Regenerative braking and anti-lock braking control system

1. A vehicle comprising:

an electric machine configured to recharge a battery during regenerative braking;

friction brakes configured to apply torque to wheels of the vehicle to slow the vehicle;

a drivetrain having a transmission; and

a controller programmed to, in response to and during an anti-locking braking event,

(a) brake the vehicle via generating a signal indicative of a total torque demand based on a difference between (i) a desired wheel slip ratio and (ii) an actual wheel slip ratio,

(b) maintain or drive actual wheel slip at or toward the desired wheel slip via adjusting a regenerative braking torque of the electric machine based on

(i) a product of (A) the signal and (B) a regenerative braking weighting coefficient and

(ii) a pre-compensator that is based on a transfer function corresponding to friction braking system dynamics,

(c) maintain or drive actual wheel slip at or toward the desired wheel slip via adjusting a friction braking torque of the friction brakes based on a product of (i) the signal and (ii) a friction braking weighting coefficient,

(d) maintain or drive actual wheel slip at or toward the desired wheel slip via further adjusting the regenerative braking torque of the electric machine based on a closed-loop control, wherein the closed loop control includes adjusting the regenerative braking torque based on

(i) a difference between

(A) the product of (I) the signal, (II) the regenerative braking weighting coefficient, and (III) the pre-compensator, and

(B) an estimated regenerative braking torque, and

(ii) a regenerative braking torque compensation control block, and

(e) maintain or drive actual wheel slip at or toward the desired wheel slip via further adjusting the regenerative braking torque of the electric machine based on a feed-forward compensator, wherein the feed-forward compensator is based on transfer functions that represent dynamics of the electric machine, dynamics of the friction brakes, and dynamics of the drivetrain and transmission of the vehicle.

2. The vehicle of claim 1 , wherein the estimated regenerative braking torque is based on an electrical current being generated by the electric machine and a speed of the vehicle wheel and a wheel slip.

3. The vehicle of claim 1 , wherein the regenerative braking torque compensation control block is one of a PID controller, an adaptive model predictive controller, a fuzzy logic controller, or a neural network controller.

4. A vehicle comprising:

an axle having an input shaft connected to an open differential and output shaft extending out of the open differential;

wheels secured to each output shaft;

an electric machine secured to the input shaft and configured to slow the vehicle during regenerative braking;

friction brakes disposed about the wheels and configured to slow the vehicle; and

a controller programmed to, in response to and during an anti-locking braking event,

(a) brake the vehicle via generating a signal indicative of a total torque demand based on a difference between (i) a desired wheel slip ratio and (ii) an actual wheel slip ratio,

(b) maintain or drive actual wheel slip at or toward the desired wheel slip via adjusting a regenerative braking torque of the electric machine based on a product of (i) the signal and (ii) a first weighting coefficient during the anti-locking braking event,

(c) maintain or drive actual wheel slip at or toward the desired wheel slip via adjusting a friction braking torque of the friction brakes based on a product of (i) the signal and (ii) a second weighting coefficient during the anti-locking braking event,

(d) maintain or drive actual wheel slip at or toward the desired wheel slip via further adjusting the regenerative braking torque based on a closed-loop control that includes (i) a regenerative braking torque compensation control block and (ii) a feedback control, and

(e) maintain or drive actual wheel slip at or toward the desired wheel slip via further adjusting the regenerative braking torque of the electric machine based on a feed-forward compensator.

5. The vehicle of claim 4 , wherein the feedback control includes adjusting the regenerative braking torque based on

(a) a difference between

(i) the product of (A) the signal and (B) the regenerative braking weighting coefficient and

(ii) a pre-compensator that is based on a transfer function corresponding to friction braking system dynamics, and

(b) an estimated regenerative braking torque.

6. The vehicle of claim 5 , wherein the estimated regenerative braking torque is based on an electrical current being generated by the electric machine.

7. The vehicle of claim 6 , wherein the estimated regenerative braking torque is further based on a speed of the vehicle wheel and a wheel slip.

8. The vehicle of claim 4 , wherein the regenerative braking torque compensation control block is a PID controller.

9. The vehicle of claim 4 , wherein the regenerative braking torque compensation control block is an adaptive model predictive controller.

10. The vehicle of claim 4 , wherein the regenerative braking torque compensation control block is a fuzzy logic controller.

11. The vehicle of claim 4 , wherein the regenerative braking torque compensation control block is a neural network controller.

12. The vehicle of claim 4 , wherein the feed-forward compensator is based on transfer functions that represent dynamics of the electric machine, dynamics of the friction brakes, and dynamics of a drivetrain and a transmission of the vehicle.

13. A vehicle comprising:

an electric machine configured to recharge a battery during regenerative braking;

friction brakes configured to apply torque to wheels of the vehicle and slow the vehicle; and

a controller programmed to, in response to and during an anti-locking braking event,

(a) brake the vehicle via generating a signal indicative of a total torque demand based on a difference between (i) a desired wheel slip ratio and (ii) an actual wheel slip ratio,

(b) maintain or drive actual wheel slip at or toward the desired wheel slip via adjusting a regenerative braking torque of the electric machine based on a product of (i) the signal and (ii) a regenerative braking weighting coefficient,

(c) maintain or drive actual wheel slip at or toward the desired wheel slip via adjusting a friction braking torque of the friction brakes based on a product of (i) the signal and (ii) a friction braking weighting coefficient, and

(d) maintain or drive actual wheel slip at or toward the desired wheel slip via further adjusting the regenerative braking torque of the electric machine based on a closed-loop control.

14. The vehicle of claim 13 , wherein the closed-loop control includes adjusting the regenerative braking torque based on a difference between

(a) the product of (i) the signal and the (ii) regenerative braking weighting coefficient and

(b) an estimated regenerative braking torque.

15. The vehicle of claim 14 , wherein the estimated regenerative braking torque is based on an electrical current being generated by the electric machine.

16. The vehicle of claim 15 , wherein the estimated regenerative braking torque is further based on a speed of the vehicle.

17. The vehicle of claim 14 , wherein the closed-loop control includes further adjusting the regenerative braking torque based on a regenerative braking torque compensation control block.

18. The vehicle of claim 17 , wherein the regenerative braking torque compensation control block is one of a PID controller, an adaptive model predictive controller, a fuzzy logic controller, or a neural network controller.

19. The vehicle of claim 13 , wherein the controller is programmed to maintain or drive actual wheel slip at or toward the desired wheel slip via further adjusting the regenerative braking torque of the electric machine based on a feed-forward compensator.

20. The vehicle of claim 19 , wherein the feed-forward compensator is based on transfer functions that represent dynamics of the electric machine, dynamics of the friction brakes, and dynamics of a drivetrain and a transmission of the vehicle.