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
[email protected] Prof. Dr. Lars Nielsen Division of Vehicular Systems Department of Electrical Engineering Linköping University 581 83 Linköping Sweden
[email protected]
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 – 5 4 3 2 1 0
4 <+<"A" 2! 2+<.!
% ) ) & )
?E'. [=. 7TV[ .+?[?GE G3 [=?V $GGA a!V I_$B?V=.+* !BT.!+c 7`. c.!TV =!`. I!VV.+* !E+ +_T?E; [=?V I.T?G+ T.V.!T'= GE !_[GCG[?`. 'GE[TGB =!V 9G_T?V=.+* !E+ ![ [=. V!C. [?C.* [=. !CG_E[ G3 ?E+_V[T?!B !IIB?'![?GEV !E+ ITG+_'[V =!`. !BVG ITGVI.T.+M =?V C.!EV [=![ [=.T. a!V ! T?'= 9GT! G3 IGVV?$?B?[?.V T.;!T+?E; [=. V.B.'[?GE G3 C![.T?!B a=.E IB!EE?E; [=. V.'GE+ .+?[?GEM E [=?V ITG'.VV E.a [GI?'V =!`. $..E !++.+* ?CIGT[!E[ 7.B+V =!`. $..E +..I.E.+* !E+ ?E GT+.T [G A..I [=. E_C$.T G3 I!;.V +GaE* V.'[?GEV G3 B?C?[.+ ?E[.T.V[ =!`. $..E .B?C?E![.+M E [=. V.B.'[?GE G3 [=. E.a C![.T?!B a. =!`. 'GE'.E[T![.+ GE V_$@.'[V [=![ !T. $G[= G3 '_TT.E[ ?E[.T.V[ !E+ ?CIGT[!E'.* $_[ ![ [=. V!C. [?C. !T. V_$@.'[V [=![ !BVG 'GE[T?$_[. [G ! $.[[.T _E+.TV[!E+?E; G3 $!V?' ITG'.VV.V !E+ [=.GT?.VM =. E.a C![.T?!B ?E'B_+.V [aG 'GCIB.[.Bc E.a '=!I[.TV) ?.V.B E;?E. G+.B?E; !E+ ?!;EGV?VM E +T?`.B?E. 'GE[TGB ! E.a V.'[?GE GE E[?> .TA GE[TGB =!V $..E !++.+M !T;. I!T[V G3 .=?'B. cE!C?'V !E+ GE[TGB =!`. $..E T.aT?[[.E* a=?'= V?;E?7'!E[Bc ?CITG`.V [=. IT.V.E[![?GE G3 [=![ C![.T?!BM _T[=.T* ?E [=?V V.'GE+ .+?[?GE* a. =!`. =GI.3_BBc 'GTT.'[.+ CGV[ G3 [=. .TTGTV ?E [=. 7TV[ .+?[?GE* T.`?.a.+ [=. EGC.E'B![_T.* !E+ ?E GT+.T [G 3!'?B?[![. [G aGTA a?[= [=?V $GGA* !++.+ !E ?E+.bM =. B.`.B G3 IT.V.E[![?GE =!V $..E [=G_;=[ [TG_;= [G $. V_?[.+ 3GT V[_+.E[V ![ B![. _E+.T;T!+_![. B.`.B GT ![ .!TBc ;T!+_![. B.`.BM =. VG '!BB.+ GBG;E! ITG'.VV ?V ?E9_.E'?E; _E?`.TV?[?.V ?E _TGI. ![ [=?V CGC.E[* !E+ ?E [=![ I.TVI.'[?`. [=?V $GGA V=G_B+ $. a.BB V_?[.+ 3GT ! 'G_TV. ![ [=. [aG c.!T !V[.TV B.`.BM . B?A. [G [=!EA TM !T! GTAd!+.= !E+ =GC!V !C$Ga 3GT [=.?T 'GE[T?> $_[?GEV ?E ?.V.B E;?E. G+.B?E;* TM ![[?!V c$.T; 3GT =?V aGTA ?E ?!;EGV?V* _B?!E !_C!EE 3GT =?V I!T[?'?I![?GE ?E E[?> .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
% ) ) %&) )
_[GCG[?`. 'GE[TGB =!V $.'GC. ! +T?`?E; 3!'[GT ?E !_[GCG[?`. ?EEG`![?GE G`.T [=. B!V[ [a.E[c 7`. c.!TVM E GT+.T [G C..[ [=. .E=!E'.+ T.O_?T.C.E[V 3GT BGa.T 3_.B 'GEV_CI[?GE* BGa.T .b=!_V[ .C?VV?GEV* ?CITG`.+ V!3.[c !V a.BB !V 'GC3GT[ !E+ 'GE`.E?.E'. 3_E'[?GEV* !_[GCG[?`. 'GE[TGB =!+ [G $. !IIB?.+M E !Ec !T.! G3 [.'=EGBG;c* 'GE[TGB +.V?;E ?V !E ?E[.TIB!c $.[a..E T.!B?[c* I=cV?'V* CG+.B?E;* !E+ +.V?;E C.[=G+VM =?V ?V !BVG [T_. ?E !_[GCG[?`. 'GE[TGB* !E+ [=.T. =!V $..E .b[.EV?`. aGTA +GE. ?E T.V.!T'= !E+ +.`.BGIC.E[ B.!+?E; [G ! E_C$.T G3 +.V'T?I[?GEV* CG+.BV* !E+ +.V?;E C.[=G+GBG;?.V V_?[.+ 3GT 'GE[TGBM 40 4# A+! 44/ _T I_TIGV. G3 aT?[?E; ! $GGA GE _[GCG[?`. GE[TGB ?V [G IT.V.E[ [=?V ?E[.TIB!c $.[a..E [=.TCG+cE!C?'V* $!V?'V G3 .E;?E. GI.T![?GE* `.=?'B. C.'=!E?'V !V a.BB !V I!T!C.[.T .V[?C![?GE !E+ !_[GCG[?`. 'GE[TGB !IITG!'=.VM =.T. !T. V.`.T!B ;GG+ $GGAV !`!?B!$B. GE [=. V.I!T![. +?V'?IB?E.V JVGC. G3 [=. C!@GT T.3.T.E'.V !T. ?E .TC!EKM Ga.`.T* _I _E[?B EGa [=.T. =!V EG[ $..E ! [.b[ !`!?B!$B. [=![ .bIBGT.V CGT. +..IBc [=. 'GEE.'[?GEV $.[a..E T.!B?[c* C.!V_T.C.E[V* CG+.BV !E+ 'GE[TGB +.V?;EM [ =!V $..E E![_T!B 3GT _V [G [T.![ !BB [=. C!@GT !VI.'[V G3 !_[GCG[?`. 'GE[TGB ?E [=. V!C. $GGAM =?V C.!EV [=![ a. 'G`.T .E;?E.* +T?`.B?E.* !E+ 'GCIB.[. `.=?'B.M E. T.!VGE ?V [=![ [=.T. !T. V?C?B!T?[?.V ?E C.[=G+GBG;c a=.E !E!Bcd?E; !E+ +.V?;E?E; !_[GCG[?`. 'GE[TGB VcV[.CVM =?V ?E'B_+.V [=. IG?E[ G3 `?.a G3 7E+?E; CG+.BV G3 V_?[!$B. 'GCIB.b?[c !E+ .bIT.VV?`.E.VVM EG[=.T* I.T=!IV CGT. ?CIGT[!E[* T.!VGE ?V [=![ [=.T. ?V ! V[TGE; [T.E+ [=![ .E;?E. 'GE[TGB* +T?`.B?E. 'GE[TGB* !E+ `.=?'B. 'GE[TGB T![=.T [=!E $.?E; V.I!T![. a?BB $. CGT. !E+ CGT. ?E[.;T![.+* VG [=![ G`.T!BB `.=?'B. GI[?C?d![?GE ?V IGVV?$B.M [ =!V !BVG $..E ?CIGT[!E[ [G _V [G V=Ga T.!B C.!V_T.C.E[VM =?V ;?`.V ! T.!+.T [=. IGVV?$?B?[c [G V.. =Ga CG+.BV !T. !IITGb?C![?GEV G3 T.!B?[c* !E+
T.3!'.
[G @_+;. [=. CG+.B?E; !VV_CI[?GEVM 'GEV.O_.E'. G3 [=?V !IITG!'= ?V [=![ a. =!`. V.B.'[.+ [G [T.![ VcV[.CV [=![ !T. 'BGV. [G VGC. G3 [=GV. _[?B?d.+ ?E !'[_!B `.=?'B.V* T![=.T [=!E +?V'_VV?E; VI.'_B![?`. VcV[.CV GT IT.V.E[?E; I_T.Bc [=.GT.[?'!B T.V_B[VM 2A!2 !