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CN119199562A - Segmented power detection method based on removable battery - Google Patents

Segmented power detection method based on removable battery Download PDF

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Publication number
CN119199562A
CN119199562A CN202411612324.0A CN202411612324A CN119199562A CN 119199562 A CN119199562 A CN 119199562A CN 202411612324 A CN202411612324 A CN 202411612324A CN 119199562 A CN119199562 A CN 119199562A
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matrix
battery
charging
power
actual
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罗好晖
张兆
刘辉
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Huizhou Funeng Technology Co ltd
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Huizhou Funeng Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/367—Software therefor, e.g. for battery testing using modelling or look-up tables
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
    • G01R31/382—Arrangements for monitoring battery or accumulator variables, e.g. SoC
    • G01R31/3842—Arrangements for monitoring battery or accumulator variables, e.g. SoC combining voltage and current measurements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本发明提供基于可拆卸电池的分段式电量检测方法，属于电池分析领域；解决了电池分析效率低的问题；具体如下：步骤S1：获取电池数据；步骤S2：获取充电数据和放电数据；根据电池数据对充电数据和放电数据进行拟合，得到电池在充电过程中的卡尔曼增益和电池在放电过程中的卡尔曼增益；步骤S3：分析电池在充电过程中的卡尔曼增益和放电过程中的卡尔曼增益，得到初级电池报告；获取样本电池，并分析样本电池的功放状态，更新初级电池报告，得到电池报告；步骤S4：汇总电池报告并反馈；本发明通过对电池充放电过程中的相关数据进行获取、处理和分析，得到电池分析报告，提高了电池电量检测的效率和准确率。

The present invention provides a segmented power detection method based on a detachable battery, which belongs to the field of battery analysis and solves the problem of low battery analysis efficiency. The method is specifically as follows: step S1: acquiring battery data; step S2: acquiring charging data and discharging data; fitting the charging data and the discharging data according to the battery data to obtain the Kalman gain of the battery during the charging process and the Kalman gain of the battery during the discharging process; step S3: analyzing the Kalman gain of the battery during the charging process and the Kalman gain of the battery during the discharging process to obtain a primary battery report; acquiring a sample battery, analyzing the power amplifier state of the sample battery, updating the primary battery report, and obtaining a battery report; step S4: summarizing the battery report and feeding back the battery report. The present invention obtains, processes and analyzes relevant data in the battery charging and discharging process to obtain a battery analysis report, thereby improving the efficiency and accuracy of battery power detection.

Description

Sectional type electric quantity detection method based on detachable battery
Technical Field
The invention discloses a sectional type electric quantity detection method based on a detachable battery, and relates to the field of battery analysis.
Background
The existing electric quantity detection method for the detachable battery has the following defects:
The method for modeling the battery is complex, a complex data model is required to be established to represent the relation between the voltage and the electric quantity of the battery, and the establishment process of the data model is required to consider various factors such as charging, discharging, load power consumption and the like of the battery, so that the establishment process of the model becomes very complex and tedious.
The algorithm design is that the existing method only relates to the state change of the battery charging process or the battery discharging process, and cannot cover the whole service cycle of the battery, and meanwhile, the existing method uses a static analysis method in the analysis process of the actual power amplifier of the battery, and the method cannot realize the dynamic description of the power amplifier state of the battery in the battery charging and discharging processes and cannot reflect the actual working state of the battery.
The operation complexity is that the existing method needs a battery practitioner to manually set or adjust the operation parameters of the electric quantity detection equipment so as to realize the sectional electric quantity detection of the battery, and the detection method can increase the operation complexity of the battery practitioner and influence the detection efficiency.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a sectional type electric quantity detection method based on a detachable battery, which aims to solve the problem of low battery analysis efficiency.
In order to achieve the above purpose, the invention is realized by the following technical scheme that the sectional type electric quantity detection method based on the detachable battery comprises the following steps:
step S1, acquiring capacity, charging power, charging voltage, charging current, discharging power and open voltage of a battery to be detected, and obtaining battery data;
step S2, charging the electroless battery, and recording current change, voltage change and charging time length of the battery in the charging process to obtain charging data;
Discharging the full-charge battery, and recording current change, voltage change and discharge duration of the battery in the discharging process to obtain discharge data;
according to the battery data, fitting the charging data and the discharging data by using Kalman filtering to obtain Kalman gain of the battery in the charging process and Kalman gain of the battery in the discharging process;
Step S3, analyzing the power amplification states of the charging and discharging of the single battery according to the Kalman gain of the battery in the charging process and the Kalman gain of the battery in the discharging process to obtain a primary battery report;
And S4, summarizing and feeding back the battery report, and continuously updating the battery data and updating the battery report.
Further, the specific steps of the step S2 are as follows:
S21, recording the capacity of a battery to be detected as rC, the charging power as rP and the discharging power as dP;
step S22, acquiring the charging time of the battery and marking as rt;
Acquiring the actual charging current of the battery in the charging time length, and recording as ir 1、ir2～irrt;
acquiring the actual charging voltage of the battery in the charging time length, and recording the actual charging voltage as ur 1、ur2～urrt;
Wherein ir 1 and ur 1 represent the actual charging current and the actual charging voltage, respectively, corresponding to the 1 st second, ir 2 and ur 2 represent the actual charging current and the actual charging voltage, respectively, corresponding to the 2 nd second, and so on, ir rt and ur rt represent the actual charging current and the actual charging voltage, respectively, corresponding to the rt second;
Ir 1～irrt and ur 1～urrt as charging data;
Step S23, acquiring the discharge time length of the battery, and recording the discharge time length as dt;
acquiring the actual discharge current of the battery within the discharge time length, and recording as id 1、id2～iddt;
Obtaining the actual discharge voltage of the battery within the discharge time length, and recording as ud 1、ud2～uddt;
wherein id 1 and ud 1 respectively represent an actual discharge current and an actual discharge voltage corresponding to the 1 st second, id 2 and ud 2 respectively represent an actual discharge current and an actual discharge voltage corresponding to the 2 nd second, and similarly, id dt and ud dt respectively represent an actual discharge current and an actual discharge voltage corresponding to the dt th second;
Id 1～iddt and ud 1～uddt are used as discharge data;
step S24, the charging voltage is recorded as iU, the charging current is recorded as iI, and the charging data are fitted;
Step S25, the open voltage is recorded as oU, the open current is recorded as oI, and the discharge data are fitted;
And step S26, summarizing the data in the steps S21-S25, and entering the step S3.
Further, the specific steps of the step S24 are as follows:
Step S241, defining a calculation formula a1:
Wherein Qb (i) represents the percentage of the electric quantity of the battery in the ith second in the charging process, the value range of i is 1-rt, ir j represents the actual charging current in the jth second in the charging process, and the value range of j is 1~i;
Substituting ir 1～irrt into a calculation formula a1, and calculating the electric quantity percentages of the 1 st to the rt seconds of the battery in the charging process to obtain Qb (1)、Qb(2)～Qb(rt);
wherein Qb (1) represents the percentage of charge of the battery during charging for 1 second, qb (2) represents the percentage of charge of the battery during charging for 2 seconds, and so on, qb (rt) represents the percentage of charge of the battery during charging for rt seconds;
step S242, defining a calculation formula a2:
Wherein Pbr (i) represents the actual charging power percentage of the ith second of the battery in the charging process, ir i represents the actual charging current of the ith second in the charging process, ur i represents the actual charging voltage of the ith second in the charging process, and the value range of i is 1-rt;
Substituting ir 1～irrt and ur 1～urrt into a calculation formula a2, and calculating the actual charging power percentage of the battery from 1 st to rt seconds in the charging process to obtain Pbr (1)、Pbr(2)～Pbr(rt);
Where Pbr (1) represents the actual charge power percentage of the battery during charging for 1 second, pcr (2) represents the actual charge power percentage of the battery during charging for 2 seconds, and Pcr (rt) represents the actual charge power percentage of the battery during charging for rt seconds;
step 243, summarizing the data in the steps S241-S242, constructing a charging change matrix of the battery, and marking the charging change matrix as a matrix A, wherein the mathematical expression of the matrix A is as follows:
dividing the matrix A according to the time sequence to obtain a matrix A (1), a matrix A (2) -a matrix A (rt);
The 1 st second partition is matrix A (1), and the mathematical expression of matrix A (1) is:
The 2 nd second partition is matrix A (2), and the mathematical expression of matrix A (2) is:
Similarly, the rt second segment is divided into a matrix A (rt), and the mathematical expression of the matrix A (rt) is as follows:
Step S244, calculating the Kalman gain of the battery for 1 second in the charging process by taking the matrix RO as an initial state, and marking the Kalman gain as Krk (1), wherein the mathematical expression of the matrix RO is as follows:
Step S245, calculating the Kalman gain of the battery for 2 seconds in the charging process by taking the matrix A (1) as an initial state, and recording the Kalman gain as Krk (2);
Step S246, repeating the same step of calculation Krk (1)～Krk(2), and calculating the Kalman gain corresponding to the 3 rd to the rt seconds in the charging process to obtain Krk (3)～Krk(rt).
Further, the specific steps of the step S244 are as follows:
Step S2441, calculating a state transition matrix of which the matrix RO is changed into a matrix A (1) and marking the state transition matrix as a matrix A (O-1), wherein the calculation formula of the matrix A (O-1) is as follows:
wherein x represents matrix multiplication, T represents a transpose of the matrix, and-1 represents an inverse of the matrix;
Step S2442, calculating error demonstration of the matrix RO, and recording the error demonstration as a matrix RRO, wherein the mathematical calculation formula of the matrix RRO is as follows:
Wherein-represents matrix subtraction;
The error of the calculated matrix A (1) is exemplified as matrix RA (1), and the mathematical formula of matrix RA (1) is:
The error transition matrix from the matrix RO to the matrix A (1) is calculated and is marked as a matrix QA (1), and the mathematical calculation formula of the matrix QA (1) is as follows:
QA(1)＝RA(1)-RRO;
step S2443, calculating an error covariance matrix of the matrix RO, which is denoted as a matrix Pk -(O), and calculating a matrix Pk -(O) by the following formula:
Pk -(O)＝(1/4)×(APk-(O) T×APk-(O)), wherein x represents matrix multiplication, T represents transpose of matrix, APk -(O) represents transition matrix of matrix Pk -(O), and APk -(O) has the following formula:
APk -(O) = RO- [ (1/4) ×i×ro ] wherein, -represents matrix subtraction, I represents a1 matrix;
Step S2444, calculating a pre-error covariance matrix of the matrix A (1), which is recorded as a matrix PK (1) －, and calculating a matrix PK (1) － by the following formula:
PK (1) －＝A(O-1)×Pk-(O)×(A(O-1))T+QA(1), wherein x represents matrix multiplication, T represents transpose of matrix, and + represents matrix addition;
The calculation formula for calculating the Kalman gain Krk (1) of the battery at 1 second in the charging process is as follows:
further, the specific steps of step S245 are as follows:
Step S2451, calculating a state transition matrix in which the matrix a (1) becomes the matrix a (2), and recording the state transition matrix as a matrix a (1-2);A(1-2), wherein the calculation formula is as follows:
wherein x represents matrix multiplication, T represents a transpose of the matrix, and-1 represents an inverse of the matrix;
Step S2452, obtaining an error proof matrix RA (1) of the matrix A (1);
The error of the calculated matrix A (2) is exemplified as matrix RA (2), and the mathematical formula of matrix RA (2) is:
Wherein-represents matrix subtraction;
The error transition matrix from matrix A (1) to matrix A (2) is calculated and is marked as matrix QA (2), and the mathematical calculation formula of matrix QA (2) is as follows:
QA(2)＝RA(2)－RA(1);
Step S2453, calculating an error covariance matrix of RA (1), which is recorded as a matrix Pk -(1), and calculating a matrix Pk -(1) by the following formula:
Pk -(1)＝(1/4)×(APk-(1) T×APk-(1)), wherein x represents matrix multiplication, T represents a transpose of the matrix, APk -(1) represents a transition matrix of the matrix Pk -(1), and the calculation formula of the matrix APk -(1) is:
APk -(1)＝A(1)－[(1/4)×I×A(1) ], wherein, -represents matrix subtraction, I represents a1 matrix;
Step S2454, calculating a pre-error covariance matrix of the matrix a (2), denoted as a matrix PK (2) －, and calculating a matrix PK (2) － by:
PK (1) －＝A(1-2)×Pk-(1)×(A(1-2))T+QA(2), wherein x represents matrix multiplication, T represents transpose of matrix, and + represents matrix addition;
The calculation formula for calculating the Kalman gain Krk (2) of the battery for the 2 nd second in the charging process is as follows:
Further, the specific steps of the step S25 are as follows:
step S251, defining a calculation formula a3:
Wherein Yb (i) represents the percentage of the residual electric quantity of the battery in the ith second in the discharging process, the value range of i is 1-rt, id j represents the actual charging current in the jth second in the charging process, and the value range of j is 1~i;
Substituting id 1～iddt into a calculation formula a3, and calculating the electric quantity percentages of the 1 st to ddt th seconds of the battery in the charging process to obtain Yb (1)、Yb(2)～Yb(dt);
Wherein Yb (1) represents the percentage of the electric quantity of the battery in the 1 st second in the discharging process, yb (2) represents the percentage of the residual electric quantity of the battery in the 2 nd second in the discharging process, and similarly Yb (dt) represents the percentage of the residual electric quantity of the battery in the dt th second in the discharging process;
step S252, defining a calculation formula a4:
Wherein Pbd (i) represents the actual charging power percentage of the ith second of the battery in the charging process, id i represents the actual charging current of the ith second in the charging process, ud i represents the actual charging voltage of the ith second in the charging process, and the value range of i is 1-dt;
Substituting id 1～iddt and ud 1～uddt into a calculation formula a4, and calculating the actual charging power percentages of the 1 st to dt th seconds of the battery in the charging process to obtain Pbd (1)、Pbd(2)～Pbd(dt);
Where Pbd (1) represents the actual charge power percentage of the battery during charging for 1 second, pbd (2) represents the actual charge power percentage of the battery during charging for 2 seconds, and Pbd (dt) represents the actual charge power percentage of the battery during charging for dt seconds;
step 253, summarizing the data in the steps 251-252, and constructing a charging change matrix of the battery, wherein the charging change matrix is marked as a matrix B, and the mathematical expression of the matrix B is as follows:
Dividing the matrix B according to the time sequence to obtain a matrix B (1), a matrix B (2) -a matrix B (dt);
The 1 st second partition is matrix B (1), and the mathematical expression of matrix B (1) is:
the 2 nd second partition is matrix B (2), and the mathematical expression of matrix B (2) is:
similarly, the dt th second is divided into a matrix B (dt), and the mathematical expression of the matrix B (dt) is as follows:
step S254, calculating Kalman gain of the battery for 1 second by taking the matrix DO as an initial state, and marking the Kalman gain as Kdk (1), wherein the mathematical expression of the matrix DO is as follows:
Step S255, repeating the same step of calculation Kdk (1), and calculating the Kalman gain corresponding to the 2 nd to the rt second in the discharging process to obtain Kdk (2)～Kdk(dt).
Further, the specific steps of the step S254 are as follows:
In step S2541, the state transition matrix, in which the calculated matrix DO becomes the matrix B (1), is denoted as a matrix B (O-1), and the calculated formula of the matrix B (O-1) is as follows:
wherein x represents matrix multiplication, T represents a transpose of the matrix, and-1 represents an inverse of the matrix;
step S2542, calculating error evidence of the matrix DO, and recording the error evidence as a matrix RBO, wherein the mathematical calculation formula of the matrix RBO is as follows:
Wherein-represents matrix subtraction;
The error of the calculated matrix B (1) is identified as matrix RB (1), and the mathematical formula of matrix RB (1) is:
The error transition matrix from the matrix DO to the matrix B (1) is calculated and is marked as a matrix QB (1), and the mathematical calculation formula of the matrix QB (1) is as follows:
QB(1)＝RB(1)-RBO;
Step S2543, calculating an error covariance matrix of the matrix DO, which is recorded as a matrix Pd -(O), and calculating a matrix Pd -(O) by the following formula:
Pd -(O)＝(1/4)×(APd-(O) T×APd-(O)), wherein x represents matrix multiplication, T represents a transpose of the matrix, APd -(O) represents a transition matrix of the matrix Pd -(O), and APd -(O) has a formula:
APk -(O) = DO- [ (1/4) ×i×do ] wherein, -represents matrix subtraction, I represents a1 matrix;
Step S2544, calculating a pre-error covariance matrix of the matrix B (1), and recording as a calculation formula of the PD (1) －;PD(1) － as follows:
PD (1) －＝B(O-1)×PD-(O)×(B(O-1))T+QB(1), wherein x represents matrix multiplication, T represents transposition of a matrix, and +represents matrix addition;
the calculation formula for calculating the Kalman gain Kdk (1) of the battery at 1 second in the discharging process is as follows:
Further, the specific steps of the step S3 are as follows:
S31, analyzing the power amplification state of the battery in the charging process according to the Kalman gain of the battery in the charging process;
defining a relation b1-1, [ Krk (i)－Krk(i-1)]×[Krk(i-1)－Krk(i-2) ] >0;
The relation b1-2 is [ Krk (i)－Krk(i-1)]×[Krk(i+1)－Krk(i) ] <0;
the relation b1-3 is [ Krk (i+1)－Krk(i)]×[Krk(i+2)－Krk(i+1) ] >0;
Wherein Krk (i) represents the Kalman gain corresponding to the ith second in the battery charging process, krk (i+1) represents the Kalman gain corresponding to the (i+1) th second in the battery charging process, krk (i-2) represents the Kalman gain corresponding to the (i-2) th second in the battery charging process, i has a value range of 1-rt, and rt represents the charging time of the battery;
substituting Kalman gain Krk (1)～Krk(rt) in the battery charging process into the relational expressions b1-1 to b1-3, extracting Kalman gain which simultaneously satisfies the relational expressions b1-1 to b1-3 as charging outage;
Step S32, extracting the time corresponding to the 1 st charging breakpoint, and recording the time as rrt (1);
Extracting the time corresponding to the 2 nd charging breakpoint, and recording the time as rrt (2);
And by analogy, extracting the time corresponding to the dr-th charging breakpoint, and recording the time as rrt (dr);
Wherein rrt (1)～rrt(dr) satisfies rrt (1)＜rrt(2)＜～＜rrt(dr) < rt;
taking 1 to rrt (1) seconds as a 1 st charging time period, and analyzing the power amplification state of the battery from the beginning of charging to a 1 st charging breakpoint;
Step S33, taking rrt (1) to rrt (2) seconds as a2 nd charging time period, taking rrt (3) to rrt (3) seconds as a3 rd charging time period, taking rrt (dr-1) to rrt (dr) seconds as a dr charging time period, and taking rrt (dr) to rrt (rt) seconds as a (dr+1) th charging time period;
Repeatedly analyzing the same steps of the power amplification state of the battery in the 1 st charging time period, and analyzing the power amplification state of the battery in the 2 nd to (dr+1) th charging time periods in the charging process;
Step S34, repeatedly analyzing the same step of the power amplification state in the battery charging process, and analyzing the power amplification state in the battery discharging process;
summarizing the power amplification state of the battery in the charging process and the power amplification state of the battery in the discharging process, and taking the power amplification state and the power amplification state as a primary battery report;
Step S35, obtaining the number of all the batteries to be detected and marking as tb, randomly sampling all the batteries to be detected as sample batteries, wherein the number of the sample batteries is marked as bn, and the relation between bn and tb is less than or equal to (tb multiplied by 15 percent);
Repeating the same steps of analyzing the power amplification state of the single battery to obtain the power amplification state of the sample battery;
And according to the power amplification state of the sample battery, weighting and updating the time period division in the primary battery report by using an average function and MATLAB software in a numpy library to obtain the battery report.
Further, the specific steps of the step S32 are as follows:
step S321, obtaining Kalman gain Krk (1) corresponding to the 1 st second in the battery charging process;
acquiring a Kalman gain Krk (rrt(1)) corresponding to the rrt (1) seconds in the battery charging process;
Judging the size of [ Krk (rrt(1))－rrt(1) ], and determining a power amplification equation of the battery in the 1 st charging time period;
step S322, if [ Krk (rrt(1))－rrt(1) ] >0, the battery is in a fast charge state;
acquiring actual charging current, actual charging voltage, electric quantity percentage and actual charging power percentage of a battery in a1 st time period;
sequentially solving a relation equation of the electric quantity percentage of the battery in a quick charge state and the actual charging current by using MATLAB software by taking the electric quantity percentage as an independent variable and the actual charging current, the actual charging voltage and the actual charging power percentage as dependent variables, and recording as fQi 1 (Qb);
The relation equation of the electric quantity percentage and the actual charging voltage is recorded as fQu 1 (Qb);
The relation equation of the electric quantity percentage and the actual charging power percentage is recorded as fQP 1 (Qb);
fQi 1(Qb)、fQu1 (Qb) and fQP 1 (Qb) are used as power amplification equations for rapidly charging the battery in the 1 st charging period;
step 323, if [ Krk (rrt(1))－rrt(1) ] <0, the battery is in the slow charge state;
Repeating the process of fQi 1(Qb)、fQu1 (Qb) and fQP 1 (Qb), and calculating a relation equation of the electric quantity percentage of the battery in the slow charge state and the actual charge current by using MATLAB software, wherein the relation equation is recorded as fQi 1 (Qb');
The relation equation of the electric quantity percentage and the actual charging voltage is recorded as fQu 1 (Qb);
The relation equation of the electric quantity percentage and the actual charging power percentage is recorded as fQP 1 (Qb);
fQi 1(Qb)`、fQu1 (Qb) and fQP 1 (Qb) are used as power amplification equations for the battery to be charged slowly in the 1 st charging time period;
step S324, if [ Krk (rrt(1))－rrt(1) ] =0, the battery is in a stable state;
Calculating the average value of the actual charging current of the battery in the 1 st time period, which is marked as air (1), the average value of the actual charging voltage, which is marked as aur (1), the average value of the electric quantity percentage, which is marked as aQb (1), and the average value of the actual charging power percentage, which is marked as aPbr (1);
Air (1)、aur(1)、aQb(1) and aPbr (1) are used as a power amplification equation for stabilizing the electric quantity of the battery in the 1 st charging period.
Compared with the prior art, the invention has the beneficial effects that:
The method has the advantages that the sectional battery detection is high in accuracy, the battery voltage is divided into a plurality of sections through analyzing the charging and discharging processes of the battery, and then analysis and mathematical modeling are carried out, so that the actual capacity of the battery in each stage can be reflected more accurately, and the accuracy of electric quantity detection is improved.
The battery mathematical modeling method establishes the charge and discharge data model of the battery by acquiring the charge and discharge voltage and current changes of the battery, can dynamically represent the electric quantity and the working state of the battery, and effectively improves the measurement accuracy of the electric quantity.
Simple operation and high efficiency:
The invention can automatically set the equipment parameters measured by the battery according to the factory parameters of the battery, is simple to operate and friendly to practitioners, can complete the charging and discharging process of the battery in real time, can accurately simulate and realize quick detection aiming at the electric quantity change of the battery at each moment, and improves the electric quantity measuring speed of the battery.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the method of the present invention;
FIG. 2 is a schematic diagram of a charging circuit according to the present invention;
FIG. 3 is a schematic diagram of a discharge circuit according to the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1, the method for detecting the sectional power based on the detachable battery includes:
it should be noted that, the "battery" in the present invention means "detachable battery";
Step S1, acquiring capacity, (rated) charging power, charging voltage, charging current, (rated) discharging power and open voltage of a battery to be detected, and obtaining battery data;
it should be noted that the "battery to be detected" in the present invention refers to a battery for detecting the battery power by using the present invention (a method for detecting the sectional power based on a detachable battery), the "open voltage" refers to the voltage across the positive and negative electrodes of the battery during the discharging process of the battery, and the "open current" refers to the current generated by the battery during the discharging process of the battery
Step S2, charging the electroless battery by using a charging circuit, and recording current change, voltage change and charging time length of the battery in the charging process to obtain charging data;
Discharging the full-charge battery by using a discharging circuit, and recording current change, voltage change and discharging time length of the battery in the discharging process to obtain discharging data;
according to the battery data, fitting the charging data and the discharging data by using Kalman filtering to obtain Kalman gain of the battery in the charging process and Kalman gain of the battery in the discharging process;
It should be noted that, the "no-power battery" and the "full-power battery" in the present invention are the same battery, that is, the battery is charged first and then discharged;
the specific steps of step S2 are as follows:
Step S21, the capacity of the battery to be detected is recorded as rC, (rated) charging power is recorded as rP, and (rated) discharging power is recorded as dP;
step S22, referring to FIG. 2, a charging circuit is constructed;
disconnecting the external power supply, connecting the electroless battery with the protection resistor in parallel, and connecting the electroless battery with the external power supply to form a charging circuit;
the method comprises the steps that voltmeters V1 are connected to two ends of a non-electric battery, an ammeter A1 is connected to a branch of the non-electric battery, an ammeter A2 is connected to a branch of a resistor R, and an ammeter A3 is connected to a main circuit of a charging circuit;
The ammeter A3 is used for measuring the total current of the charging circuit, the ammeter A1 is used for measuring the current flowing through the battery, the voltmeter V3 is used for measuring the voltage at two ends of the battery in the charging process, the ammeter A2 is used for measuring the current flowing through the protection resistor, and the resistor R represents the protection resistor;
step S23, setting i to represent the total current of the charging circuit, i1 to represent the current flowing through the battery, and i2 to represent the current flowing through the protection resistor;
The voltage and the current of the external power supply are sequentially adjusted to the charging voltage and the charging current, and the external power supply is turned on to charge the electroless battery;
Taking the external power supply as a timing starting point, taking the external power supply as a charging time length of the battery when the external power supply is turned on to i1=0 and i2 is equal to i for the first time, and recording the charging time length as rt (unit: seconds);
Reading the indication of the ammeter A1 in the charging time length as the actual charging current of the battery, and recording as ir 1、ir2～irrt;
Reading the indication of the voltmeter V1 in the charging time length as the actual charging voltage of the battery, and recording as ur 1、ur2～urrt;
Wherein ir 1 and ur 1 represent the actual charging current and the actual charging voltage, respectively, corresponding to the 1 st second, ir 2 and ur 2 represent the actual charging current and the actual charging voltage, respectively, corresponding to the 2 nd second, and so on, ir rt and ur rt represent the actual charging current and the actual charging voltage, respectively, corresponding to the rt second;
Ir 1～irrt and ur 1～urrt as charging data;
step S24, referring to FIG. 3, a discharge circuit is constructed;
The switch is disconnected, and then the full-charge battery is connected with the switch and the testing machine M in series to form a discharging circuit;
The two ends of the full-charge battery are connected with a voltmeter V2, and the main circuit of the discharging circuit is connected with an ammeter A4;
the voltmeter V2 is used for measuring voltages at two ends of the battery in the discharging process, and the ammeter A4 is used for measuring currents of the discharging circuit;
Let U2 denote the voltage across the battery during discharge, i4 denote the current of the discharge circuit;
Closing a switch to discharge the full-charge battery;
Taking a "closed switch" as a timing starting point, taking the "closed switch" to the time of "i4=0 and u2=0" as the discharge time length of the battery, and taking the discharge time length as dt (unit: seconds);
Reading the indication of the ammeter A4 in the discharge time length as the actual discharge current of the battery, and recording as id 1、id2～iddt;
Reading an indication of the voltmeter V2 in the discharge time length as the actual discharge voltage of the battery, and recording as ud 1、ud2～uddt;
wherein id 1 and ud 1 respectively represent an actual discharge current and an actual discharge voltage corresponding to the 1 st second, id 2 and ud 2 respectively represent an actual discharge current and an actual discharge voltage corresponding to the 2 nd second, and similarly, id dt and ud dt respectively represent an actual discharge current and an actual discharge voltage corresponding to the dt th second;
Id 1～iddt and ud 1～uddt are used as discharge data;
it should be noted that, the "detachable battery" in the present invention is mainly used for mobile phones, so the tester M in the discharging circuit refers to mobile phones;
step S25, the charging voltage is recorded as iU, the charging current is recorded as iI, and the charging data are fitted;
Step S251, defining a calculation formula a1:
Wherein Qb (i) represents the percentage of the electric quantity of the battery in the ith second in the charging process, the value range of i is 1-rt, ir j represents the actual charging current in the jth second in the charging process, and the value range of j is 1~i;
Substituting ir 1～irrt into a calculation formula a1, and calculating the electric quantity percentages of the 1 st to the rt seconds of the battery in the charging process to obtain Qb (1)、Qb(2)～Qb(rt);
wherein Qb (1) represents the percentage of charge of the battery during charging for 1 second, qb (2) represents the percentage of charge of the battery during charging for 2 seconds, and so on, qb (rt) represents the percentage of charge of the battery during charging for rt seconds;
step S252, defining a calculation formula a2:
Wherein Pbr (i) represents the actual charging power percentage of the ith second of the battery in the charging process, ir i represents the actual charging current of the ith second in the charging process, ur i represents the actual charging voltage of the ith second in the charging process, and the value range of i is 1-rt;
Substituting ir 1～irrt and ur 1～urrt into a calculation formula a2, and calculating the actual charging power percentage of the battery from 1 st to rt seconds in the charging process to obtain Pbr (1)、Pbr(2)～Pbr(rt);
Where Pbr (1) represents the actual charge power percentage of the battery during charging for 1 second, pcr (2) represents the actual charge power percentage of the battery during charging for 2 seconds, and Pcr (rt) represents the actual charge power percentage of the battery during charging for rt seconds;
Step 253, summarizing the data in the steps 251-252, and constructing a charging change matrix of the battery, wherein the charging change matrix is recorded as a matrix A, and the mathematical expression of the matrix A is as follows:
dividing the matrix A according to the time sequence to obtain a matrix A (1), a matrix A (2) -a matrix A (rt);
The 1 st second partition is matrix A (1), and the mathematical expression of matrix A (1) is:
The 2 nd second partition is matrix A (2), and the mathematical expression of matrix A (2) is:
Similarly, the rt second segment is divided into a matrix A (rt), and the mathematical expression of the matrix A (rt) is as follows:
Step S254, calculating the Kalman gain of the battery for 1 second in the charging process by taking the matrix RO as an initial state, and marking the Kalman gain as Krk (1), wherein the mathematical expression of the matrix RO is as follows:
in step S2541, the state transition matrix, in which the calculated matrix RO is changed to the matrix A (1), is denoted as the matrix A (O-1), and the calculated formula of the matrix A (O-1) is as follows:
wherein x represents matrix multiplication, T represents a transpose of the matrix, and-1 represents an inverse of the matrix;
step S2542, calculating error evidence of the matrix DO, and recording the error evidence as a matrix RBO, wherein the mathematical calculation formula of the matrix RBO is as follows:
Wherein-represents matrix subtraction;
The error of the calculated matrix A (1) is exemplified as matrix RA (1), and the mathematical formula of matrix RA (1) is:
The error transition matrix from the matrix RO to the matrix A (1) is calculated and is marked as a matrix QA (1), and the mathematical calculation formula of the matrix QA (1) is as follows:
QA(1)＝RA(1)-RRO;
step S2543, calculating an error covariance matrix of the matrix RO, which is recorded as a matrix Pk -(O), and calculating a matrix Pk -(O) by the following formula:
Pk -(O)＝(1/4)×(APk-(O) T×APk-(O)), wherein x represents matrix multiplication, T represents transpose of matrix, APk -(O) represents transition matrix of matrix Pk -(O), and APk -(O) has the following formula:
APk -(O) = RO- [ (1/4) ×i×ro ]; wherein-represents matrix subtraction, I represents a 1 matrix (i.e. a matrix of 4 rows and 4 columns, each row and column being 1);
Step S2544, calculating a pre-error covariance matrix of the matrix A (1), which is recorded as a matrix PK (1) －, and calculating a matrix PK (1) － by the following formula:
PK (1) －＝A(O-1)×Pk-(O)×(A(O-1))T+QA(1), wherein x represents matrix multiplication, T represents transpose of matrix, and + represents matrix addition;
The calculation formula for calculating the Kalman gain Krk (1) of the battery at 1 second in the charging process is as follows:
Step S255, calculating the Kalman gain of the battery for 2 seconds in the charging process by taking the matrix A (1) as an initial state, and recording as Krk (2);
In step S2551, the state transition matrix, in which the calculation matrix A (1) is changed to the matrix A (2), is recorded as the calculation formula of the matrix A (1-2);A(1-2):
wherein x represents matrix multiplication, T represents a transpose of the matrix, and-1 represents an inverse of the matrix;
Step S2552, obtaining an error proof matrix RA (1) of the matrix A (1);
The error of the calculated matrix A (2) is exemplified as matrix RA (2), and the mathematical formula of matrix RA (2) is:
Wherein-represents matrix subtraction;
The error transition matrix from matrix A (1) to matrix A (2) is calculated and is marked as matrix QA (2), and the mathematical calculation formula of matrix QA (2) is as follows:
QA(2)＝RA(2)－RA(1);
step S2553, calculating an error covariance matrix of RA (1), which is recorded as a matrix Pk -(1), and calculating a matrix Pk -(1) by the following formula:
Pk -(1)＝(1/4)×(APk-(1) T×APk-(1)), wherein x represents matrix multiplication, T represents a transpose of the matrix, APk -(1) represents a transition matrix of the matrix Pk -(1), and the calculation formula of the matrix APk -(1) is:
APk -(1)＝A(1)－[(1/4)×I×A(1) ]; wherein-represents a matrix subtraction, I represents a1 matrix (i.e., a matrix of 4 rows and 4 columns, each row and column being 1);
step S2554, calculating a pre-error covariance matrix of the matrix A (2), which is recorded as a matrix PK (2) －, and calculating a matrix PK (2) － by the following formula:
PK (1) －＝A(1-2)×Pk-(1)×(A(1-2))T+QA(2), wherein x represents matrix multiplication, T represents transpose of matrix, and + represents matrix addition;
The calculation formula for calculating the Kalman gain Krk (2) of the battery for the 2 nd second in the charging process is as follows:
step S256, repeating the same step of calculation Krk (1)～Krk(2) (namely step S254-step S255), and calculating Kalman gains corresponding to the 3 rd to rt seconds in the charging process to obtain Krk (3)～Krk(rt);
s26, marking an open voltage as oU, marking an open current as oI, and fitting discharge data;
Step S261, defining a calculation formula a3:
Wherein Yb (i) represents the percentage of the residual electric quantity of the battery in the ith second in the discharging process, the value range of i is 1-rt, id j represents the actual charging current in the jth second in the charging process, and the value range of j is 1~i;
Substituting id 1～iddt into a calculation formula a3, and calculating the electric quantity percentages of the 1 st to ddt th seconds of the battery in the charging process to obtain Yb (1)、Yb(2)～Yb(dt);
Wherein Yb (1) represents the percentage of the electric quantity of the battery in the 1 st second in the discharging process, yb (2) represents the percentage of the residual electric quantity of the battery in the 2 nd second in the discharging process, and similarly Yb (dt) represents the percentage of the residual electric quantity of the battery in the dt th second in the discharging process;
Step S262, defining a calculation formula a4:
Wherein Pbd (i) represents the actual charging power percentage of the ith second of the battery in the charging process, id i represents the actual charging current of the ith second in the charging process, ud i represents the actual charging voltage of the ith second in the charging process, and the value range of i is 1-dt;
Substituting id 1～iddt and ud 1～uddt into a calculation formula a4, and calculating the actual charging power percentages of the 1 st to dt th seconds of the battery in the charging process to obtain Pbd (1)、Pbd(2)～Pbd(dt);
Where Pbd (1) represents the actual charge power percentage of the battery during charging for 1 second, pbd (2) represents the actual charge power percentage of the battery during charging for 2 seconds, and Pbd (dt) represents the actual charge power percentage of the battery during charging for dt seconds;
step 263, summarizing the data in the steps 261-262, and constructing a charging change matrix of the battery, wherein the charging change matrix is recorded as a matrix B, and the mathematical expression of the matrix B is as follows:
Dividing the matrix B according to the time sequence to obtain a matrix B (1), a matrix B (2) -a matrix B (dt);
The 1 st second partition is matrix B (1), and the mathematical expression of matrix B (1) is:
the 2 nd second partition is matrix B (2), and the mathematical expression of matrix B (2) is:
similarly, the dt th second is divided into a matrix B (dt), and the mathematical expression of the matrix B (dt) is as follows:
step S264, calculating Kalman gain of the battery for 1 second by taking the matrix DO as an initial state, and marking the Kalman gain as Kdk (1), wherein the mathematical expression of the matrix DO is as follows:
Step S2641, calculating a state transition matrix of which the matrix DO is changed to a matrix B (1) and marking the state transition matrix as a matrix B (O-1), and calculating a matrix B (O-1) by the following calculation formula:
wherein x represents matrix multiplication, T represents a transpose of the matrix, and-1 represents an inverse of the matrix;
Step S2642, calculating error evidence of the matrix DO, namely a matrix RDO, wherein the mathematical calculation formula of the matrix RDO is as follows:
Wherein-represents matrix subtraction;
The error of the calculated matrix B (1) is identified as matrix RB (1), and the mathematical formula of matrix RB (1) is:
The error transition matrix from the matrix DO to the matrix B (1) is calculated and is marked as a matrix QB (1), and the mathematical calculation formula of the matrix QB (1) is as follows:
QB(1)＝RB(1)-RBO;
Step S2643, calculating an error covariance matrix of the matrix DO, which is recorded as a matrix Pd -(O), and calculating a matrix Pd -(O) by the following formula:
Pd -(O)＝(1/4)×(APd-(O) T×APd-(O)), wherein x represents matrix multiplication, T represents a transpose of the matrix, APd -(O) represents a transition matrix of the matrix Pd -(O), and APd -(O) has a formula:
APk -(O) = DO- [ (1/4) ×i×do ]; wherein, -represents matrix subtraction, I represents a 1 matrix (i.e., a matrix of 4 rows and 4 columns, each row and column being 1);
Step S2644, calculating a pre-error covariance matrix of matrix B (1), denoted as PD (1) －;PD(1) －, by:
PD (1) －＝B(O-1)×PD-(O)×(B(O-1))T+QB(1), wherein x represents matrix multiplication, T represents transposition of a matrix, and +represents matrix addition;
the calculation formula for calculating the Kalman gain Kdk (1) of the battery at 1 second in the discharging process is as follows:
Step 265, repeating the same step as the calculation Kdk (1) (i.e. step 264), and calculating the Kalman gains corresponding to the 2 nd to rt seconds in the discharging process to obtain Kdk (2)～Kdk(dt).
Step S3, analyzing the power amplification states of the charging and discharging of the single battery according to the Kalman gain of the battery in the charging process and the Kalman gain of the battery in the discharging process to obtain a primary battery report;
the specific steps of step S3 are as follows:
S31, analyzing the power amplification state of the battery in the charging process according to the Kalman gain of the battery in the charging process;
defining a relation b1-1, [ Krk (i)－Krk(i-1)]×[Krk(i-1)－Krk(i-2) ] >0;
The relation b1-2 is [ Krk (i)－Krk(i-1)]×[Krk(i+1)－Krk(i) ] <0;
the relation b1-3 is [ Krk (i+1)－Krk(i)]×[Krk(i+2)－Krk(i+1) ] >0;
wherein Krk (i) represents the Kalman gain corresponding to the ith second in the battery charging process, krk (i+1) represents the Kalman gain corresponding to the (i+1) th second in the battery charging process, krk (i-2) represents the Kalman gain corresponding to the (i-2) th second in the battery charging process, i has a value range of 1-rt, and rt represents the charging time of the (electroless) battery;
substituting Kalman gain Krk (1)～Krk(rt) in the battery charging process into the relational expressions b1-1 to b1-3, extracting Kalman gain which simultaneously satisfies the relational expressions b1-1 to b1-3 as charging outage;
Step S32, extracting the time corresponding to the 1 st charging breakpoint, and recording the time as rrt (1);
Extracting the time corresponding to the 2 nd charging breakpoint, and recording the time as rrt (2);
And by analogy, extracting the time corresponding to the dr-th charging breakpoint, and recording the time as rrt (dr);
Wherein rrt (1)～rrt(dr) satisfies rrt (1)＜rrt(2)＜～＜rrt(dr) < rt;
Taking 1 (second) to rrt (1) (second) as a1 st charging time period, and analyzing the power amplification state from the beginning of charging to a1 st charging breakpoint;
step S321, obtaining Kalman gain Krk (1) corresponding to the 1 st second in the battery charging process;
acquiring a Kalman gain Krk (rrt(1)) corresponding to the rrt (1) seconds in the battery charging process;
Judging the size of [ Krk (rrt(1))－rrt(1) ], and determining a power amplification equation of the battery in the 1 st charging time period;
step S322, if [ Krk (rrt(1))－rrt(1) ] >0, the battery is in a fast charge state;
Acquiring an actual charging current, an actual charging voltage, an electric quantity percentage and an actual charging power percentage of the battery in a 1 st time period (namely, in step S253, all parameters of the 1 st row to the rrt (1) th row of the matrix a);
The electric quantity percentage is taken as an independent variable, the actual charging current, the actual charging voltage and the actual charging power percentage are taken as dependent variables, MATLAB software (MATLAB is totally called Matrix Laboratory and is application software for solving mathematical problems such as matrix operation, numerical solution, function optimization and ordinary differential equation solving) is used for sequentially solving a relation equation of the electric quantity percentage of the battery in a quick charging state and the actual charging current, and the relation equation is recorded as fQi 1 (Qb);
The relation equation of the electric quantity percentage and the actual charging voltage is recorded as fQu 1 (Qb);
The relation equation of the electric quantity percentage and the actual charging power percentage is recorded as fQP 1 (Qb);
fQi 1(Qb)、fQu1 (Qb) and fQP 1 (Qb) are used as power amplification equations for rapidly charging the battery in the 1 st charging period;
step 323, if [ Krk (rrt(1))－rrt(1) ] <0, the battery is in the slow charge state;
Repeating the process of fQi 1(Qb)、fQu1 (Qb) and fQP 1 (Qb), and calculating a relation equation of the electric quantity percentage of the battery in the slow charge state and the actual charge current by using MATLAB software, wherein the relation equation is recorded as fQi 1 (Qb');
The relation equation of the electric quantity percentage and the actual charging voltage is recorded as fQu 1 (Qb);
The relation equation of the electric quantity percentage and the actual charging power percentage is recorded as fQP 1 (Qb);
fQi 1(Qb)`、fQu1 (Qb) and fQP 1 (Qb) are used as power amplification equations for the battery to be charged slowly in the 1 st charging time period;
step S324, if [ Krk (rrt(1))－rrt(1) ] =0, the battery is in a stable state;
Calculating the average value of the actual charging current of the battery in the 1 st time period, which is marked as air (1), the average value of the actual charging voltage, which is marked as aur (1), the average value of the electric quantity percentage, which is marked as aQb (1), and the average value of the actual charging power percentage, which is marked as aPbr (1);
Air (1)、aur(1)、aQb(1) and aPbr (1) are used as a power amplification equation (namely a parameter equation) for stabilizing the electric quantity of the battery in the 1st charging time period;
It should be noted that, because the physical quantities such as the actual charging current, the actual charging voltage, the internal resistance of the battery, the impedance of the battery and the like of the battery change all the time during charging, the relationship between the electric quantity percentage and the actual charging current, the relationship between the electric quantity percentage and the actual charging voltage and the relationship between the electric quantity percentage and the actual charging power percentage may be linear or nonlinear, and a certain stable mathematical function expression is difficult to be given, the invention only makes a method statement here, and no specific or complete mathematical expression exists, and similarly, the discharging process of the battery is also vice versa.
Step S33, taking rrt (1) (seconds) to rrt (2) (seconds) as a 2 nd charging time period, taking rrt (3) (seconds) to rrt (3) (seconds) as a3 rd charging time period, taking rrt (dr-1) (seconds) to rrt (dr) (seconds) as a dr (dr+1) th charging time period, taking rrt (dr) (seconds) to rrt (rt) (seconds) as a (dr+1) th charging time period;
repeatedly analyzing the same step (namely, step S321 to step S324) of the power amplification state of the battery in the 1 st charging time period, and analyzing the power amplification state of the battery in the 2 nd to (dr+1) th charging time periods in the charging process;
Step S34, repeatedly analyzing the same step (namely, step S31-step S33) of the power amplification state in the battery charging process, and analyzing the power amplification state in the battery discharging process;
summarizing the power amplification state of the battery in the charging process and the power amplification state of the battery in the discharging process, and taking the power amplification state and the power amplification state as a primary battery report;
Step S35, obtaining the number of all the batteries to be detected and marking as tb, randomly sampling all the batteries to be detected as sample batteries, wherein the number of the sample batteries is marked as bn, and the relation between bn and tb is less than or equal to (tb multiplied by 15 percent);
Repeating the same steps (namely, step S31-step S34 in step S2 and step S3) of analyzing the power amplification state of the single battery to obtain the power amplification state of the sample battery;
And according to the power amplification state of the sample battery, weighting and updating the time period division in the primary battery report by using an average function and MATLAB software in a numpy library to obtain the battery report.
And S4, summarizing and feeding back the battery report, and continuously updating the battery data and updating the battery report.
The above formulas are all formulas for removing dimensions and taking numerical calculation, the formulas are formulas for obtaining the latest real situation by collecting a large amount of data and performing software simulation, preset parameters in the formulas are set by a person skilled in the art according to the actual situation, if weight coefficients and proportion coefficients exist, the set sizes are specific numerical values obtained by quantizing the parameters, the subsequent comparison is convenient, and the proportional relation between the weight coefficients and the proportion coefficients is not influenced as long as the proportional relation between the parameters and the quantized numerical values is not influenced.
It should be noted that the foregoing embodiments are merely illustrative embodiments of the present invention, and not restrictive, and the scope of the invention is not limited to the embodiments, and although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any modification, variation or substitution of some of the technical features of the embodiments described in the foregoing embodiments may be easily contemplated within the scope of the present invention, and the spirit and scope of the technical solutions of the embodiments do not depart from the spirit and scope of the embodiments of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1.基于可拆卸电池的分段式电量检测方法，其特征在于，所述方法包括：1. A segmented power detection method based on a detachable battery, characterized in that the method comprises: 步骤S1：获取待检电池的容量、充电功率、充电电压、充电电流、放电功率和开放电压，得到电池数据；Step S1: Obtain the capacity, charging power, charging voltage, charging current, discharging power and open voltage of the battery to be tested to obtain battery data; 步骤S2：对无电电池进行充电，并记录电池在充电过程中的电流变化、电压变化和充电时长，得到充电数据；Step S2: charging the dead battery, and recording the current change, voltage change and charging time of the battery during the charging process to obtain charging data; 对满电电池进行放电，并记录电池在放电过程中的电流变化、电压变化和放电时长，得到放电数据；Discharge the fully charged battery and record the current change, voltage change and discharge time of the battery during the discharge process to obtain discharge data; 根据电池数据，使用卡尔曼滤波对充电数据和放电数据进行拟合，得到电池在充电过程中的卡尔曼增益和电池在放电过程中的卡尔曼增益；According to the battery data, the charging data and the discharging data are fitted using Kalman filtering to obtain the Kalman gain of the battery during the charging process and the Kalman gain of the battery during the discharging process; 步骤S3：根据电池在充电过程中的卡尔曼增益和放电过程中的卡尔曼增益，分析单个电池充电和放电的功放状态，得到初级电池报告；对全部的待检电池进行抽样，作为样本电池；分析多个样本电池的功放状态，更新初级电池报告，得到电池报告；Step S3: Analyze the power amplifier status of charging and discharging of a single battery according to the Kalman gain of the battery during charging and the Kalman gain of the battery during discharging to obtain a primary battery report; sample all batteries to be tested as sample batteries; analyze the power amplifier status of multiple sample batteries, update the primary battery report, and obtain a battery report; 步骤S4：汇总电池报告并反馈；持续更新电池数据，更新电池报告。Step S4: Summarize the battery report and provide feedback; continuously update the battery data and the battery report. 2.根据权利要求1所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所述步骤S2的具体步骤如下：2. The segmented power detection method based on a detachable battery according to claim 1 is characterized in that the specific steps of step S2 are as follows: 步骤S21：将待检电池的容量记作rC，充电功率记作rP，放电功率记作dP；Step S21: the capacity of the battery to be tested is recorded as rC, the charging power is recorded as rP, and the discharging power is recorded as dP; 步骤S22：获取电池的充电时长，记作rt；Step S22: Obtain the charging time of the battery, recorded as rt; 获取电池在充电时长内，电池的实际充电电流，记作：ir1、ir2～irrt；Obtain the actual charging current of the battery during the charging time, recorded as: ir 1 , ir 2 ~ ir rt ; 获取电池在充电时长内，电池的实际充电电压，记作：ur1、ur2～urrt；Obtain the actual charging voltage of the battery during the charging time, recorded as: ur 1 , ur 2 ～ur rt ; 其中，ir1和ur1分别表示第1秒对应的实际充电电流和实际充电电压；ir2和ur2分别表示第2秒对应的实际充电电流和实际充电电压；以此类推，irrt和urrt分别表示第rt秒对应的实际充电电流和实际充电电压；Among them, ir 1 and ur 1 represent the actual charging current and actual charging voltage corresponding to the first second respectively; ir 2 and ur 2 represent the actual charging current and actual charging voltage corresponding to the second second respectively; and so on, ir rt and ur rt represent the actual charging current and actual charging voltage corresponding to the rtth second respectively; 将ir1～irrt和ur1～urrt，作为充电数据；ir 1 ～ir rt and ur 1 ～ur rt are used as charging data; 步骤S23：获取电池的放电时长，记作dt；Step S23: Obtain the discharge time of the battery, recorded as dt; 获取电池在放电时长内，电池的实际放电电流，记作：id1、id2～iddt；Obtain the actual discharge current of the battery during the discharge time, recorded as: id 1 , id 2 ~id dt ; 获取电池在放电时长内，电池的实际放电电压，记作：ud1、ud2～uddt；Obtain the actual discharge voltage of the battery during the discharge time, recorded as: ud 1 , ud 2 ~ud dt ; 其中，id1和ud1，分别表示第1秒对应的实际放电电流和实际放电电压；id2和ud2，分别表示第2秒对应的实际放电电流和实际放电电压；以此类推，iddt和uddt，分别表示第dt秒对应的实际放电电流和实际放电电压；Wherein, id 1 and ud 1 represent the actual discharge current and actual discharge voltage corresponding to the first second, respectively; id 2 and ud 2 represent the actual discharge current and actual discharge voltage corresponding to the second second, respectively; and so on, id dt and ud dt represent the actual discharge current and actual discharge voltage corresponding to the dtth second, respectively; 将id1～iddt和ud1～uddt，作为放电数据；id 1 ～id dt and ud 1 ～ud dt are used as discharge data; 步骤S24：将充电电压记作iU，充电电流记作iI，对充电数据进行拟合；Step S24: the charging voltage is recorded as iU, the charging current is recorded as iI, and the charging data is fitted; 步骤S25：将开放电压记作oU，开放电流记作oI，对放电数据进行拟合；Step S25: record the open voltage as oU, record the open current as oI, and fit the discharge data; 步骤S26：汇总步骤S21～步骤S25中的数据，进入步骤S3。Step S26: Summarize the data in steps S21 to S25 and proceed to step S3. 3.根据权利要求2所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所述步骤S24的具体步骤如下：3. The segmented power detection method based on a detachable battery according to claim 2 is characterized in that the specific steps of step S24 are as follows: 步骤S241：定义计算式a1：Step S241: define calculation formula a1: 其中，Qb(i)表示充电过程中电池第i秒的电量百分比，i的取值范围为：1～rt；irj表示充电过程中第j秒的实际充电电流，j的取值范围为：1～i； Wherein, Qb (i) represents the battery charge percentage at the i-th second during the charging process, and the value range of i is: 1～rt; irj represents the actual charging current at the j-th second during the charging process, and the value range of j is: 1～i; 将ir1～irrt代入计算式a1中，计算充电过程中电池第1至第rt秒的电量百分比，得到：Qb(1)、Qb(2)～Qb(rt)；Substitute ir 1 to ir rt into formula a1 to calculate the battery power percentage from the 1st to the rtth second during the charging process, and obtain: Qb (1) , Qb (2) to Qb (rt) ; 其中，Qb(1)表示充电过程中电池第1秒的电量百分比；Qb(2)表示充电过程中电池第2秒的电量百分比；以此类推，Qb(rt)表示充电过程中电池第rt秒的电量百分比；Wherein, Qb (1) represents the battery charge percentage at the first second during the charging process; Qb (2) represents the battery charge percentage at the second second during the charging process; and so on, Qb (rt) represents the battery charge percentage at the rt second during the charging process; 步骤S242：定义计算式a2：Step S242: define calculation formula a2: 其中，Pbr(i)表示充电过程中电池第i秒的实际充电功率百分比，iri表示充电过程中第i秒的实际充电电流，uri表示充电过程中第i秒的实际充电电压，i的取值范围为：1～rt；Wherein, Pbr (i) represents the actual charging power percentage of the battery at the i-th second during the charging process, ir i represents the actual charging current at the i-th second during the charging process, ur i represents the actual charging voltage at the i-th second during the charging process, and the value range of i is: 1～rt; 将ir1～irrt和ur1～urrt代入计算式a2中，计算充电过程中电池第1至第rt秒的实际充电功率百分比，得到：Pbr(1)、Pbr(2)～Pbr(rt)；Substitute ir 1 ～ir rt and ur 1 ～ur rt into formula a2 to calculate the actual charging power percentage of the battery from the 1st to the rtth second during the charging process, and obtain: Pbr (1) , Pbr (2) ～Pbr (rt) ; 其中，Pbr(1)表示充电过程中电池第1秒的实际充电功率百分比；Pbr(2)表示充电过程中电池第2秒的实际充电功率百分比；以此类推，Pbr(rt)表示充电过程中电池第rt秒的实际充电功率百分比；Wherein, Pbr (1) represents the actual charging power percentage of the battery at the 1st second during the charging process; Pbr (2) represents the actual charging power percentage of the battery at the 2nd second during the charging process; and so on, Pbr (rt) represents the actual charging power percentage of the battery at the rtth second during the charging process; 步骤S243：汇总步骤S241～步骤S242中的数据，构建电池的充电变化矩阵，记作矩阵A；矩阵A的数学表达式为：Step S243: Summarize the data in steps S241 to S242 to construct a battery charging change matrix, which is recorded as matrix A. The mathematical expression of matrix A is: 按时间顺序，对矩阵A进行分割，得到矩阵A(1)、矩阵A(2)～矩阵A(rt)；Split the matrix A in chronological order to obtain matrix A (1) , matrix A (2) ~ matrix A (rt) ; 第1秒的分割为矩阵A(1)；矩阵A(1)的数学表达式为：The first second is divided into matrix A (1) ; the mathematical expression of matrix A (1) is: 第2秒的分割为矩阵A(2)；矩阵A(2)的数学表达式为：The second second segmentation is matrix A (2) ; the mathematical expression of matrix A (2) is: 以此类推，第rt秒的分割为矩阵A(rt)；矩阵A(rt)的数学表达式为：By analogy, the partition at the rtth second is the matrix A (rt) ; the mathematical expression of the matrix A (rt) is: 步骤S244：以矩阵RO为初态，计算充电过程中电池第1秒的卡尔曼增益，记作Krk(1)；矩阵RO的数学表达式为： Step S244: Taking the matrix RO as the initial state, calculate the Kalman gain of the battery at the first second during the charging process, denoted as Krk (1) ; the mathematical expression of the matrix RO is: 步骤S245：以矩阵A(1)为初态，计算充电过程中电池第2秒的卡尔曼增益，记作Krk(2)；Step S245: Taking matrix A (1) as the initial state, calculate the Kalman gain of the battery at the second second during the charging process, denoted as Krk (2) ; 步骤S246：重复计算Krk(1)～Krk(2)的相同步骤，计算充电过程中第3至第rt秒对应的卡尔曼增益，得到Krk(3)～Krk(rt)。Step S246: Repeat the same steps of calculating Krk (1) to Krk (2) to calculate the Kalman gain corresponding to the 3rd to rtth seconds in the charging process to obtain Krk (3) to Krk (rt) . 4.根据权利要求3所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所述步骤S244的具体步骤如下：4. The segmented power detection method based on a detachable battery according to claim 3 is characterized in that the specific steps of step S244 are as follows: 步骤S2441：计算矩阵RO变为矩阵A(1)的状态转移矩阵，记作矩阵A(O-1)；矩阵A(O-1)的计算式为：Step S2441: Calculate the state transition matrix of the matrix RO to become the matrix A (1) , recorded as matrix A (O-1) ; the calculation formula of the matrix A (O-1) is: 其中，×表示矩阵乘法，T表示矩阵的转置，-1表示矩阵的逆； Among them, × represents matrix multiplication, T represents the transpose of the matrix, and -1 represents the inverse of the matrix; 步骤S2442：计算矩阵RO的误差举证，记作矩阵RRO；矩阵RRO的数学计算式为：Step S2442: Calculate the error proof of the matrix RO, recorded as the matrix RRO; the mathematical calculation formula of the matrix RRO is: 其中，－表示矩阵减法； Among them, - represents matrix subtraction; 计算矩阵A(1)的误差举证，记作矩阵RA(1)；矩阵RA(1)的数学计算式为：Calculate the error proof of the matrix A (1) , denoted as matrix RA (1) ; the mathematical calculation formula of the matrix RA (1) is: 计算由矩阵RO变为矩阵A(1)的误差过渡矩阵，记作矩阵QA(1)；矩阵QA(1)的数学计算式为：Calculate the error transition matrix from matrix RO to matrix A (1) , denoted as matrix QA (1) ; the mathematical calculation formula of matrix QA (1) is: QA(1)＝RA(1)－RRO；QA (1) = RA (1) - RRO; 步骤S2443：计算矩阵RO的误差协方差矩阵，记作矩阵Pk-(O)；矩阵Pk-(O)的计算式为：Step S2443: Calculate the error covariance matrix of the matrix RO, recorded as matrix Pk -(O) ; the calculation formula of the matrix Pk -(O) is: Pk-(O)＝(1/4)×(APk-(O) T×APk-(O))；其中，×表示矩阵乘法，T表示矩阵的转置，APk-(O)表示矩阵Pk-(O)的过渡矩阵，APk-(O)的计算式为：Pk -(O) =(1/4)×(APk -(O) T ×APk -(O) ); where × represents matrix multiplication, T represents matrix transpose, APk -(O) represents the transition matrix of the matrix Pk -(O) , and the calculation formula of APk -(O) is: APk-(O)＝RO－[(1/4)×I×RO]；其中，－表示矩阵减法，I表示1矩阵；APk -(O) =RO-[(1/4)×I×RO]; where - represents matrix subtraction and I represents a 1 matrix; 步骤S2444：计算矩阵A(1)的前置误差协方差矩阵，记作矩阵PK(1) －；矩阵PK(1) －的计算式为：Step S2444: Calculate the pre-error covariance matrix of the matrix A (1) , recorded as the matrix PK (1) − ; the calculation formula of the matrix PK (1) − is: PK(1) －＝A(O-1)×Pk-(O)×(A(O-1))T+QA(1)；其中，×表示矩阵乘法，T表示矩阵的转置，+表示矩阵加法；PK (1) - =A (O-1) ×Pk -(O) ×(A (O-1) ) T +QA (1) ; where × represents matrix multiplication, T represents matrix transpose, and + represents matrix addition; 计算充电过程中电池第1秒的卡尔曼增益Krk(1)，的计算式为：The calculation formula for calculating the Kalman gain Krk (1) of the battery in the first second during the charging process is: 5.根据权利要求3所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所步骤S245的具体步骤如下：5. The segmented power detection method based on a detachable battery according to claim 3 is characterized in that the specific steps of step S245 are as follows: 步骤S2451：计算矩阵A(1)变为矩阵A(2)的状态转移矩阵，记作矩阵A(1-2)；A(1-2)的计算式为：Step S2451: Calculate the state transition matrix from matrix A (1) to matrix A (2) , recorded as matrix A (1-2) ; the calculation formula of A (1-2) is: 其中，×表示矩阵乘法，T表示矩阵的转置，-1表示矩阵的逆； Among them, × represents matrix multiplication, T represents the transpose of the matrix, and -1 represents the inverse of the matrix; 步骤S2452：获取矩阵A(1)的误差举证矩阵RA(1)；Step S2452: Obtain the error evidence matrix RA (1 ) of the matrix A (1 ); 计算矩阵A(2)的误差举证，记作矩阵RA(2)；矩阵RA(2)的数学计算式为：Calculate the error proof of the matrix A (2) , denoted as matrix RA (2) ; the mathematical calculation formula of the matrix RA (2) is: 其中，－表示矩阵减法； Among them, - represents matrix subtraction; 计算由矩阵A(1)变为矩阵A(2)的误差过渡矩阵，记作矩阵QA(2)；矩阵QA(2)的数学计算式为：Calculate the error transition matrix from matrix A (1) to matrix A (2) , denoted as matrix QA (2) ; the mathematical calculation formula of matrix QA (2) is: QA(2)＝RA(2)－RA(1)；QA (2) = RA (2) - RA (1) ; 步骤S2453：计算RA(1)的误差协方差矩阵，记作矩阵Pk-(1)；矩阵Pk-(1)的计算式为：Step S2453: Calculate the error covariance matrix of RA (1) , recorded as matrix Pk -(1) ; the calculation formula of matrix Pk -(1) is: Pk-(1)＝(1/4)×(APk-(1) T×APk-(1))；其中，×表示矩阵乘法，T表示矩阵的转置，APk-(1)表示矩阵Pk-(1)的过渡矩阵，矩阵APk-(1)的计算式为：Pk -(1) =(1/4)×(APk -(1) T ×APk -(1) ); where × represents matrix multiplication, T represents matrix transpose, APk -(1) represents the transition matrix of the matrix Pk -(1) , and the calculation formula of the matrix APk -(1) is: APk-(1)＝A(1)－[(1/4)×I×A(1)]；其中，－表示矩阵减法，I表示1矩阵；APk -(1) =A (1) -[(1/4)×I×A (1) ]; where - represents matrix subtraction and I represents a 1 matrix; 步骤S2454：计算矩阵A(2)的前置误差协方差矩阵，记作矩阵PK(2) －；矩阵PK(2) －的计算式为：Step S2454: Calculate the pre-error covariance matrix of the matrix A (2) , recorded as the matrix PK (2) − ; the calculation formula of the matrix PK (2) − is: PK(1) －＝A(1-2)×Pk-(1)×(A(1-2))T+QA(2)；其中，×表示矩阵乘法，T表示矩阵的转置，+表示矩阵加法；PK (1) - =A (1-2) ×Pk -(1) ×(A (1-2) ) T +QA (2) ; where × represents matrix multiplication, T represents matrix transpose, and + represents matrix addition; 计算充电过程中电池第2秒的卡尔曼增益Krk(2)，的计算式为：The Kalman gain Krk (2) of the battery at the second second during the charging process is calculated as follows: 6.根据权利要求2所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所述步骤S25的具体步骤如下：6. The segmented power detection method based on a detachable battery according to claim 2, characterized in that the specific steps of step S25 are as follows: 步骤S251：定义计算式a3：Step S251: define calculation formula a3: 其中，Yb(i)表示放电过程中电池第i秒的剩余电量百分比，i的取值范围为：1～rt；idj表示充电过程中第j秒的实际充电电流，j的取值范围为：1～i； Wherein, Yb (i) represents the remaining power percentage of the battery at the i-th second during the discharge process, and the value range of i is: 1～rt; idj represents the actual charging current at the j-th second during the charging process, and the value range of j is: 1～i; 将id1～iddt代入计算式a3中，计算充电过程中电池第1至第ddt秒的电量百分比，得到：Yb(1)、Yb(2)～Yb(dt)；Substitute id 1 to id dt into formula a3 to calculate the battery power percentage from the 1st to the ddtth second during the charging process, and obtain: Yb (1) , Yb (2) to Yb (dt) ; 其中，Yb(1)表示放电过程中电池第1秒的电量百分比；Yb(2)表示放电过程中电池第2秒的剩余电量百分比；以此类推，Yb(dt)表示放电过程中电池第dt秒的剩余电量百分比；Wherein, Yb (1) represents the percentage of battery power at the first second during the discharge process; Yb (2) represents the percentage of battery power remaining at the second second during the discharge process; and so on, Yb (dt) represents the percentage of battery power remaining at the dt second during the discharge process; 步骤S252：定义计算式a4：Step S252: define calculation formula a4: 其中，Pbd(i)表示充电过程中电池第i秒的实际充电功率百分比，idi表示充电过程中第i秒的实际充电电流，udi表示充电过程中第i秒的实际充电电压，i的取值范围为：1～dt；Wherein, Pbd (i) represents the actual charging power percentage of the battery at the i-th second during the charging process, id i represents the actual charging current at the i-th second during the charging process, ud i represents the actual charging voltage at the i-th second during the charging process, and the value range of i is: 1～dt; 将id1～iddt和ud1～uddt代入计算式a4中，计算充电过程中电池第1至第dt秒的实际充电功率百分比，得到：Pbd(1)、Pbd(2)～Pbd(dt)；Substitute id 1 ～id dt and ud 1 ～ud dt into formula a4 to calculate the actual charging power percentage of the battery from the 1st to the dtth second during the charging process, and obtain: Pbd (1) , Pbd (2) ～Pbd (dt) ; 其中，Pbd(1)表示充电过程中电池第1秒的实际充电功率百分比；Pbd(2)表示充电过程中电池第2秒的实际充电功率百分比；以此类推，Pbd(dt)表示充电过程中电池第dt秒的实际充电功率百分比；Wherein, Pbd (1) represents the actual charging power percentage of the battery at the first second during the charging process; Pbd (2) represents the actual charging power percentage of the battery at the second second during the charging process; and so on, Pbd (dt) represents the actual charging power percentage of the battery at the dtth second during the charging process; 步骤S253：汇总步骤S251～步骤S252中的数据，构建电池的充电变化矩阵，记作矩阵B；矩阵B的数学表达式为：Step S253: Summarize the data in steps S251 to S252 to construct a battery charging change matrix, which is recorded as matrix B. The mathematical expression of matrix B is: 按时间顺序，对矩阵B进行分割，得到矩阵B(1)、矩阵B(2)～矩阵B(dt)；Split the matrix B in chronological order to obtain matrix B (1) , matrix B (2) ~ matrix B (dt) ; 第1秒的分割为矩阵B(1)；矩阵B(1)的数学表达式为：The first second is divided into matrix B (1) ; the mathematical expression of matrix B (1) is: 第2秒的分割为矩阵B(2)；矩阵B(2)的数学表达式为：The second second segmentation is matrix B (2) ; the mathematical expression of matrix B (2) is: 以此类推，第dt秒的分割为矩阵B(dt)；矩阵B(dt)的数学表达式为：Similarly, the partition at the dtth second is the matrix B (dt) ; the mathematical expression of the matrix B (dt) is: 步骤S254：以矩阵DO为初态，计算电池第1秒的卡尔曼增益，记作Kdk(1)；矩阵DO的数学表达式为： Step S254: Taking the matrix DO as the initial state, calculate the Kalman gain of the battery at the first second, denoted as Kdk (1) ; the mathematical expression of the matrix DO is: 步骤S255：重复计算Kdk(1)的相同步骤，计算放电过程中第2至第rt秒对应的卡尔曼增益，得到Kdk(2)～Kdk(dt)。Step S255: Repeat the same steps of calculating Kdk (1) to calculate the Kalman gain corresponding to the 2nd to rtth seconds in the discharge process to obtain Kdk (2) ˜Kdk (dt) . 7.根据权利要求6所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所述步骤S254的具体步骤如下：7. The segmented power detection method based on a detachable battery according to claim 6, characterized in that the specific steps of step S254 are as follows: 步骤S2541：计算矩阵DO变为矩阵B(1)的状态转移矩阵，记作矩阵B(O-1)；矩阵B(O-1)的计算式为：Step S2541: Calculate the state transition matrix from matrix DO to matrix B (1) , recorded as matrix B (O-1) ; the calculation formula of matrix B (O-1) is: 其中，×表示矩阵乘法，T表示矩阵的转置，-1表示矩阵的逆； Among them, × represents matrix multiplication, T represents the transpose of the matrix, and -1 represents the inverse of the matrix; 步骤S2542：计算矩阵DO的误差举证，记作矩阵RBO；矩阵RBO的数学计算式为：Step S2542: Calculate the error proof of the matrix DO, recorded as the matrix RBO; the mathematical calculation formula of the matrix RBO is: 其中，－表示矩阵减法； Among them, - represents matrix subtraction; 计算矩阵B(1)的误差举证，记作矩阵RB(1)；矩阵RB(1)的数学计算式为：Calculate the error proof of the matrix B (1) , denoted as matrix RB (1) ; the mathematical calculation formula of the matrix RB (1) is: 计算由矩阵DO变为矩阵B(1)的误差过渡矩阵，记作矩阵QB(1)；矩阵QB(1)的数学计算式为：Calculate the error transition matrix from matrix DO to matrix B (1) , denoted as matrix QB (1) ; the mathematical calculation formula of matrix QB (1) is: QB(1)＝RB(1)－RBO；QB (1) = RB (1) - RBO; 步骤S2543：计算矩阵DO的误差协方差矩阵，记作矩阵Pd-(O)；矩阵Pd-(O)的计算式为：Step S2543: Calculate the error covariance matrix of the matrix DO, recorded as the matrix Pd -(O) ; the calculation formula of the matrix Pd -(O) is: Pd-(O)＝(1/4)×(APd-(O) T×APd-(O))；其中，×表示矩阵乘法，T表示矩阵的转置，APd-(O)表示矩阵Pd-(O)的过渡矩阵，APd-(O)的计算式为：Pd -(O) =(1/4)×(APd -(O) T ×APd -(O) ); where × represents matrix multiplication, T represents matrix transpose, APd -(O) represents the transition matrix of the matrix Pd -(O) , and the calculation formula of APd -(O) is: APk-(O)＝DO－[(1/4)×I×DO]；其中，－表示矩阵减法，I表示1矩阵；APk -(O) =DO-[(1/4)×I×DO]; where - represents matrix subtraction and I represents a 1 matrix; 步骤S2544：计算矩阵B(1)的前置误差协方差矩阵，记作PD(1) －；PD(1) －的计算式为：Step S2544: Calculate the pre-error covariance matrix of the matrix B (1) , denoted as PD (1) − ; the calculation formula of PD (1) − is: PD(1) －＝B(O-1)×PD-(O)×(B(O-1))T+QB(1)；其中，×表示矩阵乘法，T表示矩阵的转置，+表示矩阵加法；PD (1) - =B (O-1) ×PD -(O) ×(B (O-1) ) T +QB (1) ; where × represents matrix multiplication, T represents matrix transpose, and + represents matrix addition; 计算放电过程中电池第1秒的卡尔曼增益Kdk(1)，的计算式为：The calculation formula for calculating the Kalman gain Kdk (1) of the battery in the first second during the discharge process is: 8.根据权利要求2所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所述的步骤S3的具体步骤如下：8. The segmented power detection method based on a detachable battery according to claim 2 is characterized in that the specific steps of step S3 are as follows: 步骤S31：根据电池在充电过程中的卡尔曼增益，分析电池充电过程的功放状态；Step S31: analyzing the power amplifier state of the battery charging process according to the Kalman gain of the battery during the charging process; 定义关系式b1-1：[Krk(i)－Krk(i-1)]×[Krk(i-1)－Krk(i-2)]＞0；Define the relationship b1-1: [Krk (i) －Krk (i-1) ]×[Krk (i-1) －Krk (i-2) ]＞0; 关系式b1-2：[Krk(i)－Krk(i-1)]×[Krk(i+1)－Krk(i)]＜0；Relationship b1-2: [Krk (i) -Krk (i-1) ] × [Krk (i+1) -Krk (i) ] <0; 关系式b1-3：[Krk(i+1)－Krk(i)]×[Krk(i+2)－Krk(i+1)]＞0；Relationship b1-3: [Krk (i+1) -Krk (i) ] × [Krk (i+2) -Krk (i+1) ] >0; 其中，Krk(i)表示电池充电过程中第i秒对应的卡尔曼增益；Krk(i+1)表示电池充电过程中第(i+1)秒对应的卡尔曼增益；依此类推，Krk(i-2)表示电池充电过程中第(i－2)秒对应的卡尔曼增益；i的取值范围为：1～rt；rt表示电池的充电时长；Wherein, Krk (i) represents the Kalman gain corresponding to the i-th second in the battery charging process; Krk (i+1) represents the Kalman gain corresponding to the (i+1)-th second in the battery charging process; and so on, Krk (i-2) represents the Kalman gain corresponding to the (i-2)-th second in the battery charging process; the value range of i is: 1~rt; rt represents the charging time of the battery; 将电池充电过程中的卡尔曼增益Krk(1)～Krk(rt)，代入关系式b1-1至关系式b1-3中，提取同时满足关系式b1-1至关系式b1-3的卡尔曼增益，作为充电断电；统计充电断电的数量，记作dr；Substitute the Kalman gains Krk (1) ~Krk (rt) in the battery charging process into the equations b1-1 to b1-3, extract the Kalman gains that satisfy the equations b1-1 to b1-3 at the same time, and use them as charging power-offs; count the number of charging power-offs, recorded as dr; 步骤S32：提取第1个充电断点对应的时间，记作rrt(1)；Step S32: extracting the time corresponding to the first charging breakpoint, recorded as rrt (1) ; 提取第2个充电断点对应的时间，记作rrt(2)；Extract the time corresponding to the second charging breakpoint, denoted as rrt (2) ; 以此类推，提取第dr个充电断点对应的时间，记作rrt(dr)；Similarly, the time corresponding to the drth charging breakpoint is extracted and recorded as rrt (dr) ; 其中，rrt(1)～rrt(dr)与rt满足：rrt(1)＜rrt(2)＜～＜rrt(dr)＜rt；Among them, rrt (1) ～rrt (dr) and rt satisfy: rrt (1) ＜rrt (2) ＜～＜rrt (dr) ＜rt; 以1至rrt(1)秒为第1个充电时间段，分析电池从开始充电到第1个充电断点的功放状态；Taking 1 to rrt (1) seconds as the first charging time period, analyze the power amplifier status of the battery from the start of charging to the first charging breakpoint; 步骤S33：以rrt(1)至rrt(2)秒为第2个充电时间段；以rrt(3)至rrt(3)秒为第3个充电时间段；以此类推，以rrt(dr-1)至rrt(dr)秒为第dr个充电时间段；以rrt(dr)至rrt(rt)秒为第(dr+1)个充电时间段；Step S33: rrt (1) to rrt (2) seconds is the second charging time period; rrt (3) to rrt (3) seconds is the third charging time period; and so on, rrt (dr-1) to rrt (dr) seconds is the drth charging time period; and rrt (dr) to rrt (rt) seconds is the (dr+1)th charging time period; 重复分析第1个充电时间段内电池功放状态的相同步骤，分析电池在充电过程中第2至第(dr+1)个充电时间段内的功放状态；Repeat the same steps of analyzing the battery power amplifier state in the first charging time period, and analyze the battery power amplifier state in the second to (dr+1)th charging time periods during the charging process; 步骤S34：重复分析电池充电过程功放状态的相同步骤，分析电池放电过程的功放状态；Step S34: Repeat the same steps of analyzing the power amplifier status during the battery charging process to analyze the power amplifier status during the battery discharging process; 汇总电池充电过程的功放状态和电池放电过程的功放状态，作为初级电池报告；Summarize the power amplifier status of the battery charging process and the power amplifier status of the battery discharging process as the primary battery report; 步骤S35：获取全部待检电池的数量，记作tb；对全部的待检电池进行随机抽样，作为样本电池；样本电池的数量，记作bn；bn与tb的关系满足：bn≤(tb×15％)；Step S35: Obtain the number of all batteries to be tested, recorded as tb; randomly sample all batteries to be tested as sample batteries; the number of sample batteries is recorded as bn; the relationship between bn and tb satisfies: bn≤(tb×15%); 重复分析单个电池功放状态的相同步骤，得到样本电池的功放状态；Repeat the same steps of analyzing the power amplification state of a single battery to obtain the power amplification state of the sample battery; 根据样本电池的功放状态，使用numpy库中的average函数和MATLAB软件对初级电池报告中的时间段划分进行加权更新，得到电池报告。According to the power amplifier status of the sample battery, the average function in the numpy library and MATLAB software are used to perform weighted updates on the time period division in the primary battery report to obtain a battery report. 9.根据权利要求8所述的基于可拆卸电池的分段式电量检测方法，其特征在于，所述步骤S32的具体步骤如下：9. The segmented power detection method based on a detachable battery according to claim 8, characterized in that the specific steps of step S32 are as follows: 步骤S321：获取电池充电过程中第1秒对应的卡尔曼增益Krk(1)；Step S321: Obtain the Kalman gain Krk (1) corresponding to the first second in the battery charging process; 获取电池充电过程中第rrt(1)秒对应的卡尔曼增益Krk(rrt(1))；Get the Kalman gain Krk (rrt(1)) corresponding to the rrt (1) th second in the battery charging process; 判断[Krk(rrt(1))－rrt(1)]的大小，确定电池在第1个充电时间段内的功放方程；Determine the value of [Krk (rrt(1)) -rrt (1) ] and determine the power amplification equation of the battery in the first charging time period; 步骤S322：若[Krk(rrt(1))－rrt(1)]＞0，说明电池处于快速充电状态；Step S322: If [Krk (rrt(1)) -rrt (1) ]>0, it means that the battery is in a fast charging state; 获取电池在第1时间段内的实际充电电流、实际充电电压、电量百分比和实际充电功率百分比；Obtain the actual charging current, actual charging voltage, power percentage and actual charging power percentage of the battery in the first time period; 以电量百分比为自变量，实际充电电流、实际充电电压和实际充电功率百分比为因变量，使用MATLAB软件依次求解电池在快速充电状态中的电量百分比—实际充电电流的关系方程，记作fQi1(Qb)；With the percentage of power as the independent variable, the actual charging current, the actual charging voltage and the actual charging power percentage as the dependent variables, the MATLAB software is used to solve the relationship equation between the percentage of power of the battery in the fast charging state and the actual charging current, recorded as fQi 1 (Qb); 电量百分比—实际充电电压的关系方程，记作fQu1(Qb)；The relationship between the percentage of power and the actual charging voltage is expressed as fQu 1 (Qb); 电量百分比—实际充电功率百分比的关系方程，记作fQP1(Qb)；The relationship between the percentage of power and the percentage of actual charging power is expressed as fQP 1 (Qb); 将fQi1(Qb)、fQu1(Qb)和fQP1(Qb)，作为电池在第1个充电时间段内快速充电的功放方程；fQi 1 (Qb), fQu 1 (Qb) and fQP 1 (Qb) are used as the power amplifier equations for fast charging of the battery in the first charging time period; 步骤S323：若[Krk(rrt(1))－rrt(1)]＜0，说明电池处于慢速充电状态；Step S323: If [Krk (rrt(1)) -rrt (1) ] < 0, it means that the battery is in a slow charging state; 重复求解fQi1(Qb)、fQu1(Qb)和fQP1(Qb)的过程，利用MATLAB软件计算电池在慢速充电状态中的电量百分比—实际充电电流的关系方程，记作fQi1(Qb)`；Repeat the process of solving fQi 1 (Qb), fQu 1 (Qb) and fQP 1 (Qb), and use MATLAB software to calculate the relationship between the battery power percentage in the slow charging state and the actual charging current, which is recorded as fQi 1 (Qb)`; 电量百分比—实际充电电压的关系方程，记作fQu1(Qb)`；The relationship between the percentage of power and the actual charging voltage is expressed as fQu 1 (Qb)`; 电量百分比—实际充电功率百分比的关系方程，记作fQP1(Qb)`；The relationship between the percentage of power and the percentage of actual charging power is expressed as fQP 1 (Qb)`; 将fQi1(Qb)`、fQu1(Qb)`和fQP1(Qb)`，作为电池在第1个充电时间段内慢速充电的功放方程；fQi 1 (Qb)`, fQu 1 (Qb)` and fQP 1 (Qb)` are used as the power amplifier equations for slow charging of the battery in the first charging time period; 步骤S324：若[Krk(rrt(1))－rrt(1)]＝0，说明电池处于电量稳定状态；Step S324: If [Krk (rrt(1)) -rrt (1) ] = 0, it means that the battery is in a stable power state; 计算电池在第1时间段内的实际充电电流的平均值，记作air(1)；Calculate the average actual charging current of the battery in the first time period, denoted as air (1) ; 实际充电电压的平均值，记作aur(1)；电量百分比的平均值，记作aQb(1)；实际充电功率百分比的平均值，记作aPbr(1)；The average value of the actual charging voltage is denoted as aur (1) ; the average value of the power percentage is denoted as aQb (1) ; the average value of the actual charging power percentage is denoted as aPbr (1) ; 将air(1)、aur(1)、aQb(1)和aPbr(1)，作为电池在第1个充电时间段内电量稳定的功放方程。Let air (1) , aur (1) , aQb (1) and aPbr (1) be the power amplifier equations for the battery to maintain a stable charge during the first charging period.
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