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In order to optimize the charging of lithium-ion batteries, a multi-stage charging method that considers the charging time and energy loss as optimization targets has been proposed in this paper. First, a dynamic model based on a first-order circuit has been established, and the model parameters have been identified. Second, on the basis of the established model, we treat the objective function of the optimization problem as a weighted sum of charging time and energy loss. Finally, a dynamic programming algorithm (DP) has been used to calculate the charging current of the objective function. Simulation and experimental results show that the proposed charging method could effectively reduce the charging time and decrease the energy loss, compared with the constant-current constant-voltage charging method, under the premise of exerting little influence on the attenuation of battery capacity.