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201
9
In
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(
SO
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I
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id
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v
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ti
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[
1
]
.
T
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p
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[
2
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.
S
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is
ess
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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:
2252
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8792
I
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J
A
p
p
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,
Vo
l.
8
,
No
.
1
,
A
p
r
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0
1
9
:
1
–
10
2
B
atter
y
m
o
n
ito
r
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en
ab
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s
to
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f
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ll
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atter
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ev
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at
n
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elec
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[
1
,
2
]
.
Fo
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lead
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atter
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ased
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k
s
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g
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s
in
g
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e
T
h
ev
e
n
i
n
m
o
d
el
in
[
3
]
.
I
n
th
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s
m
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b
y
B
r
u
n
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Fra
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[
4
]
.
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s
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o
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m
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[
5
]
.
T
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m
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p
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r
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V
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P
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[
6
]
,
w
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s
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is
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s
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f
u
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th
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etail.
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e
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n
s
is
t
s
o
f
t
w
o
p
ar
ts
i
n
cl
u
d
in
g
t
h
e
m
ai
n
b
r
an
c
h
th
at
esti
m
ate
s
t
h
e
b
atter
y
d
y
n
a
m
ics
in
v
ar
io
u
s
c
o
n
d
itio
n
s
an
d
t
h
e
s
id
e
b
r
an
c
h
d
ef
in
e
s
b
atter
y
b
eh
a
v
io
r
at
t
h
e
en
d
o
f
th
e
ch
ar
g
i
n
g
p
r
o
ce
s
s
.
Als
o
i
n
th
e
s
i
m
u
lat
ed
m
o
d
el,
v
ar
ia
tio
n
o
f
p
ar
a
m
eter
s
an
d
th
e
e
f
f
ec
t
o
f
te
m
p
er
at
u
r
e
i
n
b
atter
y
b
eh
av
io
r
ch
a
n
g
e
i
s
co
n
s
id
er
ed
.
Fig
u
r
e
1
.
D
y
n
a
m
ic
m
o
d
el
o
f
t
h
e
b
atter
y
[
6
]
Dete
r
m
i
n
i
n
g
t
h
e
b
atter
y
ch
ar
g
in
g
m
o
d
e
(
SOC
)
i
s
b
ased
o
n
th
e
co
m
p
lex
it
y
o
r
s
i
m
p
li
cit
y
o
f
th
e
b
atter
y
t
y
p
e
u
s
ed
i
n
it.
A
b
r
ief
o
v
er
v
ie
w
o
f
t
h
e
m
et
h
o
d
s
u
s
ed
to
esti
m
ate
th
e
c
h
ar
g
i
n
g
o
f
b
atter
ies
co
m
es
i
n
th
e
f
o
llo
w
i
n
g
lin
e
s
.
Var
io
u
s
m
et
h
o
d
s
f
o
r
th
e
SO
C
esti
m
ati
o
n
w
er
e
s
u
g
g
e
s
ted
,
s
u
c
h
as
m
eth
o
d
s
b
ased
o
n
th
e
elec
tr
o
ch
e
m
ical
eq
u
atio
n
s
o
f
t
h
e
b
atter
y
[
7
]
,
f
r
eq
u
en
c
y
-
b
ase
d
m
et
h
o
d
s
u
s
in
g
t
h
e
E
lectr
o
ch
e
m
ical
I
m
p
ed
an
ce
Sp
ec
tr
o
s
co
p
y
(
E
I
S)
[
6
]
.
T
h
e
C
o
u
lo
m
b
co
u
n
t
[
8
]
,
ad
a
p
tiv
e
an
d
n
o
n
l
in
ea
r
m
eth
o
d
s
s
u
c
h
as
ex
te
n
d
ed
k
al
m
an
f
ilt
er
[
9
]
an
d
s
lid
in
g
m
o
d
e
o
b
s
er
v
er
[
1
0
]
ar
e
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
s
f
o
r
t
h
e
SOC
e
s
ti
m
atio
n
b
ased
o
n
t
h
e
b
atter
y
eq
u
i
v
ale
n
t
m
o
d
el.
I
n
[
1
1
]
,
th
e
b
atter
y
m
o
d
el
is
co
n
s
id
er
ed
s
i
m
ilar
to
a
L
i
n
ea
r
T
i
m
e
V
ar
iab
le
(
L
T
V)
.
I
n
t
h
is
m
o
d
el
th
e
lo
ad
cu
r
r
en
t (
iL
)
is
co
n
s
id
er
ed
as a
n
i
n
p
u
t a
n
d
th
e
ter
m
in
a
l v
o
ltag
e
(
v
T
)
is
co
n
s
id
er
ed
as a
n
o
u
tp
u
t.
Mo
r
eo
v
er
,
an
o
n
li
n
e
ad
ap
ti
v
e
r
ec
o
g
n
itio
n
alg
o
r
ith
m
is
u
s
ed
to
id
e
n
ti
f
y
b
atter
y
m
o
d
el
p
ar
a
m
eter
s
at
e
v
er
y
t
i
m
e
s
tep
.
T
h
is
m
o
d
el
i
s
co
n
ti
n
u
o
u
s
l
y
u
p
d
ate
d
an
d
a
r
ed
u
ce
d
o
r
d
er
o
b
s
er
v
er
h
as
b
ee
n
in
tr
o
d
u
ce
d
.
I
n
o
u
r
r
esear
ch
,
th
e
k
al
m
an
f
ilter
i
n
g
m
o
d
el
i
s
u
s
ed
to
e
s
ti
m
ate
b
atter
y
p
ar
a
m
eter
s
.
Kal
m
a
n
f
ilter
i
n
g
is
o
n
e
o
f
t
h
e
m
o
s
t
s
u
cc
e
s
s
f
u
l
alg
o
r
ith
m
s
o
f
e
s
ti
m
atio
n
a
n
d
is
ab
le
to
e
s
ti
m
ate
th
e
in
ter
n
al
s
tates
o
f
t
h
e
s
y
s
te
m
,
w
h
i
ch
ar
e
n
o
t
d
ir
ec
tl
y
m
ea
s
u
r
ab
le
b
y
d
is
cr
ete
m
o
d
e
ls
o
f
t
h
e
s
tate
s
p
ac
e
o
f
d
y
n
a
m
ic
s
y
s
te
m
s
.
T
h
er
ef
o
r
e,
m
a
n
y
r
esear
ch
e
s
w
h
ic
h
h
av
e
b
ee
n
d
o
n
e
o
n
t
h
e
esti
m
atio
n
o
f
t
h
e
ch
ar
g
i
n
g
o
f
b
atter
ies,
h
av
e
ta
k
e
n
ad
v
a
n
ta
g
e
o
f
k
al
m
a
n
f
i
lter
in
g
alg
o
r
ith
m
[
1
2
,
1
3
,
1
4
,
1
5
,
1
6
]
.
I
n
s
o
m
e
o
f
t
h
e
r
esear
c
h
es,
t
h
e
esti
m
ato
r
h
as
b
ee
n
u
s
ed
to
es
t
i
m
ate
b
atter
y
o
p
en
cir
cu
it
v
o
lta
g
e
o
r
s
o
m
e
i
n
ter
n
al
b
atter
y
p
ar
a
m
eter
s
w
h
ic
h
h
av
e
a
d
ir
ec
t
r
elatio
n
s
h
ip
w
it
h
b
atter
y
’
s
s
tate
o
f
ch
ar
g
e
[
1
2
,
1
3
]
.
I
n
th
i
s
m
e
th
o
d
,
f
in
d
in
g
th
e
co
r
r
ec
tio
n
p
ar
a
m
eter
b
et
w
ee
n
o
p
en
cir
cu
i
t
v
o
ltag
e
a
n
d
lo
ad
ed
v
o
ltag
e
o
f
t
h
e
b
atter
y
is
an
i
m
p
o
r
tan
t
p
r
o
b
lem
,
w
h
ich
co
u
ld
b
e
s
o
lv
ed
b
y
d
ef
i
n
in
g
t
w
o
lin
ea
r
izatio
n
ar
ea
s
[
1
7
]
.
I
n
o
th
er
ca
s
e
s
,
s
tate
o
f
ch
ar
g
e
is
co
n
s
id
er
ed
as
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n
e
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f
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tate
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atter
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s
m
o
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tl
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m
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ted
u
s
in
g
e
x
te
n
d
ed
k
al
m
a
n
f
ilter
i
n
g
[
1
2
,
1
3
,
1
5
,
1
6
]
.
On
e
o
f
t
h
e
ad
v
a
n
ta
g
es
o
f
k
a
l
m
a
n
f
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in
g
alg
o
r
ith
m
is
i
ts
ab
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to
ap
p
ly
to
an
y
k
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n
d
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b
atter
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d
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e
o
f
its
f
a
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lts
i
s
its
h
i
g
h
co
m
p
u
tatio
n
a
l
v
o
lu
m
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
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o
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g
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N:
2252
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8792
Dev
elo
p
in
g
a
b
a
tter
y
mo
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A
li
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R
a
h
ig
h
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3
I
n
o
u
r
r
esear
ch
,
t
h
e
k
al
m
a
n
f
il
ter
in
g
m
o
d
el
[
6
]
,
as
s
h
o
w
n
in
Fig
u
r
e
2
is
u
s
ed
in
o
r
d
er
to
esti
m
ate
t
h
e
SOC
o
f
th
e
s
y
s
te
m
.
F
u
r
t
h
er
m
o
r
e,
Ma
tlab
/Si
m
u
li
n
k
b
ased
s
o
f
t
w
ar
e
h
as
b
ee
n
d
esi
g
n
ed
to
ca
lcu
late
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e
S
OC
o
f
th
e
b
atter
y
an
d
id
en
ti
f
y
th
e
cr
itical
p
ar
am
eter
s
o
f
th
e
b
at
ter
y
.
I
n
th
i
s
p
r
o
g
r
a
m
th
e
e
f
f
ec
t
o
f
th
e
a
m
b
ie
n
t
te
m
p
er
atu
r
e
o
n
t
h
e
b
atter
y
’
s
b
eh
av
io
r
h
a
s
b
ee
n
co
n
s
id
er
ed
.
I
n
ad
d
itio
n
,
th
e
r
ea
l
ti
m
e
a
m
o
u
n
t
s
o
f
t
h
e
d
esire
d
p
ar
am
eter
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h
o
w
n
.
Fu
r
t
h
er
m
o
r
e,
th
e
r
ec
o
r
d
o
f
b
atter
y
ch
ar
g
e
c
y
cles
is
co
n
t
i
n
u
o
u
s
l
y
s
a
v
ed
.
Mo
r
eo
v
er
,
th
e
s
o
f
t
w
ar
e
is
ca
p
ab
le
to
b
e
co
n
n
ec
ted
to
a
r
ea
l
b
atter
y
v
ia
a
p
o
r
t
an
d
d
o
in
g
th
e
d
esire
d
task
s
an
d
f
u
n
c
tio
n
s
w
it
h
o
u
t a
n
y
w
id
e
ch
a
n
g
e
i
n
t
h
e
p
r
o
g
r
am
co
d
in
g
.
Fig
u
r
e
2
.
C
o
n
tr
o
l d
iag
r
a
m
o
f
t
h
e
k
al
m
a
n
f
i
lter
[
6
]
I
n
th
e
s
ec
o
n
d
s
ec
tio
n
,
th
e
SO
C
esti
m
atio
n
al
g
o
r
ith
m
an
d
a
d
escr
ip
tio
n
o
f
th
e
r
e
v
ie
w
ed
d
ev
ice
h
a
s
b
ee
n
p
r
esen
ted
.
I
n
th
e
th
ir
d
s
ec
tio
n
th
e
d
i
f
f
er
e
n
t
p
ar
ts
o
f
th
e
s
o
f
t
w
ar
e
h
as
b
ee
n
i
n
tr
o
d
u
ce
d
.
I
n
th
e
f
o
u
r
t
h
p
ar
ag
r
ap
h
an
ex
ec
u
tio
n
o
f
t
h
e
p
r
o
g
r
a
m
h
a
s
b
ee
n
r
ep
r
esen
t
ed
.
Fin
all
y
,
th
e
co
n
cl
u
s
io
n
s
a
n
d
s
u
g
g
e
s
tio
n
s
f
o
r
f
u
r
t
h
er
r
esear
ch
e
s
ar
e
o
f
f
er
ed
.
2.
SO
C
E
S
T
I
M
AT
I
O
N
E
x
p
lain
i
n
g
I
n
t
h
i
s
s
ec
tio
n
,
an
alg
o
r
it
h
m
f
o
r
s
ta
te
o
f
t
h
e
ch
ar
g
e
es
ti
m
atio
n
f
o
r
s
i
m
u
lat
ed
b
atter
y
m
o
d
el
s
h
as
b
ee
n
p
r
o
p
o
s
ed
.
A
c
co
r
d
in
g
to
[
1
8
],
th
e
p
r
o
b
lem
s
o
lv
in
g
u
s
in
g
a
s
i
m
u
lated
m
o
d
el,
co
m
p
ar
ed
to
t
h
e
co
n
v
e
n
tio
n
al
m
e
th
o
d
s
,
i
s
n
o
t
o
n
l
y
p
r
e
f
er
r
ed
in
ter
m
s
o
f
co
s
t
an
d
ti
m
e,
b
u
t
i
t
is
ab
le
to
p
r
o
v
id
e
an
o
v
er
all
v
is
io
n
o
f
t
h
e
s
y
s
te
m
an
d
it
s
m
eth
o
d
o
lo
g
y
.
2
.
1
.
SO
C
ca
lcula
t
i
o
ns
A
t
t
h
e
f
ir
s
t
g
la
n
ce
,
t
h
e
ch
ar
g
i
n
g
m
o
d
e
is
b
asicall
y
a
p
r
o
p
o
r
tio
n
o
f
th
e
elec
tr
ic
c
h
ar
g
e
s
to
r
ed
as
th
e
to
tal
lo
ad
th
at
ca
n
b
e
s
to
r
ed
i
n
t
h
e
b
atter
y
.
Su
p
p
o
s
e
t
h
at
we
h
a
v
e
a
b
atter
y
th
at
alr
ea
d
y
h
as
Q
(
t
0
)
e
n
er
g
y
a
n
d
n
o
w
c
h
ar
g
e
i
t
w
it
h
th
e
c
h
ar
g
i
n
g
f
lo
w
I
b
(
t
).
I
n
th
is
ca
s
e,
t
h
e
am
o
u
n
t o
f
lo
ad
d
eliv
er
ed
to
th
e
b
atter
y
i
s
:
1
On
t
h
e
o
t
h
er
h
an
d
,
i
f
th
e
b
at
ter
y
i
s
co
m
p
letel
y
d
e
v
o
id
o
f
en
er
g
y
,
t
h
e
to
tal
lo
ad
th
at
ca
n
b
e
s
to
r
ed
in
t
h
e
b
atter
y
i
s
:
(
2)
I
n
(
1
)
an
d
(
2
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,
p
a
r
am
eter
ƞ
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d
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o
n
s
tr
ate
t
h
e
b
atter
y
ef
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ici
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c
y
w
h
ich
i
s
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ep
en
d
en
t
o
n
th
e
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atter
y
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lo
w
b
ec
a
u
s
e
d
u
r
i
n
g
t
h
e
ch
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g
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g
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r
o
ce
s
s
s
o
m
e
o
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ic
p
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er
is
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asted
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h
e
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atter
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.
ƞ
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≤
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icate
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ch
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icate
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is
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r
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en
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Usi
n
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th
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ab
o
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e
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ef
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itio
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,
th
e
ch
ar
g
i
n
g
m
o
d
e
is
d
ef
in
ed
b
y
:
(
3)
In
(
3
)
,
S
OC
(
t
0
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=
Q
(
t
0
)/
Q
0
is
th
e
p
r
i
m
ar
y
s
tate
o
f
t
h
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b
atter
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ar
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Q
(
t
0
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t
h
e
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tr
ical
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h
ar
g
e
i
n
t
0
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m
e
an
d
Q
0
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t
h
e
to
tal
elec
tr
ical
ch
ar
g
e
w
h
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ca
n
b
e
s
to
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ed
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a
tter
y
.
0
()
t
Ib
t
Id
0
0
()
Ib
Q
I
d
0
0
0
()
(
)
(
)
1
0
0
t
Ib
t
Id
S
O
C
t
S
O
C
t
Q
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8792
I
nt
J
A
p
p
l P
o
w
er
E
n
g
,
Vo
l.
8
,
No
.
1
,
A
p
r
il 2
0
1
9
:
1
–
10
4
Ho
w
e
v
er
,
th
e
s
tr
ik
in
g
p
o
in
t
i
s
n
o
t
t
h
e
a
v
ailab
ilit
y
o
f
th
e
b
atter
y
'
s
p
r
i
m
ar
y
c
h
ar
g
i
n
g
m
o
d
e
in
m
o
s
t
ap
p
licatio
n
s
t
h
at
ar
e
co
n
tin
u
a
ll
y
b
ei
n
g
u
s
ed
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
t
h
e
eq
u
a
tio
n
(
1
-
3
)
i
s
o
n
e
o
f
t
h
e
d
ir
ec
t
m
et
h
o
d
s
o
f
m
ea
s
u
r
i
n
g
b
atter
y
ch
ar
g
i
n
g
i
n
th
e
lab
o
r
ato
r
y
a
n
d
o
th
er
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et
h
o
d
s
o
f
b
atter
y
ch
ar
g
in
g
m
e
th
o
d
w
ill
b
e
b
r
ief
l
y
in
tr
o
d
u
ce
d
later
.
As
d
is
c
u
s
s
ed
,
m
a
n
y
ap
p
r
o
ac
h
es
h
a
v
e
b
ee
n
u
s
ed
to
o
b
tain
S
OC
,
s
u
c
h
as
u
s
i
n
g
s
p
ec
ial
s
en
s
o
r
s
o
r
u
s
i
n
g
clas
s
i
ca
l
an
d
s
m
ar
t
alg
o
r
ith
m
s
.
E
ac
h
o
f
th
ese
al
g
o
r
ith
m
s
h
a
v
e
th
eir
o
w
n
ad
v
an
t
ag
e
s
an
d
d
r
a
w
b
ac
k
s
.
2
.
2
.
SO
C
esti
m
a
t
io
n a
lg
o
rit
h
m
A
cc
o
r
d
in
g
to
Ro
b
in
A
.
Ja
c
k
e
y
[1
8
]
,
a
m
o
d
el
-
b
a
s
ed
SO
C
est
i
m
atio
n
al
g
o
r
ith
m
f
o
r
an
elec
tr
ical
v
e
h
icle
is
co
n
s
i
s
ted
o
f
s
ev
er
al
s
tep
s
.
T
h
e
f
ir
s
t
s
tep
is
s
p
ec
i
f
y
i
n
g
th
e
elec
tr
ical
ar
ch
itectu
r
e
o
f
t
h
e
s
y
s
te
m
.
T
h
e
n
ex
t
s
tep
is
to
te
s
t
t
h
e
co
m
p
o
n
en
ts
.
T
h
e
d
ev
elo
p
in
g
a
s
y
s
te
m
m
o
d
el
an
d
b
u
ild
in
g
a
test
v
eh
ic
le.
T
h
en
,
t
h
e
v
alid
atio
n
o
f
t
h
e
s
y
s
te
m
m
o
d
el
is
n
ee
d
ed
.
Af
ter
th
at,
t
h
e
d
es
ig
n
s
h
o
u
ld
b
e
o
p
tim
ized
t
h
r
o
u
g
h
t
h
e
s
i
m
u
latio
n
.
A
t
th
e
n
e
x
t s
tep
,
th
e
te
s
t
v
eh
ic
le
s
h
o
u
ld
b
e
m
o
d
i
f
ied
an
d
t
h
e
o
p
tim
a
l c
o
m
p
o
n
e
n
ts
s
h
o
u
ld
b
e
s
p
ec
if
ied
.
Fi
n
all
y
,
th
e
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
w
il
l b
e
m
o
d
if
ied
.
T
h
is
alg
o
r
it
h
m
h
a
s
b
ee
n
p
ar
tiall
y
u
s
ed
in
t
h
i
s
r
esear
ch
.
2
.
3
.
B
a
t
t
er
y
m
o
nito
ring
s
o
f
t
w
a
re
(
B
M
S)
s
ec
t
io
ns
I
n
a
ty
p
ical
B
MS
[
19
]
,
a
n
u
m
b
er
o
f
b
atter
y
ce
lls
,
w
h
ic
h
f
o
r
m
a
b
atter
y
p
ac
k
,
ar
e
s
tu
d
ied
.
T
h
e
lo
a
d
(
o
r
ch
ar
g
i
n
g
)
c
u
r
r
en
t
is
r
ec
e
iv
ed
as
o
n
e
o
f
th
e
in
p
u
t
p
a
r
a
m
eter
s
o
f
t
h
e
s
o
f
t
w
ar
e
an
d
is
ap
p
lied
to
t
h
e
co
n
tr
o
ller
.
T
h
e
co
n
tr
o
ller
als
o
d
ea
ls
w
it
h
th
e
b
atter
y
ch
a
r
g
in
g
u
n
it
a
n
d
th
e
t
h
er
m
al
p
r
o
ce
s
s
in
g
u
n
it
i
n
ex
ch
a
n
g
e
o
f
in
f
o
r
m
a
tio
n
.
A
ls
o
,
s
af
et
y
co
n
tr
o
l
an
d
r
e
m
o
te
c
o
n
tr
o
l
s
ec
ti
o
n
s
ar
e
ap
p
licab
le
to
th
e
s
y
s
te
m
.
T
h
e
o
u
tp
u
t
o
f
th
i
s
s
o
f
t
w
ar
e
w
ill
b
e
v
is
ib
le
o
n
a
s
cr
ee
n
a
n
d
ca
n
al
s
o
b
e
s
h
ar
ed
v
ia
a
C
A
N
co
m
m
u
n
icat
io
n
i
n
ter
f
ac
e
o
r
s
av
ed
in
a
m
e
m
o
r
y
.
2
.
4
.
D
escript
io
n o
f
t
he
re
v
ie
w
ed
dev
ice
T
h
e
r
ev
ie
w
ed
s
y
s
te
m
o
f
th
i
s
p
r
o
j
ec
t is a
lead
-
ac
id
tr
ac
tio
n
b
atter
y
.
T
h
ese
b
atter
ie
s
ar
e
w
id
el
y
u
s
ed
i
n
elec
tr
ic
f
o
r
k
li
f
t.
L
ea
d
-
ac
id
tr
ac
tio
n
b
atter
ies
m
a
y
a
ls
o
b
e
u
s
ed
in
s
o
m
e
elec
tr
ic
ca
r
s
an
d
o
p
er
atio
n
al
d
ev
ices.
A
ll
elec
tr
ic
f
o
r
k
li
f
t
b
atter
ies
ar
e
co
m
p
o
s
ed
o
f
2
v
o
lts
ce
lls
an
d
th
e
y
ar
e
u
s
u
all
y
in
2
4
,
3
6
,
4
8
,
7
2
,
8
0
,
an
d
d
o
u
b
le
4
0
Vo
lts
v
o
ltag
e
an
d
a
r
e
in
d
if
f
er
en
t
Am
p
-
Ho
u
r
f
r
o
m
3
0
0
to
1
0
0
0
Am
p
-
Ho
u
r
s
.
T
h
e
k
e
y
p
o
in
t
is
t
h
at
all
b
atter
ies
v
o
lta
g
e
i
s
a
m
u
ltip
le
o
f
2
.
I
n
o
u
r
r
ev
ie
w
ed
d
ev
ice,
n
o
m
i
n
al
v
o
lta
g
e
is
2
4
Vo
lts
w
h
ich
i
s
co
m
p
o
s
ed
o
f
1
2
ce
lls
o
f
2
Vo
lts
an
d
n
o
m
i
n
al
ca
p
ac
it
y
is
5
0
0
Am
p
-
Ho
u
r
s
.
T
h
e
m
en
tio
n
ed
s
p
ec
if
icat
io
n
s
ar
e
r
ep
r
esen
ted
in
T
ab
le
1.
T
ab
le
1
.
R
ev
ie
w
ed
B
atter
y
Sp
ec
if
icatio
n
B
a
t
t
e
r
y
t
y
p
e
L
e
a
d
-
a
c
i
d
B
a
t
t
e
r
y
mo
d
e
l
T
r
a
c
t
i
o
n
N
o
mi
n
a
l
v
o
l
t
a
g
e
2
4
v
o
l
t
C
a
p
a
c
i
t
y
5
0
0
a
m
p
-
h
o
u
r
B
a
t
t
e
r
y
a
r
r
a
n
g
e
me
n
t
1
2
t
w
o
-
v
o
l
t
s c
e
l
l
s
3.
SO
F
T
WAR
E
D
E
SCR
I
P
T
I
O
N
AND
RE
SUL
T
S
I
n
t
h
is
ch
ap
ter
,
t
h
e
s
tep
s
o
f
p
r
o
j
ec
t,
d
if
f
er
en
t p
ar
ts
o
f
s
o
f
t
w
a
r
e
an
d
it
s
e
n
v
ir
o
n
m
e
n
t
w
ill
b
e
d
escr
ib
ed
.
A
t t
h
e
en
d
,
ch
ar
t
s
an
d
o
u
tp
u
ts
r
esu
lt
s
is
also
p
r
o
v
id
ed
.
3
.
1
.
Sy
s
t
em
i
m
ple
m
ent
a
t
io
n
A
t
f
ir
s
t,
Ma
tlab
GUI
h
ad
b
ee
n
u
s
ed
to
i
m
p
le
m
e
n
t
t
h
is
p
r
o
ject
b
u
t
d
u
e
to
th
is
m
eth
o
d
li
m
itatio
n
s
o
n
th
is
ca
s
e,
th
e
Si
m
u
li
n
k
e
n
v
ir
o
n
m
e
n
t
o
f
Ma
tlab
w
as
c
h
o
s
e
n
af
ter
all.
B
atter
y
m
o
d
el
w
a
s
s
i
m
u
la
ted
as
r
ea
l
b
atter
y
u
s
i
n
g
Si
m
u
li
n
k
en
v
ir
o
n
m
e
n
t
.
Fu
r
t
h
er
m
o
r
e,
a
p
ar
ticu
lar
Kal
m
a
n
f
i
lter
m
o
d
el
w
as
d
esig
n
ed
f
o
r
th
e
b
atter
y
o
f
p
r
o
j
ec
t.
3.
2
.
Si
m
uli
n
k
env
iro
n
m
e
nt
T
h
e
o
v
er
v
ie
w
o
f
th
e
Si
m
u
li
n
k
en
v
ir
o
n
m
e
n
t i
n
Ma
tlab
h
as b
e
en
s
h
o
w
n
i
n
F
i
g
u
r
e
3
.
T
h
e
m
a
in
p
ar
ts
o
f
th
is
s
o
f
t
w
ar
e
i
s
as f
o
llo
w
s
:
a.
Gr
ap
h
ical
in
ter
f
ac
e
o
f
t
h
e
s
o
f
t
w
ar
e
(
d
ash
b
o
ar
d
p
an
el)
b.
D
y
n
a
m
ic
m
o
d
el
o
f
b
atter
y
c.
Kal
m
a
n
f
ilter
d.
P
r
esen
tatio
n
an
d
d
ata
an
al
y
s
is
to
o
ls
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
A
p
p
l P
o
w
er
E
n
g
I
SS
N:
2252
-
8792
Dev
elo
p
in
g
a
b
a
tter
y
mo
n
ito
r
i
n
g
s
ystem
s
o
ftw
a
r
e
in
ma
tla
b
s
imu
lin
k
…
(
A
li
r
eza
R
a
h
ig
h
i)
5
Fig
u
r
e
3
.
B
atter
y
m
o
n
ito
r
i
n
g
s
y
s
te
m
i
n
m
a
tlab
/s
i
m
u
li
n
k
e
n
v
i
r
o
n
m
e
n
t
3.
3
.
G
ra
ph
ica
l int
er
f
a
ce
o
f
t
he
s
o
f
t
w
er
e
Gr
ap
h
ical
in
ter
f
ac
e
in
cl
u
d
es
d
if
f
er
en
t
to
o
ls
d
u
e
to
m
o
n
ito
r
i
n
g
an
d
co
n
tr
o
l
n
ee
d
s
o
f
s
y
s
te
m
w
h
ic
h
h
a
s
b
ee
n
s
h
o
w
n
o
n
Fi
g
u
r
e
4
.
T
h
is
g
r
ap
h
ical
i
n
ter
f
ac
e
is
ab
le
to
s
h
o
w
t
h
e
o
u
tp
u
ts
an
d
al
s
o
r
ec
eiv
e
co
m
m
a
n
d
s
to
ch
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g
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s
o
m
e
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ar
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m
eter
s
.
I
n
t
h
is
s
ec
tio
n
,
t
h
e
s
o
f
t
w
ar
e
p
r
o
c
ess
th
e
r
ec
ei
v
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in
f
o
r
m
atio
n
o
f
s
i
m
u
la
tio
n
a
n
d
co
n
v
er
t
t
h
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m
in
to
d
ata
w
h
ich
w
il
l
b
e
s
h
o
w
n
i
n
m
o
n
ito
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in
g
p
an
el.
T
h
is
i
n
f
o
r
m
atio
n
w
i
ll
b
e
d
is
p
la
y
ed
o
n
li
n
e
at
th
e
s
a
m
e
t
i
m
e
w
it
h
th
e
s
i
m
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la
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n
r
u
n
s
a
n
d
t
h
e
ab
ilit
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to
r
ec
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e
o
n
l
in
e
i
n
f
o
r
m
atio
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d
u
r
i
n
g
th
e
s
i
m
u
l
atio
n
i
s
also
p
r
o
v
id
ed
.
Fig
u
r
e
4
s
h
o
w
s
th
e
d
if
f
er
en
t p
ar
ts
o
f
th
e
d
as
h
b
o
ar
d
p
an
el
w
h
o
s
e
v
ar
io
u
s
co
m
p
o
n
en
ts
ar
e:
1)
On
li
n
e
d
is
p
la
y
o
f
b
atter
y
ch
ar
g
in
g
s
ig
n
al
2)
On
li
n
e
d
is
p
la
y
o
f
v
o
lta
g
e
s
i
g
n
al
p
er
tim
e
3)
On
li
n
e
m
ar
k
er
o
f
b
atter
y
r
ec
h
ar
g
e
m
o
m
en
t (
SO
C
)
4)
On
l
i
n
e
m
ar
k
er
o
f
t
h
e
b
atter
y
s
tatu
s
(
c
h
ar
g
i
n
g
an
d
d
is
ch
ar
g
i
n
g
)
5)
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li
n
e
m
ar
k
er
o
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ter
m
in
al
v
o
lt
ag
e
m
o
n
ito
r
6)
On
li
n
e
m
ar
k
er
o
f
ch
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g
e/
d
is
c
h
ar
g
e
f
lo
w
r
ate
7)
Ma
r
k
er
o
f
th
e
r
e
m
ain
in
g
p
er
io
d
u
n
til
f
u
ll c
h
ar
g
e
an
d
f
u
l
l b
atter
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d
i
s
ch
ar
g
e
8)
Ma
r
k
er
o
f
th
e
b
atter
y
's in
ter
n
al
te
m
p
er
atu
r
e
9)
Ma
r
k
er
o
f
to
tal
b
atter
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ar
g
i
n
g
ti
m
e
s
10)
Settin
g
s
p
an
el
to
s
et
t
h
e
p
ar
a
m
eter
s
o
f
t
h
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s
i
m
u
lat
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ar
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eter
s
i
n
cl
u
d
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g
a
m
b
ie
n
t
te
m
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er
atu
r
e,
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atter
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y
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e,
ch
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et
h
o
d
,
b
atte
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d
is
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h
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g
e
t
i
m
e
s
(
f
o
r
b
atter
y
li
f
e
ca
lc
u
latio
n
)
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d
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ad
f
lo
w
(
i
f
n
o
t
d
eter
m
in
i
n
g
ch
ar
g
e)
11)
S
w
itc
h
f
o
r
th
e
c
h
ar
g
e
s
ta
te
a
m
o
n
g
p
r
e
-
d
eter
m
in
ed
s
tate
s
12)
I
n
d
icato
r
o
f
cu
r
r
en
t v
o
lta
g
e
a
n
d
cu
r
r
en
t d
iag
r
a
m
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
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8792
I
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Vo
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1
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A
p
r
il 2
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1
9
:
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–
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6
Fig
u
r
e
4
.
Gr
ap
h
ical
in
ter
f
ac
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o
f
th
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s
o
f
t
w
ar
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3.
4
.
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ra
ph
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er
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ce
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o
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w
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A
s
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escr
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b
ed
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th
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p
r
o
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ct
th
e
b
at
te
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y
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n
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o
f
1
2
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er
ia
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tte
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.
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s
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Fig
u
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e
5
,
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th
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o
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1
2
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ells
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e
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ial
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l
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p
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t t
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y
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tem
.
Fig
u
r
e
5
.
B
ater
r
y
ce
lls
B
y
o
p
en
in
g
e
ac
h
o
f
th
ese
b
atte
r
y
ce
lls
,
th
e
d
y
n
a
m
ic
m
o
d
el
o
f
th
e
b
a
tte
r
y
,
w
h
ich
is
s
im
u
lated
ac
c
o
r
d
in
g
to
th
e
r
ef
e
r
en
ce
,
is
s
h
o
w
n
.
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h
e
d
y
n
a
m
ic
m
o
d
el
o
f
each
2
V
o
lts
in
d
iv
i
d
u
al
b
att
er
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ce
ll
is
r
e
p
r
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d
in
Fig
u
r
e
6.
T
h
e
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alu
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o
f
e
ac
h
o
f
th
e
p
ar
am
eter
s
o
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th
e
m
o
d
el,
in
clu
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g
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E
m
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alu
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o
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ca
p
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it
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ar
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l
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la
te
d
a
cc
o
r
d
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g
to
th
e
r
ef
e
r
en
c
e
an
d
d
ete
r
m
in
ed
f
o
r
th
e
b
l
o
ck
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
A
p
p
l P
o
w
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n
g
I
SS
N:
2252
-
8792
Dev
elo
p
in
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a
b
a
tter
y
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ito
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ystem
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ftw
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li
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7
Fig
u
r
e
6
.
D
y
n
a
m
ic
m
o
d
el
o
f
t
h
e
b
atter
y
s
i
m
u
lated
in
Ma
t
lab
/ Si
m
u
li
n
k
3.
5
.
K
a
l
m
a
n f
ilte
r
I
n
Fig
u
r
e
7
,
th
e
s
ec
tio
n
w
h
i
ch
d
escr
ib
es
th
e
co
m
p
u
tatio
n
o
f
Kal
m
a
n
f
i
lter
in
g
in
t
h
e
s
o
f
t
w
ar
e
i
s
v
is
ib
le.
I
n
th
i
s
s
ec
t
io
n
,
t
h
e
ch
ar
g
e
is
co
llected
b
y
r
an
d
o
m
n
o
is
e
in
o
r
d
er
to
o
b
tain
an
esti
m
ate
o
f
th
e
c
h
ar
g
e
,
an
d
th
e
d
if
f
er
e
n
ce
o
f
th
is
v
al
u
e
is
m
u
ltip
lied
b
y
t
h
e
a
m
o
u
n
t
o
f
t
h
e
n
ex
t
s
tate
i
n
a
Kala
m
a
n
g
ai
n
(
o
b
tain
ed
b
y
ex
p
e
r
i
m
e
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d
o
b
s
er
v
atio
n
)
.
T
h
is
v
alu
e
i
s
ap
p
lied
as
an
in
p
u
t
to
th
e
d
y
n
a
m
ic
m
o
d
el
o
f
t
h
e
b
atter
y
.
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x
t,
th
e
ch
ar
g
i
n
g
s
tate
o
u
tp
u
t
w
h
ich
i
s
r
ec
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f
r
o
m
d
y
n
a
m
ic
b
att
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y
is
u
s
ed
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d
eter
m
i
n
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th
e
v
alu
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o
f
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e
x
t
s
tate.
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n
th
is
p
r
o
j
ec
t,
Kalm
a
n
g
ain
i
s
co
n
s
id
er
ed
eq
u
al
to
0
.
2
ac
co
r
d
in
g
to
r
ef
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en
ce
s
.
Fig
u
r
e
7
.
Kal
m
a
n
f
il
ter
s
i
m
u
la
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8792
I
nt
J
A
p
p
l P
o
w
er
E
n
g
,
Vo
l.
8
,
No
.
1
,
A
p
r
il 2
0
1
9
:
1
–
10
8
3.
6
.
P
re
s
ent
a
t
i
o
n a
nd
da
t
a
a
na
ly
s
is
t
o
o
ls
Sco
p
es
an
d
s
o
f
t
w
ar
e
m
ea
s
u
r
e
m
en
t
to
o
ls
ar
e
s
h
o
w
n
in
F
i
g
u
r
e
8
.
Mo
s
t
o
f
th
ese
i
n
f
o
r
m
atio
n
ar
e
d
is
p
la
y
ed
o
n
th
e
d
as
h
b
o
ar
d
.
Ho
w
e
v
er
,
p
r
esen
tat
io
n
a
n
d
d
a
ta
an
al
y
s
is
to
o
ls
ca
n
b
e
u
s
ed
to
o
b
s
er
v
e
s
o
m
e
o
f
th
e
ch
ar
t
s
.
Fig
u
r
e
8
.
Me
asu
r
e
m
en
t a
n
d
d
ata
an
al
y
z
in
g
to
o
ls
3.
7
.
O
t
her
f
iles
o
f
t
he
s
o
f
t
wa
re
I
n
th
i
s
p
r
o
j
ec
t
,
in
ad
d
itio
n
to
th
e
o
r
ig
i
n
al
f
i
le
in
Ma
tlab
Si
m
u
lin
k
,
o
th
er
f
iles
p
er
f
o
r
m
s
s
o
m
e
o
t
h
er
task
s
in
t
h
e
s
o
f
t
w
ar
e.
T
h
ese
f
il
es a
r
e:
a.
Ma
k
eDi
f
a
u
lt.
m
:
T
h
e
v
alu
e
s
o
f
d
if
f
er
en
t
s
y
s
te
m
p
ar
a
m
eter
s
,
in
cl
u
d
in
g
Ka
l
m
a
n
f
il
ter
p
ar
am
eter
s
an
d
t
h
e
b
atter
y
m
o
d
el
ar
e
s
to
r
ed
in
th
is
f
ile.
I
n
ca
s
e
o
f
an
y
c
h
a
n
g
e
i
n
th
e
v
al
u
es
o
f
t
h
ese
p
ar
a
m
eter
s
,
b
y
ex
ec
u
t
in
g
t
h
is
f
ile,
ch
a
n
g
ed
v
a
lu
es
w
i
ll b
e
r
etu
r
n
ed
to
th
e
o
r
ig
in
a
l sta
n
d
ar
d
v
alu
e
s
.
b.
I
n
itial
C
h
ar
g
eC
h
a
n
g
e:
T
h
is
f
il
e
allo
w
s
t
h
e
u
s
er
to
d
eter
m
i
n
e
th
e
d
esire
d
in
itial
ch
ar
g
i
n
g
v
alu
e
f
o
r
th
e
s
tar
t o
f
t
h
e
s
i
m
u
latio
n
.
I
t s
h
o
u
ld
b
e
n
o
ted
th
at
t
h
e
a
m
o
u
n
t o
f
ch
ar
g
i
n
g
is
s
av
ed
e
v
er
y
ti
m
e
t
h
e
s
o
f
t
w
ar
e
is
r
u
n
a
n
d
it
w
ill b
e
av
ailab
le
f
o
r
th
e
n
e
x
t ti
m
e
t
h
e
s
o
f
t
w
ar
e
is
e
x
ec
u
ted
.
c.
C
h
a
n
g
eSitt
in
g
.
m
:
U
s
in
g
t
h
i
s
f
ile,
it
is
p
o
s
s
ib
le
to
ch
a
n
g
e
th
e
p
ar
a
m
e
ter
s
o
f
th
e
b
atter
y
m
o
d
el
a
n
d
Kal
m
a
n
f
ilter
.
4.
P
RO
J
E
CT
E
XE
C
UT
I
O
N
T
h
e
d
ash
b
o
ar
d
p
an
el
o
p
en
s
w
it
h
ex
ec
u
tio
n
o
f
Si
m
u
li
n
k
p
r
o
j
ec
t.
I
n
th
i
s
p
a
n
el,
t
h
e
c
h
ar
g
i
n
g
o
r
d
is
ch
ar
g
i
n
g
s
tate
o
f
t
h
e
b
atter
y
,
t
h
e
a
m
o
u
n
t
o
f
c
h
ar
g
i
n
g
f
lo
w
,
a
m
b
ie
n
t
te
m
p
er
atu
r
e,
a
n
d
c
h
ar
g
i
n
g
p
atter
n
ca
n
b
e
s
et
ar
b
itra
r
y
.
B
y
ex
ec
u
ti
n
g
th
is
f
ile,
th
e
b
atter
y
w
ill
c
h
ar
g
e
o
r
d
is
ch
ar
g
e
b
ased
o
n
th
e
u
s
a
g
e
o
f
it,
an
d
th
e
co
r
r
esp
o
n
d
in
g
p
ar
a
m
eter
s
ar
e
d
is
p
la
y
ed
o
n
th
e
m
o
n
i
to
r
s
.
T
h
e
am
o
u
n
t
o
f
th
e
c
h
ar
g
e
a
n
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RE
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NC
E
S
[1
]
E.
M
e
issn
e
r
a
n
d
G
.
Rich
ter,
"
V
e
h
icle
e
lec
tri
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s
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,
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rn
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Po
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p
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[2
]
S
.
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il
ler,
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.
P
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rri
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n
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A
.
Jo
ss
e
n
,
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M
e
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o
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r S
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.
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.
[3
]
H.
He
,
R.
X
io
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g
,
X.
Zh
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g
,
F
.
S
u
n
a
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J.
F
a
n
,
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tate
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Ch
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Esti
m
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ti
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L
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-
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h
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o
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e
l,
"
in
IEE
E
T
ra
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Ve
h
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[4
]
F
ra
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,
Hiss
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D.,
Iq
b
a
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T
.
,
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trima
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.
[5
]
El
M
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a
a
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issi,
A
n
a
s
El
F
il
a
li
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No
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r
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se
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E
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l.
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5
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0
1
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2252
-
8792
I
nt
J
A
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[6
]
V
.
P
o
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,
H.
J.
Be
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v
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ld
,
J.
H.
G
.
Op
h
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V
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u
,
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Ei
c
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.
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g
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a
n
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.
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C
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S
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El
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tri
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ica
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o
f
T
ra
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in
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m
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rt
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rid
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v
iro
n
m
e
n
t,
"
IEE
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a
n
sa
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I
n
d
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stria
l
In
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ti
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l
.
8
,
p
p
.
1
-
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0
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2
0
1
2
.
[8
]
F
.
Hu
e
t,
"
A
re
v
ie
w
o
f
i
m
p
e
d
a
n
c
e
m
e
a
su
re
m
e
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ts
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o
r
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e
ter
m
in
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ti
o
n
o
f
th
e
s
tate
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rg
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o
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sta
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e
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lt
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se
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o
n
d
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ry
b
a
tt
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ries
,
"
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o
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rn
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l
o
f
P
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r S
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s
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o
l.
7
0
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p
p
.
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9
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9
,
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9
8
.
[9
]
J.
A
lzie
u
,
H.
S
m
i
m
it
e
,
a
n
d
C.
G
l
a
ize
,
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I
m
p
ro
v
e
m
e
n
t
o
f
in
telli
g
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t
b
a
tt
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ry
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o
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e
r:
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te
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rg
e
in
d
ica
to
r
a
n
d
a
ss
o
c
iate
d
f
u
n
c
ti
o
n
s,"
J
o
u
r
n
a
l
o
f
Po
we
r S
o
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rc
e
s
,
v
o
l.
6
7
,
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p
.
1
5
7
-
1
6
1
,
1
9
9
7
.
[1
0
]
G
.
L
.
P
lett
,
"
Ex
ten
d
e
d
Ka
lm
a
n
f
il
terin
g
f
o
r
b
a
tt
e
ry
m
a
n
a
g
e
m
e
n
t
s
y
ste
m
s
o
f
L
iP
B
-
b
a
se
d
HE
V
b
a
tt
e
r
y
p
a
c
k
s:
P
a
rt
3
.
S
tate
a
n
d
p
a
ra
m
e
t
e
r
e
sti
m
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ti
o
n
,
"
J
o
u
rn
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l
o
f
P
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1
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4
,
p
p
.
2
7
7
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9
2
,
2
0
0
4
.
[1
1
]
I.
-
S
.
Ki
m
,
"
A
n
o
v
e
l
sta
te
o
f
c
h
a
rg
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sti
m
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ti
o
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m
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th
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d
f
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th
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m
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a
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e
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u
sin
g
slid
in
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m
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d
e
o
b
se
r
v
e
r,
"
J
o
u
rn
a
l
o
f
Po
we
r S
o
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,
v
o
l
1
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,
n
o
.
1
,
p
p
.
5
8
4
-
5
9
0
,
2
0
0
6
.
[1
2
]
S
h
u
o
P
a
n
g
,
J.
F
a
rre
ll
,
Jie
Du
a
n
d
M
.
Ba
rth
,
"
Ba
tt
e
r
y
sta
te
-
of
-
c
h
a
rg
e
e
sti
m
a
ti
o
n
,
"
Pro
c
e
e
d
in
g
s o
f
th
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2
0
0
1
Ame
ric
a
n
Co
n
tro
l
Co
n
fer
e
n
c
e
.
(
Ca
t.
No
.
0
1
CH3
7
1
4
8
)
,
A
rli
n
g
to
n
,
V
A
,
USA
,
2
0
0
1
,
p
p
.
1
6
4
4
-
1
6
4
9
.
[1
3
]
B.
S
.
Bh
a
n
g
u
,
P
.
Be
n
tl
e
y
,
D.
A
.
S
to
n
e
a
n
d
C.
M
.
Bi
n
g
h
a
m
,
"
No
n
li
n
e
a
r
o
b
se
rv
e
rs
f
o
r
p
re
d
icti
n
g
sta
t
e
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of
-
c
h
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rg
e
a
n
d
sta
te
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of
-
h
e
a
lt
h
o
f
lea
d
-
a
c
id
b
a
tt
e
r
ies
f
o
r
h
y
b
rid
-
e
lec
tri
c
v
e
h
icle
s,
"
in
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
Veh
icu
l
a
r
T
e
c
h
n
o
lo
g
y
,
v
o
l.
5
4
,
n
o
.
3
,
p
p
.
7
8
3
-
7
9
4
,
M
a
y
2
0
0
5
.
[1
4
]
G
.
L
.
P
lett,
"
Ex
ten
d
e
d
Ka
lm
a
n
f
i
lt
e
rin
g
f
o
r
b
a
tt
e
ry
m
a
n
a
g
e
m
e
n
t
s
y
ste
m
s
o
f
L
iP
B
-
b
a
se
d
HEV
b
a
tt
e
r
y
p
a
c
k
s:
P
a
rt
2
.
M
o
d
e
li
n
g
a
n
d
id
e
n
ti
f
ica
ti
o
n
,
"
J
o
u
rn
a
l
o
f
P
o
we
r S
o
u
rc
e
s
,
v
o
l
1
3
4
,
n
o
2
,
p
p
.
2
6
2
-
2
7
6
,
A
u
g
u
st 2
0
0
4
.
[1
5
]
G
.
L
.
P
lett,
"
Ex
ten
d
e
d
Ka
lm
a
n
f
il
terin
g
f
o
r
b
a
tt
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r
y
m
a
n
a
g
e
m
e
n
t
s
y
ste
m
s
o
f
L
iP
B
-
b
a
se
d
HEV
b
a
tt
e
r
y
p
a
c
k
s,
P
a
rt
3
.
S
tate
a
n
d
P
ra
m
e
t
e
r
e
sti
m
a
ti
o
n
,
"
J
o
u
rn
a
l
o
f
P
o
we
r S
o
u
rc
e
s
,
v
o
l
1
3
4
,
n
o
2
,
p
p
.
2
7
7
-
2
9
2
,
A
u
g
u
st 2
0
0
4
.
[1
6
]
G
.
L
.
P
lett,
"
L
iP
B
d
y
n
a
m
ic
c
e
ll
m
o
d
e
ls
f
o
r
Ka
l
m
a
n
-
f
il
ter
S
OC
e
s
ti
m
a
ti
o
n
,
"
P
ro
c
e
e
d
i
n
g
s
o
f
th
e
1
9
th
In
tern
a
ti
o
n
a
l
Ba
tt
e
r
y
,
H
y
b
rid
a
n
d
F
u
e
l
Ce
ll
El
e
c
tri
c
V
e
h
icle
s
S
y
m
p
o
siu
m
&
Ex
h
ib
it
i
o
n
(
EVS
1
9
),
Bo
u
sa
n
,
p
p
.
1
-
1
2
,
Oc
to
b
e
r
2
0
0
2
.
[1
7
]
A
h
m
a
d
Qu
r
th
o
b
i,
A
n
g
g
it
a
Ba
y
u
Krisn
a
P
a
m
b
u
d
i,
Du
d
i
Da
rm
a
wa
n
,
a
n
d
Re
z
a
F
a
u
z
i
Isk
a
n
d
a
r,
"
Co
r
re
latio
n
b
e
tw
e
e
n
Ba
tt
e
r
y
V
o
lt
a
g
e
u
n
d
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r
L
o
a
d
e
d
C
o
n
d
it
io
n
a
n
d
Esti
m
a
ted
S
tate
o
f
Ch
a
rg
e
a
t
V
a
lv
e
-
Re
g
u
late
d
L
e
a
d
A
c
id
Ba
tt
e
r
y
o
n
Disc
h
a
rg
e
Co
n
d
it
i
o
n
u
si
n
g
Op
e
n
Circu
it
Vo
lt
a
g
e
M
e
t
h
o
d
,
"
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
,
v
o
l.
9
,
n
o
.
1
,
p
p
.
3
5
7
–
3
6
4
,
M
a
rc
h
2
0
1
8
.
[1
8
]
Ro
b
i
n
A
.
Ja
c
k
e
y
,
"
A
si
m
p
le,
e
ffe
c
ti
v
e
le
a
d
-
a
c
id
b
a
tt
e
ry
m
o
d
e
li
n
g
p
ro
c
e
ss
f
o
r
e
lec
tri
c
a
l
s
y
ste
m
c
o
m
p
o
n
e
n
t
se
lec
ti
o
n
,
"
T
h
e
M
a
th
w
o
rk
s in
c
,
2
0
0
7
.
[1
9
]
W
a
n
g
Ya
n
,
Yin
T
ian
-
m
in
g
a
n
d
L
iu
Ba
o
-
ji
e
,
"
L
e
a
d
-
a
c
id
p
o
w
e
r
b
a
tt
e
ry
m
a
n
a
g
e
m
e
n
t
s
y
ste
m
b
a
si
n
g
o
n
Ka
l
m
a
n
f
il
terin
g
,
"
2
0
0
8
IEE
E
Veh
icle
Po
we
r a
n
d
Pro
p
u
lsi
o
n
C
o
n
fer
e
n
c
e
,
Ha
rb
in
,
2
0
0
8
,
p
p
.
1
-
6.
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