Patent ID: 11912168
Assignee: KIA MOTORS CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 8:
9. The method of claim 7, wherein the compensating for the regenerative braking torque includes:
calculating, by a compensation torque calculator implemented by the processor, the compensation torque that offsets the final disturbance;
equally dividing, by a rate limiter implemented by the processor, the compensation torque and inputting the equally divided compensation torque by increments within a time reference to a subtractor implemented by the processor, when the regenerative braking torque is increased;
inputting, by the rate limiter, all of the compensation torque within a reference time to the subtractor when the regenerative braking torque is reduced; and
subtracting, by the subtractor, the compensation torque input from the rate limiter from the regenerative braking torque to compensate for the regenerative braking torque.