扩展卡尔曼滤波估算电池的SoC,电池采用戴维宁模型，并与安时积分法进行了比较，误差不超过5 ，结果可靠-The extended Calman filter to estimate the battery SoC and battery using Thevenin model, and compared with the current time integral method, the error is less than 5 , the result is reliable

电池电机模型，安时积分和开路电压同步测量校正soc(Battery motor model)