The way i measure DCR is to turn off the load, wait 100us, then measure the voltage and compare it with the one before the load.
The problem with this is that you are not measuring DC resistance, but AC impedance at fairly high frequency - 10 kHz, which is even higher than the industry standard 1 kHz for AC impedance measurements. The problem with AC impedance again is that the number has little practical usage in battery system design. It can be useful in cell diagnostics when manufacturing cells, however. Even the pure capacitance of the cell due to its "electrolytic capacitor" type physical construction is enough to give short, 100 us current peaks with lower ESR.
It is indeed true that the AC impedance does not shoot up like DC resistance does at low SoC - AC impedance is most of the time smaller than the DC resistance.
DC resistance, however, is the important one as it explains (or models) the voltage drop that causes your battery management to stop discharge at low-voltage cutoff limit. It also defines resistive heating, and you can indeed feel many 18650 heat up considerably faster at the end of discharge -- due to the combination of increased DC (i.e. ionic) resistance, and enthropy heating. At high discharge currents, I have measured many 18650's to first slowly rise in temperature to about 45-50 degC, and then jump over 60 degC during the last 10% of the SoC. But it's hard to quantify the amount of resistive heating at play here, because it's partially chemical enthropy - and the cell actually cools down when you start charging the empty, heated cell right away - it cools faster than with no current!
Maybe there is more than just ohmic resistance?
I.e. equivalent parallel capacitance of some sort?
If so, then i have no idea how long to wait - with the load disconnected, the voltage just keep going up without stopping for minutes.
You are exactly on the right track here. There is only "ohmic" resistance, because ohm by definition is the unit of resistance, but there are several sources for the resistance - in the DC measurement, ionic resistance is by far the most important, and it is caused by the ions slowly "swimming" and struggling to find their homes in the anode and cathode lattices. This is orders of magnitude slower than electrons shooting in the copper and aluminium current collectors.
Methods to measure DCR vary, but I have been getting comparable - i.e., "consistent enough" results ranging from 3-4 second step to 20-30 second step.
Most of the AC effects go away by simply waiting for one second. I also do it by using two (sometimes three) different current levels, instead of stopping charge/discharge completely. My current methodology is: every 120 seconds of charging or discharging at current I:
10 second step at I1 = 0.85*I, V1= voltage measured at the last second;
10 second step at I2 = 1.3*I, V2=voltage measured at the last second;
10 second step at I3 = 0.85*I, V3=voltage measured at the last second.
R = ((V1+V3)/2 - V2) / ((I1+I3)/2 - I2)
That graph I posted is different, though; it's R=dU/dI on whole discharge curves at once! It's the best way to avoid AC effects completely, but you get heating effects, because at higher current, the cell runs hotter, and hotter cell has lower DCR. Heating effects don't affect the pulse method in the same way, because of the thermal mass.
The problem is that "Battery University" has been totally discredited numerous times, and is mostly matter of joke in the industry.
Which raises the question - how can i know about it? As in, how are people supposed to find out that it is discredited? The info on it sounds kinda true, and the only mentions of it being discredited is the wiki talk page and this thread.
I can't say, really! I can't "disprove" them, I don't have time, I'm not interested, etc. I have seen some valid discreditations but they have been lost somewhere in the vast land of the Internet. Also, their site seems to change quite a bit. It is well possible that most of their info is valid now. It's just my $0.02 that I don't trust them, which is the case with many people on this field, too. Scientific community also isn't interested in random websites calling themselves "university", they refer to peer-reviewed journals (which are sometimes jokes, too, but that's a different subject altogether)...
But I remember for sure that the "3% per month self discharge" myth originated from there.
Finding
really credible sources is difficult! You basically need to go to the very sources which describe the exact methods in a replicable manner, and make your own conclusions.