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AUTOMOTIVE CONTROL SYSTEMS
This engineering textbook is designed to introduce advanced control systems for vehicles,
including advanced automotive concepts and the next generation of vehicles for Intel-
ligent Transportation Systems (ITS). For each automotive-control problem considered,
the authors emphasize the physics and underlying principles behind the control-system
concept and design. This is an exciting and rapidly developing field for which many articles
and reports exist but no modern unifying text. An extensive list of references is provided
at the end of each chapter for all topics covered. This is currently the only textbook,
including problems and examples, that covers and integrates the topics of automotive
powertrain control, vehicle control, and ITS. The emphasis is on fundamental concepts
and methods for automotive control systems rather than the rapidly changing specific
technologies. Many of the text examples, as well as the end-of-chapter problems, require
the use of MATLAB and/or Simulink.
A. Galip Ulsoy is the C. D. Mote Jr. Distinguished University Professor and the
William Clay Ford Professor of Manufacturing at the University of Michigan. He
served as director of the Ground Robotics Reliability Center and deputy director of the
Engineering Research Center for Reconfigurable Manufacturing Systems. He has been
on the faculty of the Department of Mechanical Engineering at Michigan since 1980
and was the founding director of the Program in Manufacturing. He served as technical
editor of the American Society of Mechanical Engineers’ (ASME)
Journal of Dynamic
Systems, Measurement, and Control
and is the founding technical editor of the
ASME
Dynamic Systems and Control Magazine.
Professor Ulsoy is a member of the National
Academy of Engineering and a Fellow of the ASME, the International Federation of
Automatic Control, and the Society of Manufacturing Engineers; a Senior Member
of IEEE; and a member of several other professional and honorary organizations. He
is the past president of the American Automatic Control Council. He co-authored,
with Warren R. DeVries,
Microcomputer Applications in Manufacturing,
and he is a
co-author, with Sun Yi and Patrick W. Nelson, of
Time Delay Systems.
He has published
more than 300 refereed technical articles in journals, conferences, and books.
Huei Peng is a Professor in the Department of Mechanical Engineering at the University
of Michigan. He served as the executive director of interdisciplinary and professional
engineering programs. His research interests include vehicle dynamics and control, elec-
tromechanical systems, optimal control, human-driver modeling, vehicle active-safety
systems, control of hybrid and fuel-cell vehicles, energy-system design, and control for
mobile robots. He has received numerous awards and honors, including the Chang-
Jiang Scholar Award, Tsinghua University; a 2008 Fellow of the ASME; the Outstand-
ing Achievement Award, Mechanical Engineering Department, University of Michigan
(2005); the Best Paper Award, 7th International Symposium on Advanced Vehicle Con-
trol (2004); and the CAREER Award, National Science Foundation (July 1998–June
2002). He has published more than 200 refereed technical articles in journals, confer-
ences, and books. Professor Peng is co-editor of
Advanced Automotive Technologies
with
J. S. Freeman and co-author of
Control of Fuel Cell Power Systems – Principles, Modeling,
Analysis and Feedback Design,
with Jay T. Pukrushpan and Anna G. Stefanopoulou.
Melih Cakmakcı is a professor of Mechanical Engineering at Bilkent University in
¸
Ankara, Turkey. His research areas include modeling, analysis and control of dynamic
systems, control systems, smart mechatronics, modeling of manufacturing systems and
their control, automotive control systems, optimal energy-management algorithms, and
design and analysis of network control systems. Prior to joining Bilkent University, he
was a senior engineer at the Ford Scientific Research Center.
Automotive Control Systems
A. Galip Ulsoy
University of Michigan
Huei Peng
University of Michigan
Melih Cakmakcı
¸
Bilkent University
cambridge university press
Cambridge, New York, Melbourne, Madrid, Cape Town,
˜
Singapore, Sao Paulo, Delhi, Mexico City
Cambridge University Press
32 Avenue of the Americas, New York, NY 10013-2473, USA
www.cambridge.org
Information on this title: www.cambridge.org/9781107010116
C
A. Galip Ulsoy, Huei Peng, and Melih Cakmakcı 2012
¸
This publication is in copyright. Subject to statutory exception
and to the provisions of relevant collective licensing agreements,
no reproduction of any part may take place without the written
permission of Cambridge University Press.
First published 2012
Printed in the United States of America
A catalog record for this publication is available from the British Library.
Library of Congress Cataloging in Publication Data
Ulsoy, Ali Galip.
Automotive control systems / A. Galip Ulsoy, University of Michigan, Huei Peng,
University of Michigan, Melih Cakmakci, Bilkent University.
¸
p. cm.
Includes index.
ISBN 978-1-107-01011-6 (hardback)
1. Automobiles – Automatic control. 2. Adaptive control systems.
3. Automobiles – Motors – Control systems. I. Peng, Huei. II. Cakmakci,
¸
Melih. III. Title.
TL152.8.U47 2012
629.25
′
8–dc23
2011052559
ISBN 978-1-107-01011-6 Hardback
Cambridge University Press has no responsibility for the persistence or accuracy of
URLs for external or third-party Internet Web sites referred to in this publication
and does not guarantee that any content on such Web sites is, or will remain,
accurate or appropriate.
Contents
Preface
PART I INTRODUCTION AND BACKGROUND
page
ix
1
Introduction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
1.1 Motivation, Background, and Overview
1.2 Overview of Automotive Control Systems
3
7
2
Automotive Control-System Design Process
. . . . . . . . . . . . . . . . . . .
21
2.1 Introduction
2.2 Identifying the Control Requirements
21
22
3
Review of Engine Modeling
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
3.1 Engine Operations
3.2 Engine Control Loops
3.3 Control-Oriented Engine Modeling
33
37
42
4
Review of Vehicle Dynamics
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
54
4.1
4.2
4.3
4.4
Coordinates and Notation for Vehicle Dynamics
Longitudinal Vehicle Motion
Lateral Vehicle Motion
Vertical Vehicle Motion
54
58
64
77
5
Human Factors and Driver Modeling
. . . . . . . . . . . . . . . . . . . . . . . . .
93
5.1 Human Factors in Vehicle Automation
5.2 Driver Modeling
PART II POWERTRAIN CONTROL SYSTEMS
93
101
6
Air–Fuel Ratio Control
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
119
6.1 Lambda Control
6.2 PI Control of a First-Order System with Delay
119
120
7
Control of Spark Timing
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
124
7.1 Knock Control
124
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