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1 Introduction to Vehicle Propulsion and Powertrain Technologies 1

1.1 History of Vehicle Development 1

1.2 Internal Combustion Engine Vehicles （ICEVs） 3

1.2.1 The Four-Stroke Gasoline Engine 5

1.2.2 The Four-Stroke Diesel Engine 6

1.2.3 ICE Performance Characteristics 8

1.2.4 ICE Vehicle Emissions 11

1.3 Vehicle Emission Control Technologies 16

1.3.1 Advanced Engine Design 16

1.3.2 Catalytic Converters 19

1.3.3 The Diesel Particulate Filter （DPF） 21

1.3.4 Exhaust Gas Recirculation （EGR） 22

1.3.5 Crankcase Emission Control System 24

1.4 Vehicles with Alternative Fuels 25

1.4.1 Natural Gas Vehicles （NGVs） 25

1.4.2 Liquefied Petroleum Gas Vehicles （LPGVs） 26

1.4.3 Biodiesel 27

1.4.4 Hydrogen 28

1.5 Powertrain Technologies 29

1.5.1 Rear-Wheel Drive Powertrains 29

1.5.2 Front-Wheel Drive （FWD） Powertrains 30

1.5.3 Multi-Wheel Drive Powertrains 31

1.6 Transmission Systems 32

1.6.1 Manual Transmission/Transaxle Systems 32

1.6.2 Automatic Transmission/Transaxle Systems 34

1.6.3 Automated Manual Transmissions （AMTs） 38

1.6.4 Continuous Variable Transmissions （CVTs） 38

1.7 Drivetrain and Differentials 41

1.7.1 Open Differentials 41

1.7.2 Limited Slip Differentials 42

1.7.3 Locking Differentials 43

1.7.4 Transfer Case Differentials 43

Problems 43

References 44

2 Electric and Hybrid Powertrain Technologies 47

2.1 Introduction 47

2.2 Battery Electric Vehicles （BEVs） 48

2.2.1 The BEV Powertrain Configuration 49

2.2.2 Electric Traction Motors 53

2.2.3 Energy Sources and Storages 56

2.2.4 Power Electronic Converters 62

2.2.5 Power Bus 63

2.2.6 Regenerative Braking System 64

2.3 Fuel-Cell Electric Vehicles （FCEVs） 65

2.3.1 Fuel-Cell Technologies 67

2.4 Hybrid Electric Vehicles 71

2.4.1 Degree of Hybridization 72

2.4.2 Parallel Hybrid Configuration 75

2.4.3 Series Hybrid Configuration 80

2.4.4 Power-Split Configuration 81

2.4.5 Compound Hybrid Configuration 84

2.5 Plug-in Hybrid Electric Vehicles （PHEVs） 85

2.6 Hybrid Hydraulic Vehicles （HHVs） 87

2.7 Pneumatic Hybrid Vehicles （PHVs） 89

2.8 Power/Energy Management Systems 91

2.9 Summary 92

Problems 93

References 94

3 Body and Chassis Technologies and Design 95

3.1 Introduction 95

3.2 General Configuration of Automobiles 95

3.3 Body and Chassis Fundamentals 97

3.3.1 General Packaging 97

3.3.2 Design Criteria 99

3.3.3 Design Loads 101

3.4 Different Types of Structural Systems 101

3.4.1 Body-on-Frame Construction 101

3.4.2 Backbone Construction 102

3.4.3 Space Frame Construction 103

3.4.4 Unibody Construction 104

3.5 Body and Chassis Materials 108

3.5.1 Low Carbon Steel 108

3.5.2 Advanced High Strength Steels 108

3.5.3 Nonferrous Metals 109

3.5.4 Nonmetallic Materials 109

3.5.5 Multi-Material Approach in Car Body Design 109

3.6 Specific Considerations in Body and Chassis Design of Electric and Hybrid Electric Vehicles 110

3.6.1 Packaging 110

3.6.2 Material Selection 124

3.6.3 Aerodynamics 125

3.7 The Chassis Systems of Electric and Hybrid Electric Vehicles 126

3.7.1 The Suspension System 126

3.7.2 The Steering System 134

3.7.3 The Braking System 140

Problems 146

References 148

4 Vehicle Dynamics Fundamentals 149

4.1 Introduction 149

4.2 Concepts and Terminology 149

4.2.1 Evaluation Criteria for Vehicle Dynamics 149

4.2.2 Weights and Dimensions 150

4.3 Vehicle Kinematics 152

4.3.1 Vehicle Coordinate Systems 152

4.3.2 Vehicle Motions 154

4.3.3 Longitudinal and Lateral Slips 155

4.3.4 Planar Vehicle Kinematics 158

4.3.5 Three-Dimensional Vehicle Kinematics 160

4.3.6 Vehicle Forces and Moments 167

4.4 Tire Mechanics and Modeling 170

4.4.1 Tire Characteristic Curves 171

4.4.2 Tire Models 177

4.4.3 The Magic Formula （FM） Tire Model 178

Problems 178

References 179

5 Modelling and Characteristics of EV/HEV Powertrains Components 181

5.1 Introduction 181

5.2 ICE Performance Characteristics 182

5.2.1 Power and Torque Generation 182

5.2.2 Mean Effective Pressure 184

5.2.3 Specific Fuel Consumption 186

5.2.4 Fuel Conversion Efficiency 189

5.2.5 Mechanical Efficiency 190

5.2.6 Air-Fuel Ratio 191

5.2.7 Volumetric Efficiency 191

5.2.8 Compression Ratio 192

5.2.9 Specific Emissions 192

5.2.10 Relationships between ICE Performance Characteristics 193

5.3 Electric Motor Performance Characteristics 195

5.3.1 Power and Torque Generation 195

5.3.2 Efficiency 197

5.3.3 DC Motors 200

5.3.4 Induction AC Motors 203

5.3.5 Steady-State Performance Analysis 204

5.3.6 Permanent-Magnet AC Motors 210

5.4 Battery Performance Characteristics 214

5.4.1 Battery Capacity 214

5.4.2 Open Circuit and Terminal Voltages 215

5.4.3 Charge/Discharge Rate 216

5.4.4 State of Charge/Discharge 217

5.4.5 Depth of Discharge 218

5.4.6 Battery Energy Density and Specific Energy 220

5.4.7 Battery Power Density and Specific Power 221

5.4.8 Battery Efficiency 223

5.5 Transmission and Drivetrain Characteristics 223

5.5.1 Gearboxes 223

5.5.2 Planetary Gear Set 225

5.5.3 V-Belt CVTs 231

5.5.4 Driveline Losses 232

5.6 Regenerative Braking Characteristics 233

5.7 Driving Cycles 236

5.7.1 EPA Driving Cycles 236

5.7.2 The European NEDC 238

5.7.3 The Japan 10-15 Mode 240

Problems 241

References 243

6 Modeling and Analysis of Electric and Hybrid Electric Vehicles' Propulsion and Braking 245

6.1 Introduction 245

6.2 The Longitudinal Dynamics Equation of Motion 246

6.3 Vehicle Propulsion Modeling and Analysis 247

6.3.1 Internal Combustion Engine Vehicles 247

6.3.2 Electric Vehicles 259

6.3.3 Hybrid Electric Vehicles 263

6.4 Vehicle Braking Modeling and Analysis 268

Problems 274

7 Handling Analysis of Electric and Hybrid Electric Vehicles 277

7.1 Introduction 277

7.2 Simplified Handling Models 277

7.2.1 Single Track Linear Handling Model 278

7.2.2 Analytical Handling Analysis 282

7.2.3 Roll and Pitch Dynamics Models 293

7.3 Comprehensive Handling Model of EVs and HEVs 298

7.3.1 Vehicle Kinetics Model 299

7.3.2 The Tire Model 302

7.3.3 Powertrain and Wheel Dynamics Model 303

7.3.4 Simulation Study 306

Problems 310

References 311

8 Energy/Power Allocation and Management 313

8.1 Introduction 313

8.2 Power/Energy Management Controllers 314

8.3 Rule-Based Control Strategies 315

8.3.1 Deterministic Rule-Based Control Strategies 315

8.3.2 Fuzzy-Rule-Based Control Strategies 336

8.3.3 Rule-Based Control Strategies for PHEVs 336

8.4 Optimization-Based Control Strategies 337

8.4.1 Optimization Problem Formulation 339

8.4.2 Global Energy/Power Management Optimization 343

8.4.3 Real-Time Energy/Power Management Optimization 344

8.4.4 Optimization Techniques 345

References 365

9 Control of Electric and Hybrid Electric Vehicle Dynamics 367

9.1 Introduction 367

9.2 Fundamentals of Vehicle Dynamic Control （VDC） Systems 368

9.2.1 Driver, Vehicle, and Environment 368

9.2.2 Working Principle of VDC systems 373

9.2.3 VDC Systems Classification 374

9.3 VDC Implementation on Electric and Hybrid Vehicles 390

9.3.1 Structure of the Control System 390

9.3.2 Control System Design 392

9.3.3 Simulation Study 401

Problems 409

References 409

Index 411