![?' 3_E'[?GEV* [=.T ?V ! '=G?' $.[a E ?E[.TIGB![?E; ?E [= C!I GT 7[ 3GT b!CIB IGBcEGC?!BV [G [= C!IM T ?E[.TIGB![?GE a!V '=GV.E 3GT ( !E+ IGBcEGC?!BV 3GT ' !E+ +=& M = '=G?' G3 [.TCV [G $ ?E'B_+.+ ?E [= IGBcEGC?!BV a!V ;_?+.+ $c V[_+c?E; [= 'GTT.B![?GE 'G.5'?.E[ !E+ [= 7E!B '=G?' a!V $!V.+ GE ! `!B?+![?GE !;!?EV[ !EG[=.T +![! V.[ G3 FY GI.T![?E; IG?E[VM ?:>:
 
  
  -
 
  HXH = T.V_B[?E; IGBcEGC?!BV _V.+ !T ' J9- ! = K +=& J9- ! -  ' ! = K &1 N & = N &, =, N &+ =+ N N& = 9- N & 9 61 N 9- N 6 9- N 6, 9,- N  N6+ 9- = N 6 9,- = N -  ' N6 9- = N 6) 9- GT [= !?T +cE!C?'V* [= GEBc T.C!?E?E; 'GEV[!E[ [G ?+.E[?3c ?V - M G ?+.E[?3c [=?V 'GEV[!E[* ! +cE!C?' [.V[ a!V I.T3GTC.+M
[.V[>'c'B 'GEV?V[?E; G3 : [=TG[[B V[.IV ?E +?4.T.E[ GI.T![?E; IG?E[V a!V 'GEV[T_'[.+ !E+ [= !BT.!+c ?+.E[?7.+ 3_E'[?GEV* ' !E+ (* a.T _V.+ [G 7E+ [= `!B_ G3 - [=![ ;!` [= $.V[ 7[ $.[a E C.!V_T.+ IT.VV_T !E+ V[?C![.+ IT.VV_T.M
'GCI!T?VGE $.[a E C.!V_T.+ !E+ V?C_B![.+ IT.VV_T 3GT [= 7E!B !?T +cE!C?' CG+.B ?V V=GaE ?E ?;_T YMH^M x{ xĨ “>˜ˆvœ`Ê«ÀiÃÃÕÀiÊQŽ*>R xä {n {È {{ {Ĩ {ä Ỵn ä x £ä £x ̈“iÊQÃR    %FME%# >F;63# 639%? 9# F37M6J%# >#F1%# 639%? =E%FFME%A = I!T!C.[.TV*  !E+ * _V.+ ?E [= [=TG[[B CG+.B* a.T ?+.E[?7.+ $c !I> IBc?E; ! IV._+GT!E+GC $?E!Tc V?;E!B [G [= [=TG[[B ?EI_[ !E+ C.!V_T?E; [= [=TG[[B !E;B.M =?V a!V +GE a=.E [= .E;?E a!V EG[ T_EE?E; VG [= [.TC =& ?E O_![?GE YMH8 a!V d.TGM = [=TG[[B ?V C!T;?E!BBc V[!$B ?E GI.E BGGI* VG [=?V CG+.B ?V EG[ !V !V?Bc `!B?+![.+ !V [= !?T +cE!C?'VM BGV.+ BGGI bI.T?C.E[V a.T I.T3GTC.+ `!B?+![?E; [= CG+.B* V=Ga?E; [=![ [= CG+.B ?V !''.I[!$B $_[ B.VV !''_T![ [=!E [= !?T +cE!C?'V CG+.BM =?V ?V B![.T T.9.'[.+ ?E +?!;EGV?V I.T3GTC!E' a=.T ^e L [=TG[[B 3!_B[V !T 'GCI!T!$B [G He L 3!_B[V ?E G[=.T 'GCIGE.E[V !V '!E $ V E ?E .'[?GE YMXMXM HX^ >8=8A ?: 
  * ,)138=8(  _!BVM Ga.`.T* C!Ec G3 [=.C !T $!V.+ GE [= V!C I!T[ G3 [= CG+.B [=![ C!A.V [=.C T.+_E+!E[M [ ?V [=_V +.V?T!$B [G 7E+ ! VC!BB* EGE>T.+_E+!E[ V.[ G3 T.V?+_!BV a?[= ;GG+ ?VGB![?GE ITGI.T[?.V* a?[=G_[ BGGV?E; TG$_V[E.VVM [!T[?E; a?[= H/ V_'= T.V?+_!BV GEBc V?b a.T V.B.'[.+ [G $ _V.+ ?E [= T.V?+_!B ;.E.T![GTM = 'GCI_[![?GE!B 3GTC G3 [=.V V?b T.V?+_!BV !T +.V'T?$.+ E.b[M = 7TV[ T.V?+_!B ?V ! +?T.'[ T.+_E+!E'c T.V?+_!B) -  ' ;  ' J9- ; ! = ; K @ =?V T.V?+_!B T.B?.V GE ! V[![?' T.B![?GEV=?I ?E [= CG+.B !E+ '=.'AV [= 'GEV?V> [.E'c G3 O_![?GE YMHFM = G[=.T 7` T.V?+_!BV !T +.T?`.+ _V?E; [.CIGT!B T.+_E+!E'cM = V.'GE+ T.V?+_!B '=.'AV [= 'GEV?V[.E'c G3 O_![?GEV YMH/ !E+ YM^e) -  ' ;  (J9- ; ! 5K  @, - ( 9- H- [ ?V !VV_C.+ [=![ [= +.T?`![?` G3 9- '!E $ .V[?C![.+ a?[= V_5'?.E[ !''_T!'cM [= +.T?`![?` ?V 'GCI_[.+ !V ! +?4.T.E'.* @, ?V ! I!T?[c O_![?GEM G[ [=![ [= V[![?' 3_E'[?GEV J=.T (K +G EG[ E + !E!Bc[?'!B bIT.VV?GEV* [=.c '!E $ T.IT.V.E[.+ $c C!IV !V _V_!BM .b[ !T [aG +.+?'![.+ G$V.T`.T T.V?+_!BVM = IG?E[ G3 +.+?'![.+ G$V.T`.T T.V?+_!BV ?V [G C!A [= T.V?+_!BV V.EV?[?` [G GEBc GE V.EVGT 3!_B[ $c C.!V_T?E; GEBc GE G_[I_[ J= ; ?V EG[ 'GEV?+.T.+ [G $ !E G_[I_[ ?E [=?V '!V.KM =?V '!E -  ' M = $ V E ?E @+ * a=?'= C.!V_T.V GEBc 9- * !E+ @ * a=?'= C.!V_T.V GEBc T.V?+_!BV !T 3GTC.+ !V 9(- - + @+ H- " ' J( 9- + ! = ; K  (J( 9- + ! 5K N )  J9- ;  9(- + K 9- ;  9(- + ?:>:
 
  
  -
 
  9(  (-  '  @ HX\ H- " ' J( 9-  ! = ; K  (J( 9-  ! 5K N ) (-  '  K , J3 -  ' ;  ' J( -  ! = ; K (-  '  -  ' ;  E @+ * [= C!E?3GB+ IT.VV_T.* 9- * ?V V[?C![.+ $c C.!EV G3 ! EGE>B?E.!T +?!;EGV[?' G$V.T`.TM = IT.VV_T 9- ?V C.!V_T.+ !E+ [= .V[?C![?GE TTGT ?V 3.+ $!'A ?E[G [= G$V.T`.TM = T.V?+_!B @+ O_!BV [= .V[?C![?GE TTGTM = 3G_T[= T.V?+_!B* -  ' * [=![ O_!BV @ * ?V @ * ?V 'GEV[T_'[.+ V?C?B!TBc $_[ [= .V[?C![?GE TTGT G3 3.+ $!'A ?E[G [= G$V.T`.TM = 73[= T.V?+_!B* @ * ?V !BVG $!V.+ GE !E G$V.T`.T $_[ ?E 'GE[T!V[ [G @+ !E+ @ * [= .V[?C![?GE TTGT +G.V EG[ O_!B @ M =?V C.!EV [=![ [G 'GCI_[ @ * -  ' !T C.!V_T.+ VG @ ?V EG[ ! +.+?'![.+ G$V.T`.T T.V?+_!B !E+ $G[= 9- !E+ [=.T.3GT $.'GC.V V.EV?[?` [G $G[= C!E?3GB+ IT.VV_T V.EVGT !E+ !?T C!VV 9Ga V.EVGT 3!_B[VM = T.V?+_!B ?V 3GTC.+ !V H- " ' J( 9-  ! = ; K  (J( 9-  ! 5K N 9(  ) (-  '  K J3 -  ' ;  (-  '  ' J( -  ! = ; K @ 9- ;  9(-  = T.C!?E?E; T.V?+_!B ?V G$V.T`.T $!V.+ !V a.BB* !E+ ?[V I_TIGV ?V V[T?'[Bc 3GT +?!;EGV?V G3 [= [=TG[[B !'[_![GT) " ) 8=& N  IJFK  +J9- ; ! -  ' ; ! = ; K N  J= ;  (= K (- =& ( (-= ( =& N , J= ;  (= K @) = ;  (= = '=G?' G3 [= G$V.T`.T ;!?EV  * , !E+ !BVG  !E+ , a.T +GE $c IGB IB!'.C.E[M = G$V.T`.T IGB.V !T 3_E'[?GE?E; B?A ! BGa>I!VV 7B[.T VG [= IGB IB!'.C.E[ ?V ! 'GCITGC?V $.[a E 3!V[ 3!_B[ T.VIGEV !E+ V.EV?[?`?[c [G +?V[_T$!E'.V !E+ EG?V.M = V?b T.V?+_!BV 3GTC ! V.[ G3 V[T_'[_T.+ T.V?+_!BVM ?4.T.E[ T.V?+_!BV !T V.EV?[?` [G +?4.T.E[ 3!_B[VM =?V '!E $ V E $c V[_+c?E; [= .O_![?GEV G3 [= T.V?+_!BV !E+ [=?V ?V V_CC!T?d.+ ?E !$B YM^M GC T.V?+_!BV V=G_B+ $ V.EV?[?` [G VI.'?7' 3!_B[V +_ [G [= CG+.B O_![?GEV* $_[ ?[ [_TE.+ G_[ ?E [= .bI.T?> C.E[V [=![ [= .4.'[ G3 ! 3!_B[ GE VGC T.V?+_!BV a!V EG[ V?;E?7'!E[ EG_;= [G ;_!T!E[ ! TG$_V[ +?!;EGV?V VcV[.CM =.V '!V.V !T C!TA.+ a?[= !E  J+GES[ '!T.K ?E !$B YM^M E GE '!V.* C!TA.+  * [=?V =!V ! V[T!?;=[3GTa!T+ I=cV?'!B bIB!E![?GE) [= !?T 9Ga I!V[ [= [=TG[[B ?V EG[ +.I.E+.E[ GE C!E?3GB+ IT.VV_T 3GT V_I.TVGE?' !?T VI +V %:Y&M =?V ?V [= '!V 3GT C!E?3GB+ IT.VV_T.V $.BGa 8e A!M = [=TG[[B CG+.B =!V ! B!T;.T CG+.B _E'.T[!?E[c* 'GCI!T.+ [G [= G[=.T I!T[V G3 [= CG+.B* VG [=![ ?3 !Ec G3 [= G[=.T T.V?+_!BV a.T 3.+ $c I* [=.E ?[ aG_B+ +.;T!+ [= I.T3GTC!E' G3 [=.V T.V?+_!BVM =![ ?V [= T.!VGE 3GT '=GGV?E; [G =!` [= 7` d.TGV ?E [= I 'GB_CEM E IT!'[?' [=?V '!E =!` [= .4.'[ [=![ -  ' ; GT 9- ; >3!_B[ ?V ?E[.TIT.[.+ !V ! I>3!_B[M ! VC!BB = ; * HX: ?: 
     1% E%F3#M6 FJEMJME% ;( J1% #309;F3F FQFJ%7A 1 ;6M79 E%=E%F%9JF  (M6JQ F3096A @ @, @+ @ @ @) >8=8& I e e e e e H = ; H e H H H  - '9 ; H H e H H  9- ;  H H e   e H H H H e  _![?GE ?V [G '=.'A [=?V !E+ ;.E.T![ ! 3!_B[ +.'?V?GEM !A?E; +?V[_T$!E'.V ?E[G !''G_E[ ?V EG[ [T?`?!BM = )V ?E !$B YM^ !T ?CIGT[!E[M GT ! VI.'?7' 3!_B[* T.V?+_!BV C!TA.+ a?[= !E  =!` !E _E'.T[!?E T.VIGEV.M =?V C.!EV [=![ [= 3!_B[ +.'?V?GE C_V[ EG[ +.I.E+ GE [=.V T.V?+_!BVM = T.V?+_!B `!B_![?GE V'=.C '=GV.E =.T ?V V=GaE ?E ?;_T YMH\M ?TV[* [= T.V?+_!BV !T BGa>I!VV 7B[.T.+ a?[= eM/ d '_[>G4 3T.O_.E'c !E+ [=.E EGTC!B?d.+ a?[= [=.?T V[!E+!T+ +.`?![?GEV ?E [= 3!_B[ 3T '!V.M = B!V[ V[.I ?V 3_ddc [=T.V=GB+?E; %^X&M = 3_ddc [=T.V=GB+?E; ?V '=GV.E $.3GT T.;_B!T [=T.V=GB+?E; [G C!A [= G_[I_[ 3TGC [= +?!;EGV?V VcV[.C 'GE[!?E CGT ?E3GTC![?GEM ?[= 3_ddc [=T.V=GB+?E; [= G_[I_[ ?V EG[ @_V[ ! 3!_B[ GT EG[ ! 3!_B[* $_[ ! T.B![?` +.;T G3 =Ga ITG$!$B ?[ ?V [=![ ! 3!_B[ =!V G''_TT.+M % % *%  &* %! -*)&) & -110) %&&    %F3#M6 %N6MJ3;9A =T 3_ddc V.[V !T _V.+ !E+ [=.c !T V=GaE ?E ?;_T YMH:M = a!c [=.c !T '=GV.E* GEBc [= 'GEV[!E[ ) =!V [G $ +.[.TC?E.+M = 'T?[.T?GE _V.+ [G +.[.TC?E )* ?V [=![ ?E [= 3!_B[ 3T '!V.* [=.T V=G_B+ $ EG 3!BV !B!TCM
BVG ?E [= '!V G3 ! 3!_B[* !BB T.V?+_!BV [=![ V=G_B+ T.VIGE+ +_ [G !$B YM^* C_V[ T.!'= [= 3_ddc *,(* `!B_ !E+ T.V?+_!BV [=![ V=G_B+ EG[ T.VIGE+ C_V[ $ 3_ddc /3EM T.* ! `!B_ G3 ) : ITG`.+ bI.T?C.E[!BBc [G $ ;GG+ '=G?'.M ?E' [= T.V?+_!B ?V EGTC!B?d.+ a?[= ?[V V[!E+!T+ +.`?![?GE* ) : 'GTT.VIGE+V [G ! `!B_ G3 [= T.V?+_!B [=![ ?V 3G_T [?C.V ?[V EG?V V[!E+!T+ +.`?![?GEM !$B YM^ ?V [T!EV3.TT.+ [G 3_ddc T_B.V !E+ !E b!CIB G3 [=?V ?V [= 9- ; > 'GB_CE [=![ 'GTT.VIGE+V [G [= 3_ddc T_B  @, ?V *,(*
 @+ ?V *,(*
 @ ?V /3E ?:>:
 
  
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