it's very unfortunate for anyone to be in this situation. if her husband is not ready for counselling
, only way left is regular counselling sessions of your daughter. Now it's time for her to overcome and even compensate for her past mistakes. During counselling whe will learn dealing with a difficult husband. It is possible that after some duration of her imporved behaviour, husband will start noticing it and may change himself. This will be very difficult for your daughter,but it is the only and best way to deal with this situation. She should make a sincere effort to save her marriage for future of her daughter. In your story it appears that her husband's abusiveness is due to past mistakes of your daughter, so chances are very fair that he will be ready to accept changes in her to save this marriage.
best of luck for you and your family