Modeling and control of engines and drivelines (TQL )

MODELING AND
CONTROL OF ENGINES
AND DRIVELINES


Automotive Series
Series Editor: Thomas Kurfess
Modelling, Simulation and
Control of Two-Wheeled Vehicles

Tanelli, Corno
and Savaresi

March 2014

Modeling and Control of Engines
and Drivelines

Eriksson and
Nielsen

February 2014

Advanced Composite Materials for
Automotive Applications: Structural
Integrity and Crashworthiness

Elmarakbi

December 2013

Guide to Load Analysis for Durability
in Vehicle Engineering

Johannesson
and Speckert

November 2013


MODELING AND
CONTROL OF ENGINES
AND DRIVELINES
Lars Eriksson and Lars Nielsen
Linkoping
̈
University, Sweden


This edition first published 2014
© 2014 John Wiley and Sons Ltd
Registered office
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Library of Congress Cataloging-in-Publication Data
Eriksson, Lars, 1970–
Modeling and control of engines and drivelines / Lars Eriksson and Lars Nielsen.
1 online resource.
Includes bibliographical references and index.
Description based on print version record and CIP data provided by publisher; resource not viewed. ISBN
978-1-118-53619-3 (ePub) – ISBN 978-1-118-53620-9 (Adobe PDF) – ISBN 978-1-118-47999-5 (cloth) 1. Motor
vehicles–Power trains – Simulation methods. 2. Automobiles – Motors – Simulation methods. 3. Motor
vehicles–Power trains – Control systems – Design and construction. 4. Automobiles – Motors – Control systems –
Design and construction. 5. Automobiles – Electronic equipment. I. Nielsen, Lars, 1955–II. Title.
TL260
629.25001′ 1 – dc23
2013035431

A catalogue record for this book is available from the British Library.
ISBN: 978-1-118-47999-5
Typeset in 10/12pt Times by Laserwords Private Limited, Chennai, India

1

2014


To Bodil, Ingrid, and our families.



Contents
Preface
Series Preface

xvii
xix

Part I VEHICLE – PROPULSION FUNDAMENTALS
1
1.1

1.2

1.3
2
2.1
2.2

2.3

2.4

Introduction
Trends
1.1.1
Energy and Environment
1.1.2
Downsizing
1.1.3
Hybridization
1.1.4
Driver Support Systems and Optimal Driving
1.1.5
Engineering Challenges
Vehicle Propulsion
1.2.1
Control Enabling Optimal Operation of Powertrains
1.2.2
Importance of Powertrain Modeling and Models
1.2.3
Sustainability of Model Knowledge
Organization of the Book

3
4
4
4
6
6
8

8
9
10
11
11

Vehicle
Vehicle Propulsion Dynamics
Driving Resistance
2.2.1
Aerodynamic Drag
2.2.2
Cooling Drag and Active Air-Shutters
2.2.3
Air Drag When Platooning
2.2.4
Rolling Resistance – Physical Background
2.2.5
Rolling Resistance–Modeling
2.2.6
Wheel Slip (Skid)
2.2.7
Rolling Resistance – Including Thermal Modeling
2.2.8
Gravitation
2.2.9
Relative Size of Components
Driving Resistance Models
2.3.1
Models for Driveline Control

2.3.2
Standard Driving Resistance Model
2.3.3
Modeling for Mission Analysis
Driver Behavior and Road Modeling
2.4.1
Simple Driver Model
2.4.2
Road Modeling

15
15
16
17
18
19
20
21
24
25
27
28
28
29
30
31
32
32
33

viii

2.5
2.6
2.7

2.8

3
3.1

3.2

3.3

3.4

3.5

Contents

Mission Simulation
2.5.1
Methodology
Vehicle Characterization/Characteristics
2.6.1
Performance Measures
Fuel Consumption
2.7.1

Energy Density Weight
2.7.2
From Tank to Wheel – Sankey Diagram
2.7.3
Well-to-Wheel Comparisons
Emission Regulations
2.8.1
US and EU Driving Cycles and Regulations

34
34
34
35
36
36
37
38
39
39

Powertrain
Powertrain Architectures
3.1.1
Exhaust Gas Energy Recovery
3.1.2
Hybrid Powertrains
3.1.3
Electrification
Vehicle Propulsion Control
3.2.1

Objectives of Vehicle Propulsion Control
3.2.2
Implementation Framework
3.2.3
Need for a Control Structure
Torque-Based Powertrain Control
3.3.1
Propagation of Torque Demands and Torque Commands
3.3.2
Torque-Based Propulsion Control – Driver Interpretation
3.3.3
Torque-Based Propulsion Control – Vehicle Demands
3.3.4
Torque-Based Propulsion Control – Driveline management
3.3.5
Torque-Based Propulsion Control – Driveline–Engine Integration
3.3.6
Handling of Torque Requests – Torque Reserve and Interventions
Hybrid Powertrains
3.4.1
ICE Handling
3.4.2
Motor Handling
3.4.3
Battery Management
Outlook and Simulation
3.5.1
Simulation Structures
3.5.2
Drive/Driving Cycle

3.5.3
Forward Simulation
3.5.4
Quasi-Static Inverse Simulation
3.5.5
Tracking
3.5.6
Inverse Dynamic Simulation
3.5.7
Usage and Requirements
3.5.8
Same Model Blocks Regardless of Method

45
45
47
47
48
50
50
51
52
52
52
54
55
55
55
56
58

58
59
59
60
60
60
61
61
61
62
64
65

Part II ENGINE – FUNDAMENTALS
4
4.1

Engine – Introduction
Air, Fuel, and Air/Fuel Ratio
4.1.1
Air

69
69
69


Contents

4.2

4.3

4.4

5
5.1
5.2

5.3

5.4

6
6.1

6.2

6.3
6.4

6.5

4.1.2
Fuels
4.1.3
Stoichiometry and (A/F) Ratio
Engine Geometry
Engine Performance
4.3.1
Power, Torque, and Mean Effective Pressure

4.3.2
Efficiency and Specific Fuel Consumption
4.3.3
Volumetric Efficiency
Downsizing and Turbocharging
4.4.1
Supercharging and Turbocharging

ix

70
71
73
74
74
75
76
77
78

Thermodynamics and Working Cycles
The Four-Stroke Cycle
5.1.1
Important Engine Events in the Cycle
Thermodynamic Cycle Analysis
5.2.1
Ideal Models of Engine Processes
5.2.2
Derivation of Cycle Efficiencies
5.2.3

Gas Exchange and Pumping Work
5.2.4
Residual Gases and Volumetric Efficiency for Ideal Cycles
Efficiency of Ideal Cycles
5.3.1
Load, Pumping Work, and Efficiency
5.3.2
(A/F) Ratio and Efficiency
5.3.3
Differences between Ideal and Real Cycles
Models for In-Cylinder Processes
5.4.1
Single-Zone Models
5.4.2
Heat Release and Mass Fraction Burned Analysis
5.4.3
Characterization of Mass Fraction Burned
5.4.4
More Single-Zone Model Components
5.4.5
A Single-zone Cylinder Pressure Model
5.4.6
Multi-zone Models
5.4.7
Applications for Zero-dimensional Models

81
81
84
85

86
89
91
93
98
99
100
103
105
105
107
109
111
113
114
117

Combustion and Emissions
Mixture Preparation and Combustion
6.1.1
Fuel Injection
6.1.2
Comparing the SI and CI Combustion Process
SI Engine Combustion
6.2.1
SI Engine Cycle-to-Cycle Variations
6.2.2
Knock and Autoignition
6.2.3
Autoignition and Octane Number

CI Engine Combustion
6.3.1
Autoignition and Cetane Number
Engine Emissions
6.4.1
General Trends for Emission Formation
6.4.2
Pollutant Formation in SI Engines
6.4.3
Pollutant Formation in CI Engines
Exhaust Gas Treatment
6.5.1
Catalyst Efficiency, Temperature, and Light-Off

119
119
119
120
121
121
122
124
126
126
128
128
130
134
137
137

x

Contents

6.5.2
6.5.3
6.5.4

SI Engine Aftertreatment, TWC
CI Engine Exhaust Gas Treatment
Emission Reduction and Controls

139
140
142

Part III ENGINE – MODELING AND CONTROL
7
7.1

7.2

7.3
7.4
7.5
7.6
7.7

7.8

7.9

7.10
7.11

7.12

Mean Value Engine Modeling
Engine Sensors and Actuators
7.1.1
Sensor, System, and Actuator Responses
7.1.2
Engine Component Modeling
Flow Restriction Models
7.2.1
Incompressible Flow
7.2.2
Compressible Flow
Throttle Flow Modeling
7.3.1
Throttle Area and Discharge Coefficient
Mass Flow Into the Cylinders
7.4.1
Models for Volumetric Efficiency
Volumes
Example – Intake Manifold
Fuel Path and (A/F) Ratio
7.7.1

Fuel Pumps, Fuel Rail, Injector Feed
7.7.2
Fuel Injector
7.7.3
Fuel Preparation Dynamics
7.7.4
Gas Transport and Mixing
7.7.5
A/F Sensors
7.7.6
Fuel Path Validation
7.7.7
Catalyst and Post-Catalyst Sensor
In-Cylinder Pressure and Instantaneous Torque
7.8.1
Compression Asymptote
7.8.2
Expansion Asymptote
7.8.3
Combustion
7.8.4
Gas Exhange and Model Compilation
7.8.5
Engine Torque Generation
Mean Value Model for Engine Torque
7.9.1
Gross Indicated Work
7.9.2
Pumping Work
7.9.3

Engine Friction
7.9.4
Time Delays in Torque Production
7.9.5
Crankshaft Dynamics
Engine-Out Temperature
Heat Transfer and Exhaust Temperatures
7.11.1 Temperature Change in a Pipe
7.11.2 Heat Transfer Modes in Exhaust Systems
7.11.3 Exhaust System Temperature Models
Heat Exchangers and Intercoolers
7.12.1 Heat Exchanger Modeling

145
146
146
149
149
151
154
156
157
159
159
162
166
168
168
169
171

174
174
178
178
180
180
182
183
184
184
186
187
190
190
192
193
193
196
196
197
197
203
204


Contents

xi

7.13

Throttle Plate Motion
7.13.1 Model for Throttle with Throttle Servo

206
210

8
8.1
8.2

Turbocharging Basics and Models
Supercharging and Turbocharging Basics
Turbocharging Basic Principles and Performance
8.2.1
Turbochargers in Mean Value Engine Models
8.2.2
First Law Analysis of Compressor Performance
8.2.3
First Law Analysis of Turbine Performance
8.2.4
Connecting the Turbine and Compressor
8.2.5
Intake Air Density Increase
Dimensional Analysis
8.3.1
Compressible Fluid Analysis
8.3.2
Model Structure with Corrected Quantities
Compressor and Turbine Performance Maps

8.4.1
The Basic Compressor Map
8.4.2
The Basic Turbine Map
8.4.3
Measurement Procedures for determining Turbo Maps
8.4.4
Turbo Performance Calculation Details
8.4.5
Heat Transfer and Turbine Efficiency
Turbocharger Models and Parametrizations
8.5.1
Map Interpolation Models
Compressor Operation and Modeling
8.6.1
Physical Modeling of a Compressor
8.6.2
Compressor Efficiency Models
8.6.3
Compressor Flow Models
8.6.4
Compressor Choke
8.6.5
Compressor Surge
Turbine Operation and Modeling
8.7.1
Turbine Mass Flow
8.7.2
Turbine Efficiency
8.7.3

Variable Geometry Turbine
Transient Response and Turbo Lag
Example – Turbocharged SI Engine
Example – Turbocharged Diesel Engine

211
211
214
214
216
218
219
219
220
221
223
223
223
225
226
227
230
232
232
232
233
237
239
241
244

249
249
252
253
254
255
257

Engine Management Systems – An Introduction
Engine Management System (EMS)
9.1.1
EMS Building Blocks
9.1.2
System for Crank and Time-Based Events
Basic Functionality and Software Structure
9.2.1
Torque Based Structure
9.2.2
Special Modes and Events
9.2.3
Automatic Code Generation and Information Exchange
Calibration and Parameter Representation
9.3.1
Engine Maps
9.3.2
Model-Based Development

263
263
264

265
266
266
267
267
267
268
270

8.3

8.4

8.5
8.6

8.7

8.8
8.9
8.10
9
9.1

9.2

9.3


xii

10
10.1

10.2
10.3

10.4

10.5

10.6
10.7
10.8

10.9
11
11.1

11.2
11.3
11.4

11.5

Contents

Basic Control of SI Engines
Three Basic SI Engine Controllers
10.1.1 Production System Example

10.1.2 Basic Control Using Maps
10.1.3 Torque, Air Charge, and Pressure Control
10.1.4 Pressure Set Point from Simple Torque Model
10.1.5 Set Points from Full Torque Model
10.1.6 Pressure Control
Throttle Servo
10.2.1 Throttle Control Based on Exact Linearization
Fuel Management and 𝜆 Control
10.3.1 Feedforward and Feedback 𝜆 Control Structure
10.3.2 Feedforward 𝜆 Control with Basic Fuel Metering
10.3.3 Feedback 𝜆 Control
10.3.4 Fuel Dynamics and Injector Compensation
10.3.5 Observer Based 𝜆 Control and Adaption
10.3.6 Dual and Triple Sensor 𝜆 Control
Other Factors that Influence 𝜆 Control
10.4.1 Full Load Enrichment
10.4.2 Engine Overspeed and Overrun
10.4.3 Support Systems that Influence Air and Fuel Calculation
10.4.4 Cold Start Enrichment
10.4.5 Individual Cylinder 𝜆-control
Ignition Control
10.5.1 Knock Control – Feedback Control
10.5.2 Ignition Energy – Dwell Time Control
10.5.3 Long-term Torque, Short-term Torque, and Torque Reserve
Idle Speed Control
Torque Management and Idle Speed Control
Turbo Control
10.8.1 Compressor Anti-surge Control
10.8.2 Boost Pressure Control
10.8.3 Boost Pressure Control with Gain Scheduling

10.8.4 Turbo and Knock Control
Dependability and Graceful Degradation

271
272
273
274
275
275
276
277
279
280
282
283
283
284
289
290
293
294
295
296
296
298
298
299
301
304
305

306
307
308
308
309
312
314
315

Basic Control of Diesel Engines
Overview of Diesel Engine Operation and Control
11.1.1 Diesel Engine Emission Trade-Off
11.1.2 Diesel Engine Configuration and Basics
Basic Torque Control
11.2.1 Feedforward Fuel Control
Additional Torque Controllers
Fuel Control
11.4.1 Control signal – Multiple Fuel Injections
11.4.2 Control Strategies for Fuel Injection
Control of Gas Flows

317
317
318
319
320
322
322
323
324

326
327


Contents

11.6

11.7
12
12.1

12.2

12.3

xiii

11.5.1 Exhaust Gas Recirculation (EGR)
11.5.2 EGR and Variable Geometry Turbine (VGT)
Case Study: EGR and VGT Control and Tuning
11.6.1 Control Objectives
11.6.2 System Properties that Guide the Control Design
11.6.3 Control Structure
11.6.4 PID Parameterization, Implementation, and Tuning
11.6.5 Evaluation on European Transient Cycle
11.6.6 Summing up the EGR VGT Case Study
Diesel After Treatment Control

328

329
332
333
334
336
340
343
346
346

Engine–Some Advanced Concepts
Variable Valve Actuation
12.1.1 Valve Profiles
12.1.2 Effects of Variable Valve Actuation
12.1.3 Other Valve Enabled Functions
12.1.4 VVA and Its Implications for Model Based Control
12.1.5 A Remark on Air and Fuel Control Strategies
Variable Compression
12.2.1 Example – The SAAB Variable Compression Engine
12.2.2 Additional Controls
Signal Interpretation and Feedback Control
12.3.1 Ion-sense
12.3.2 Example – Ion-sense Ignition Feedback Control
12.3.3 Concluding Remarks and Examples of Signal Processing

349
349
351
352
354

355
355
356
357
358
361
361
365
369

Part IV DRIVELINE – MODELING AND CONTROL
13
13.1
13.2

13.3

13.4

14
14.1

Driveline Introduction
Driveline
Motivations for Driveline Modeling and Control
13.2.1 Principal Objectives and Variables
13.2.2 Driveline Control vs. Longitudinal Vehicle Propulsion Control
13.2.3 Physical Background
13.2.4 Application-driven Background
Behavior without Appropriate Control

13.3.1 Vehicle Shuffle, Vehicle Surge
13.3.2 Traversing Backlash–shunt and Shuffle
13.3.3 Oscillations After Gear Disengagement
Approach
13.4.1 Timescales
13.4.2 Modeling and Control

373
373
373
374
375
375
375
376
376
377
377
380
380
380

Driveline Modeling
General Modeling Methodology
14.1.1 Graphical Scheme of a Driveline
14.1.2 General Driveline Equations

381
381
382

382


xiv

14.2

14.3

14.4

14.5

14.6

14.7
14.8
14.9

15
15.1

15.2

15.3

Contents

A Basic Complete Model – A Rigid Driveline
14.2.1 Combining the Equations

14.2.2 Reflected Mass and Inertias
Driveline Surge
14.3.1 Experiments for Driveline Modeling
14.3.2 Model with Driveshaft Flexibility
Additional Driveline Dynamics
14.4.1 Influence on Parameter Estimation
14.4.2 Character of Deviation in Validation Data
14.4.3 Influence from Propeller-shaft Flexibility
14.4.4 Parameter Estimation with Springs in Series
14.4.5 Sensor Dynamics
Clutch Influence and Backlash in General
14.5.1 Model with Flexible Clutch and Driveshaft
14.5.2 Nonlinear Clutch and Driveshaft Flexibility
14.5.3 Backlash in General
Modeling of Neutral Gear and Open Clutch
14.6.1 Experiments
14.6.2 A Decoupled Model
Clutch Modeling
14.7.1 Clutch Modes
Torque Converter
Concluding Remarks on Modeling
14.9.1 A Set of Models
14.9.2 Model Support
14.9.3 Control Design and Validating Simulations

384
385
386
386
386

387
391
391
392
393
394
395
396
396
400
403
404
404
405
406
409
409
411
411
411
412

Driveline Control
Characteristics of Driveline Control
15.1.1 Inclusion in Torque-Based Powertrain Control
15.1.2 Consequence of Sensor Locations
15.1.3 Torque Actuation
15.1.4 Transmissions
15.1.5 Engine as Torque Actuator
15.1.6 Control Approaches

Basics of Driveline Control
15.2.1 State-Space Formulation of the Driveshaft Model
15.2.2 Disturbance Description
15.2.3 Measurement Description
15.2.4 Performance Output
15.2.5 Control Objective
15.2.6 Controller Structures
15.2.7 Notation for Transfer Functions
15.2.8 Some Characteristic Feedback Properties
15.2.9 Insight from Simplified Transfer Functions
Driveline Speed Control
15.3.1 RQV control

413
414
414
415
415
416
417
418
419
419
420
420
420
421
421
422
422

425
427
427


Contents

15.4

15.5

15.6

15.7

15.3.2 Formulating the Objective of Anti-Surge Control
15.3.3 Speed Control with Active Damping and RQV Behavior
15.3.4 Influence from Sensor Location
15.3.5 Load Estimation
15.3.6 Evaluation of the Anti-Surge Controller
15.3.7 Demonstrating Rejection of Load Disturbance
15.3.8 Experimental Verification of Anti-Surge Control
15.3.9 Experiment Eliminating a Misconception
Control of Driveline Torques
15.4.1 Purpose of Driveline Torque Control for Gear Shifting
15.4.2 Demonstration of Potential Problems in Torque Control
15.4.3 Approaches to Driveline Torque Control for Gear Shifting
Transmission Torque Control
15.5.1 Modeling of Transmission Torque
15.5.2 Transmission-Torque Control Criterion

15.5.3 Gear-shift Condition
15.5.4 Final Control Criterion
15.5.5 Resulting Behavior–Feasible Active Damping
15.5.6 Validating Simulations and Sensor Location Influence
Driveshaft Torsion Control
15.6.1 Recalling Damping Control with PID
15.6.2 Controller Structure
15.6.3 Observer for Driveshaft Torsion
15.6.4 Field Trials for Controller Validation
15.6.5 Validation of Gear Shift Quality
15.6.6 Handling of Initial Driveline Oscillations
Recapitulation and Concluding Remarks
15.7.1 General Methodology
15.7.2 Valuable Insights
15.7.3 Formulation of Control Criterion
15.7.4 Validation of Functionality
15.7.5 Experimental Verification of Torque Limit Handling
15.7.6 Benefits

xv

429
430
435
436
438
439
440
443
443

444
444
447
448
448
452
452
454
454
456
459
460
460
461
464
464
466
467
467
468
468
468
469
469

Part V DIAGNOSIS AND DEPENDABILITY
16
16.1

16.2

Diagnosis and Dependability
Dependability
16.1.1 Functional Safety–Unintended Torque
16.1.2 Functional Safety Standards
16.1.3 Controller Qualification/Conditions/Prerequisites
16.1.4 Accommodation of Fault Situations
16.1.5 Outlook
16.1.6 Connections
Basic Definitions and Concepts
16.2.1 Fault and Failure
16.2.2 Detection, Isolation, Identification, and Diagnosis

473
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476
477
478
478
479
479
480
481


xvi

16.3

16.4
16.5

16.6
16.7

A
A.1
A.2
A.3
A.4

Contents

16.2.3 False Alarm and Missed Detection
16.2.4 Passive or Active (Intrusive)
16.2.5 Off-Line or On-Line (On-Board)
Introducing Methodology
16.3.1 A Simple Sensor Fault
16.3.2 A Simple Actuator Fault
16.3.3 Triple Sensor Redundancy
16.3.4 Triple Redundancy Using Virtual Sensors
16.3.5 Redundancy and Model-Based Diagnosis
16.3.6 Forming a Decision–Residual Evaluation
16.3.7 Leakage in a Turbo Engine
Engineering of Diagnosis Systems
Selected Automotive Applications
16.5.1 Catalyst and Lambda Sensors
16.5.2 Throttle Supervision
16.5.3 Evaporative System Monitoring

16.5.4 Misfire
16.5.5 Air Intake
16.5.6 Diesel Engine Model
History, Legislation, and OBD
16.6.1 Diagnosis of Automotive Engines
Legislation
16.7.1 OBDII
16.7.2 Examples of OBDII Legislation Texts

481
482
482
482
482
483
483
485
486
488
491
494
494
495
496
497
501
507
517
520
520

521
521
523

Thermodynamic Data and Heat Transfer Formulas
Thermodynamic Data and Some Constants
Fuel Data
Dimensionless Numbers
Heat Transfer Basics
A.4.1
Conduction
A.4.2
Convection
A.4.3
Radiation
A.4.4
Resistor Analogy
A.4.5
Solution to Fourth-order Equations

527
527
528
528
529
535
536
537
537
539

References

541

Index

555


Preface
This book provides a complete and up-to-date treatment of modeling and control of engines
and drivelines. Models for engine and driveline components have been thoroughly studied,
and there are appropriate and validated models that can be used as building blocks in simulation or for design of control and diagnosis systems. Where other books have a perspective
of mechanics and fluid dynamics, this book instead has a clear perspective of systems engineering and control systems development. This is a perspective that is currently at the core
of overall design of vehicle properties, and here our close collaboration with the automotive
industry has given a good picture of the knowledge and skills that practicing engineers need
when developing and analyzing control systems for powertrains.
We have three main goals with this book. The first is to provide a thorough understanding of
component models, both for teaching and for long-term reference for engineers. Thus, it has
been important for us to provide measurements from real processes early in the presentation
and treatment of different systems, and then explain the underlying physics, describe the modeling considerations, and validate the resulting models using experimental data. All in all it
shows how models are approximations of reality and tailored for engineering. The models are
timeless; but as a second important goal for the book we show how they are used in current,
and important, control and diagnosis systems design. Examples and case studies are thus used
to illustrate control system designs for achieving the desired performance, as well as trade-offs
between conflicting goals in these complex systems. The components or system designs are of
course never used in isolation, so the third important goal is to provide a complete setting for
systems integration and evaluation. This means that the book contains descriptions of complete
vehicle models in longitudinal motion together with actual requirements for emission and fuel

consumption analysis in driving cycles and simulation.
As mentioned above, our intended audience is both students, learning the subject, and practicing engineers benefiting from reference literature. The material has been developed for both
Electrical and Mechanical Engineering students in a course at masters level at Linköping University since 1998. It has also been used for national and international courses, as well as
tailored courses for industry. It has, for example, been used in a course in the national Swedish
Green Car program. Internationally, examples are at the Powertrain Engineering Program at
IFP School in Paris, France, at UPV Valencia in Spain, and at Tianjin University in China.
Besides these audiences, there is also an intention to provide a reference for engineers who
work within the automotive industry and need to develop and integrate components. Validated
models here are an important means of communication between engineers both within an organization and between component suppliers, system manufacturers, and car manufacturers.
The text is written for masters level students or early graduate students. Prerequisites are
general engineering courses, like mathematics, mechanics, physics, and a basic course in automatic control or signals and systems. It is helpful, but not necessary, to have a background in


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Preface

thermodynamics. For those interested in using the book as teaching or study material, Section
1.3, Organization of the Book, gives an overview of the subjects. In teaching it is natural to
integrate experimental work with computer exercises to follow the chain from data collection,
through modeling, to control design and verification. This can be complemented with problem
solving sessions, and for the teacher, the active student, or those who want to practice, there is
more material available on the homepages,
wiley.com/go/powertrain and
www.fs.isy.liu.se/Software
where, for example, the complete engine model in Figure 8.27 (LiU-Diesel) can be
downloaded. We have prepared the examples and illustrations in the book using mainly
Matlab/Simulink, since it is dominant in the automotive industry. However, the focus in the
book is on tool-independent properties, like measurement data and equations, which enable a
reader to implement the models in any suitable software or modeling environment.

Acknowledgments
Our interest and enthusiasm for the field of automotive modeling and control has led to this
book, but it would not have become what it is without the contribution of many others. The
material has its foundation in the research on engine and driveline control at the Vehicular
Systems group and it has, to a large extent, been performed in close collaboration with the
automotive industry. It all started with our own engine lab in 1994 and the first course in 1998.
The material then evolved in symbiosis with our many collaborations inside and outside the
university, so there is a large number of persons that have contributed to the final result and
this list is too long to provide here.
In our group at the university there has been a collaborative effort to provide courses of
high relevance and quality for our students, and many of our PhD students have contributed to
discussions concerning the subject area, and how it can be approached while learning. Hence,
this book is also a result of the joint research and discussions with our PhD students, and all
our previous and current PhD students are greatly acknowledged for all their contributions.
Finally, we want to thank those that have contributed to the proofreading of the final version
of the manuscript: Daniel Eriksson, Erik Frisk, Erik Höckerdal (Scania), Mattias Krysander,
́ Tobias Lindell,
Anders Larsson (Scania), Patrick Letenturier (Infineon), Oskar Leufven,
Andreas Myklebust, Vaheed Nezhadali, Peter Nyberg, Andreas Thomasson, Frank Willems
(TU/e and TNO Automotive), and Per Öberg.
Linköping, summer 2013
Lars Eriksson
Lars Nielsen


Series Preface
The heart of any automobile is the engine that converts stored energy into mechanical power.
Taking that power and turning it into motion is the job of the driveline. The combination of
the engine and the driveline are major defining elements of a vehicle. Almost certainly, when
a consumer is planning on purchasing a high performance vehicle, engine and driveline specifications are the primary consideration. Historically, engine and driveline performance have

significantly increased due primarily to technological innovations. Furthermore, the demands
for higher performing vehicles that are fuel efficient and generate reduced amounts of emissions are being driven not only by the consumer market but by a wide spectrum of regulations
worldwide. Thus, the need to fully understand the engine and driveline and their wide variety
of configurations, such as spark ignition, diesel, electric hybrid and turbocharging, are critical for any professional in the automotive sector. This applies not only to automotive OEMs
(Original Equipment Manufacturers) but also to the vast network of supplier companies that
build and test every component that is integrated into the vehicle system.
Based on the rapid acceleration of engine and driveline technology, Modeling and Control of Engines and Drivelines presents a well-balanced discussion of the engine and powertrain including propulsion and engine fundamentals, modeling and control for both the engine
and the driveline, and finally diagnostics and performance of propulsion systems. The text is
designed as part of an advanced engineering course in engine and driveline systems and is
part of the Automotive Series whose primary goal is to publish practical and topical books
for researchers and practitioners in industry, and postgraduate/advanced undergraduates in
automotive engineering. The series addresses new and emerging technologies in automotive
engineering, supporting the development of more fuel efficient, safer, and more environmentally friendly vehicles. It covers a wide range of topics, including design, manufacture, and
operation, and the intention is to provide a source of relevant information that will be of interest
and benefit to people working in the field of automotive engineering.
Modeling and Control of Engines and Drivelines provides a thorough technical foundation
for engine and driveline design, analysis, and control. It also incorporates a number of pragmatic concepts that are of significant use to the practicing engineer, resulting in a text that is an
excellent blend of fundamental concepts and practical applications. The strength of this text
is that it links a number of fundamental concepts to very pragmatic examples providing the
reader with significant insights into engine and driveline design and operations. Not only do
the authors provide both technical depth and breadth in this book, they also provide insight
into some of the regulations that are driving the state-of-the-art in engine systems (e.g., emission standards), making the book a well-rounded reference for professionals in the field. It is a


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Series Preface

clear and concise book, written by recognized experts in a field that is critical to the automotive
sector providing both fundamental and pragmatic information to the reader, and is a welcome

addition to the Automotive series.
Thomas Kurfess
December 2013


Part One
Vehicle – Propulsion
Fundamentals



1
Introduction
Customer needs and requirements from society have, together with a fierce competition among
automotive manufacturers, had a tremendous effect on the development of our vehicles. They
have evolved from being essentially mechanical systems in the early 1900s to the highly
engineered and computerized machines that they are today. An important step has been the
introduction of computer controlled systems that accelerate the development of clean, efficient,
and reliable vehicles. Two trends are especially interesting for the scope of this book:
• Increased computational capabilities in vehicle control systems.
• New mechanical designs giving more flexible and controllable vehicle components.
These development trends are intertwined, as the development of new mechanical systems
relies on the availability of more advanced controllers that can handle and optimally use these
new systems. As a consequence, the design of vehicles is really evolving into co-design of
mechanics and control. The tasks for such improved designs are numerous, but the main goals
to strive for are:
•
•
•
•

High efficiency, leading to lower fuel consumption.
Low emissions, giving reduced environmental impact.
Good driveability, providing predictable response to driver commands.
Optimal dependability, giving predictability, reliability, and availability.

The goal of this book is to give insight into such new developments, and to do it in enough depth
to show the interplay between the basic physics of the powertrain systems and the possibilities
for control design. Having set the goals above, it is impossible to cover the field in breadth too.
The text has to be a selection of important representatives. For example, two-stroke engines
are not covered, since the usual four-stroke engine illustrates the general principles and by
itself requires quite some pages to be described sufficiently.
Control systems have come to play an important role in the performance of modern vehicles in meeting goals on low emissions and low fuel consumption. To achieve these goals,
modeling, simulation, and analysis have become standard tools for the development of control
systems in the automotive industry. The aim is therefore to introduce engineers to the basics of
internal combustion engines and drivelines in such a way that they will be able to understand
today’s control systems, and with the models and tools provided be able to contribute to the
Modeling and Control of Engines and Drivelines, First Edition. Lars Eriksson and Lars Nielsen.
© 2014 John Wiley & Sons, Ltd. Published 2014 by John Wiley & Sons, Ltd.
Companion Website: www.wiley.com/go/powertrain