Vehicle Dynamics and Control
Vehicle Dynamics and Control provides a comprehensive coverage of vehicle control systems and the dynamic models used in the development of these control systems. The control system applications covered in the book include cruise control, adaptive cruise
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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, production systems, thermal science, and tribology. Advisory Board/Series Editors Applied Mechanics
F.A. Leckie University of California, Santa Barbara D. Gross Technical University of Darmstadt
Biomechanics
V.C. Mow Columbia University
Computational Mechanics
H.T. Yang University of California, Santa Barbara
Dynamic Systems and Control/ Mechatronics
D. Bryant University of Texas at Austin
Energetics
J.R.Welty University of Oregon, Eugene
Mechanics of Materials
I. Finnie University of California, Berkeley
Processing
K.K. Wang Cornell University
Production Systems
G.-A. Klutke Texas A&M University
Thermal Science
A.E. Bergles Rensselaer Polytechnic Institute
Tribology
W.O. Winer Georgia Institute of Technology
For further volumes: http://www.springer.com/series/1161
Rajesh Rajamani
Vehicle Dynamics and Control Second Edition
Dr. Rajesh Rajamani Department of Mechanical Engineering University of Minnesota Minneapolis, MN 55455, USA [email protected]
ISSN 0941-5122 e-ISSN 2192-063X ISBN 978-1-4614-1432-2 e-ISBN 978-1-4614-1433-9 DOI 10.1007/978-1-4614-1433-9 Springer New York Dordrecht Heidelberg London Library of Congress Control Number: 2011940692 # Rajesh Rajamani 2012
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, LLC, 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 on acid-free paper Springer is part of Springer ScienceþBusiness Media (www.springer.com)
For Priya
Preface
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 lit
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