Vehicle_Dynamics_And_Control[Rajesh_Rajamani].pdf

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Mechanical Engineering Series Frederick F. Ling Editor-in-Chief

Mechanical Engineering Series J. Angeles, Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms, 2nd ed. P. Basu, C. Kefa, and L. Jestin, Boilers and Burners: Design and Theory J.M. Berthelot, Composite Materials: Mechanical Behavior and Structural Analysis I.J. Busch-Vishniac, Electromechanical Sensors and Actuators J. Chakrabarty, Applied Plasticity K.K. Choi and N.H. Kim, Structural Sensitivity Analysis and Optimization 1: Linear Systems K.K. Choi and N.H. Kim, Structural Sensitivity Analysis and Optimization 2: Nonlinear Systems and Applications G. Chryssolouris, Laser Machining: Theory and Practice V.N. Constantinescu, Laminar Viscous Flow G.A. Costello, Theory of Wire Rope, 2nd Ed. K. Czolczynski, Rotordynamics of Gas-Lubricated Journal Bearing Systems M.S. Darlow, Balancing of High-Speed Machinery W. R. DeVries, Analysis of Material Removal Processes J.F. Doyle, Nonlinear Analysis of Thin-Walled Structures: Statics, Dynamics, and Stability J.F. Doyle, Wave Propagation in Structures: Spectral Analysis Using Fast Discrete Fourier Transforms, 2nd ed. P.A. Engel, Structural Analysis of Printed Circuit Board Systems A.C. Fischer-Cripps, Introduction to Contact Mechanics A.C. Fischer-Cripps, Nanoindentations, 2nd ed. J. García de Jalón and E. Bayo, Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge W.K. Gawronski, Advanced Structural Dynamics and Active Control of Structures W.K. Gawronski, Dynamics and Control of Structures: A Modal Approach (continued after index)

Rajesh Rajamani Vehicle Dynamics and Control a - Springer

Rajesh Rajamani University of Minnesota, USA Editor-in-Chief Frederick F. Ling Earnest F. Gloyna Regents Chair Emeritus in Engineering Department of Mechanical Engineering The University of Texas at Austin Austin, TX 78712-1063, USA and Distinguished William Howard Hart Professor Emeritus Department of Mechanical Engineering, Aeronautical Engineering and Mechanics Rensselaer Polytechnic Institute Troy, NY 12180-3590, USA Vehicle Dynamics and Control by Rajesh Rajamani ISBN 0-387-26396-9 ISBN 9780387263960 e-ISBN 0-387-28823-6 Printed on acid-free paper. O 2006 Rajesh Rajamani All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, Inc., 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed in the United States of America. SPIN 11012085

For Priya

Mechanical Engineering Series Frederick F. Ling Editor-in-Chief The Mechanical Engineering Series features graduate texts and research monographs to address the need for information in contemporary mechanical engineering, including areas of concentration of applied mechanics, biomechanics, computational mechanics, dynamical systems and control, energetics, mechanics of materials, processing, produc- tion systems, thermal science, and tribology. Advisory BoardBeries Editors Applied Mechanics Biomechanics Computational Mechanics Dynamic Systems and ControU Mechatronics Energetics Mechanics of Materials Processing Production Systems Thermal Science Tribology F.A. Leckie University of California, Santa Barbara D. Gross Technical University of Darmstadt V.C. Mow Columbia University H.T. Yang University of California, Santa Barbara D. Bryant University of Texas at Austin J.R. Welty University of Oregon, Eugene I. Finnie University of California, Berkeley K.K. Wang Cornell University G.-A. Klutke Texas A&M University A.E. Bergles Rensselaer Polytechnic Institute W.O. Winer Georgia Institute of Technology

Series Preface Mechanical engineering, and engineering discipline born of the needs of the indus- trial revolution, is once again asked to do its substantial share in the call for indus- trial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solutions, among others. The Me- chanical Engineering Series is a series featuring graduate texts and research mono- graphs intended to address the need for information in contemporary areas of me- chanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and re- search. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on page vi of this volume. The areas of concentration are applied me- chanics, biomechanics, computational mechanics, dynamic systems and control, energetics, mechanics of materials, processing, thermal science, and tribology.

As a research advisor to graduate students working on automotive projects, I have frequently felt the need for a textbook that summarizes common vehicle control systems and the dynamic models used in the development of these control systems. While a few different textbooks on ground vehicle dynamics are already available in the market, they do not satisfy all the needs of a control systems engineer. A controls engineer needs models that are both simple enough to use for control system design but at the same time rich enough to capture all the essential features of the dynamics. This book attempts to present such models and actual automotive control systems from literature developed using these models. The control system topics covered in the book include cruise control, adaptive cruise control, anti-lock brake systems, automated lane keeping, automated highway systems, yaw stability control, engine control, passive, active and semi-active suspensions, tire models and tire-road friction estimation. A special effort has been made to explain the several different tire models commonly used in literature and to interpret them physically. As the worldwide use of automobiles increases rapidly, it has become ever more important to develop vehicles that optimize the use of highway and fuel resources, provide safe and comfortable transportation and at the same time have minimal impact on the environment. To meet these diverse and often conflicting requirements, automobiles are increasingly relying on electromechanical systems that employ sensors, actuators and feedback control. It is hoped that this textbook will serve as a useful resource to researchers who work on the development of such control systems, both in

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