Patent ID: 11912168
Assignee: HYUNDAI MOTOR COMPANY
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 5:
6. A method of controlling regenerative braking torque of an electric vehicle on which an anti-lock brake system (ABS) is mounted, the method comprising:
extracting, by a disturbance extractor implemented by a processor, a disturbance in a specific frequency band from a difference between a torque output based on a model behavior of the electric vehicle represented by an inverse nominal model in a form of a transfer function that outputs the torque when a wheel speed is input, and a regenerative braking torque based on an actual behavior of the electric vehicle while moving; and
compensating, by a torque compensator implemented by the processor, for the regenerative braking torque based on the disturbance to prevent the ABS from operating while the electric vehicle is moving to maximize an energy recovery rate by a motor of the electric vehicle via regenerative braking,
wherein the compensating for the regenerative braking torque includes
calculating a compensation torque to offset the disturbance, and
subtracting the compensation torque from the regenerative braking torque,

wherein the method further includes setting a changing rate of the calculated compensation torque, and
wherein the setting of the changing rate of the calculated compensation torque includes
equally dividing and applying the compensation torque by increments within a reference time when the regenerative braking torque is increased, and
applying all of the compensation torque within the reference time when the regenerative braking torque is decreased.