Not that I've used. I think there's some gstreamer based stuff that's designed for ripping entire DVDs, but I think it may have settings to do just the audio. I don't remember the name of the program though, and as I said, I haven't actually used it. Since I use mplayer as my main media player, it's a pretty simple deal for me to just run it with the "-ao pcm" flag, and it dumps a huge wave file that I can encode to whatever I need.
Sorry, I know that's probably not much help.