Modeling and Control of Engines and Drivelines

Lars Eriksson is an Associate Professor of Vehicular Systems at Linkping University with main responsibility for the engine control laboratory. Since 1994, he has been working as a researcher in the field of modeling and control of engines and drivelines with research that is performed in close collaboration with industry. This provides good contact with practicing engineers and who are then able to offer their input when new research results are integrated into course curriculums. As a teacher he has developed and taught several courses on this subject, both at the university and for industry. At Linkping University he is responsible for the course Modeling and Control of Engines and Drivelines which has been given on the subject since 1998 and he is also a regular lecturer for the module Basics of SI engine control on the Powertrain Engineering Programme at IFP School in Paris. Since 1992, Lars Nielsen has been a Professor of Vehicular Systems holding the Sten Gustafsson chair at Linkping University. His main research interests are in automotive modeling, control, and diagnosis, and he has been active in all aspects of this field during its expansion and growth since the nineties. His supervision has led to thirty graduate exams, in many cases with significant industrial participation. The collaboration aspect has also been strong in his role as center director for two large centers of excellence (ECSEL 1996-2002, LINK-SIC 2010- ). In the international research community, he was the Chairman of Automotive Control within the International Federation of Automatic Control (2002-2005), and then the Chairman of all Transportation and Vehicle Systems (2005-2011). Selected national commissions of trust are Board Member of the Swedish Research Council-NT (2001-2006), and vice chair in IVA II - the electrical engineering division of the Royal Swedish Academy of Engineering (2010-).

Preface xvii Series Preface xix Part I VEHICLE PROPULSION FUNDAMENTALS 1 Introduction 3 1.1 Trends 4 1.1.1 Energy and Environment 4 1.1.2 Downsizing 4 1.1.3 Hybridization 6 1.1.4 Driver Support Systems and Optimal Driving 6 1.1.5 Engineering Challenges 8 1.2 Vehicle Propulsion 8 1.2.1 Control Enabling Optimal Operation of Powertrains 9 1.2.2 Importance of Powertrain Modeling and Models 10 1.2.3 Sustainability of Model Knowledge 11 1.3 Organization of the Book 11 2 Vehicle 15 2.1 Vehicle Propulsion Dynamics 15 2.2 Driving Resistance 16 2.2.1 Aerodynamic Drag 17 2.2.2 Cooling Drag and Active Air-Shutters 18 2.2.3 Air Drag When Platooning 19 2.2.4 Rolling Resistance Physical Background 20 2.2.5 Rolling ResistanceModeling 21 2.2.6 Wheel Slip (Skid) 24 2.2.7 Rolling Resistance Including Thermal Modeling 25 2.2.8 Gravitation 27 2.2.9 Relative Size of Components 28 2.3 Driving Resistance Models 28 2.3.1 Models for Driveline Control 29 2.3.2 Standard Driving Resistance Model 30 2.3.3 Modeling for Mission Analysis 31 2.4 Driver Behavior and Road Modeling 32 2.4.1 Simple Driver Model 32 2.4.2 Road Modeling 33 2.5 Mission Simulation 34 2.5.1 Methodology 34 2.6 Vehicle Characterization/Characteristics 34 2.6.1 Performance Measures 35 2.7 Fuel Consumption 36 2.7.1 Energy Density Weight 36 2.7.2 From Tank to Wheel Sankey Diagram 37 2.7.3 Well-to-Wheel Comparisons 38 2.8 Emission Regulations 39 2.8.1 US and EU Driving Cycles and Regulations 39 3 Powertrain 45 3.1 Powertrain Architectures 45 3.1.1 Exhaust Gas Energy Recovery 47 3.1.2 Hybrid Powertrains 47 3.1.3 Electrification 48 3.2 Vehicle Propulsion Control 50 3.2.1 Objectives of Vehicle Propulsion Control 50 3.2.2 Implementation Framework 51 3.2.3 Need for a Control Structure 52 3.3 Torque-Based Powertrain Control 52 3.3.1 Propagation of Torque Demands and Torque Commands 52 3.3.2 Torque-Based Propulsion Control Driver Interpretation 54 3.3.3 Torque-Based Propulsion Control Vehicle Demands 55 3.3.4 Torque-Based Propulsion Control Driveline management 55 3.3.5 Torque-Based Propulsion Control DrivelineEngine Integration 55 3.3.6 Handling of Torque Requests Torque Reserve and Interventions 56 3.4 Hybrid Powertrains 58 3.4.1 ICE Handling 58 3.4.2 Motor Handling 59 3.4.3 Battery Management 59 3.5 Outlook and Simulation 60 3.5.1 Simulation Structures 60 3.5.2 Drive/Driving Cycle 60 3.5.3 Forward Simulation 61 3.5.4 Quasi-Static Inverse Simulation 61 3.5.5 Tracking 61 3.5.6 Inverse Dynamic Simulation 62 3.5.7 Usage and Requirements 64 3.5.8 Same Model Blocks Regardless of Method 65 Part II ENGINE FUNDAMENTALS 4 Engine Introduction 69 4.1 Air, Fuel, and Air/Fuel Ratio 69 4.1.1 Air 69 4.1.2 Fuels 70 4.1.3 Stoichiometry and (A/F) Ratio 71 4.2 Engine Geometry 73 4.3 Engine Performance 74 4.3.1 Power, Torque, and Mean Effective Pressure 74 4.3.2 Efficiency and Specific Fuel Consumption 75 4.3.3 Volumetric Efficiency 76 4.4 Downsizing and Turbocharging 77 4.4.1 Supercharging and Turbocharging 78 5 Thermodynamics and Working Cycles 81 5.1 The Four-Stroke Cycle 81 5.1.1 Important Engine Events in the Cycle 84 5.2 Thermodynamic Cycle Analysis 85 5.2.1 Ideal Models of Engine Processes 86 5.2.2 Derivation of Cycle Efficiencies 89 5.2.3 Gas Exchange and Pumping Work 91 5.2.4 Residual Gases and Volumetric Efficiency for Ideal Cycles 93 5.3 Efficiency of Ideal Cycles 98 5.3.1 Load, Pumping Work, and Efficiency 99 5.3.2 (A/F) Ratio and Efficiency 100 5.3.3 Differences between Ideal and Real Cycles 103 5.4 Models for In-Cylinder Processes 105 5.4.1 Single-Zone Models 105 5.4.2 Heat Release and Mass Fraction Burned Analysis 107 5.4.3 Characterization of Mass Fraction Burned 109 5.4.4 More Single-Zone Model Components 111 5.4.5 A Single-zone Cylinder Pressure Mod