CN206272224U - Three-phase inverter output overcurrent protection circuit and three-phase inversion system - Google Patents
Three-phase inverter output overcurrent protection circuit and three-phase inversion system Download PDFInfo
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Abstract
The utility model is related to a kind of three-phase inverter output overcurrent protection circuit and the three-phase inversion system, this three-phase inverter output overcurrent protection circuit to include：Rectification for gathering inverter three-phase output current samples filtration module, signal amplification module, the voltage comparison module being sequentially connected with rectification sampling filtration module, and logic processing module；First output end of wherein described logic processing module is suitable to output fault-signal and feeds back to circuit control device, and simultaneously by its second output end output PWM locking signals to pwm signal lockout circuit, to control pwm signal lockout circuit to turn off；Therefore, this three-phase inverter output overcurrent protection circuit, can effectively carry out rapidly three-phase inverter output overcurrent protection, while having fault-signal to feed back and fault clearance function.
Description
Technical field
The utility model is related to a kind of three-phase inverter output overcurrent protection circuit and three-phase inversion system.
Background technology
In three phase inverter system, output current phase excessively stream is extremely important with a common class failure, is loaded short
Road, power device failure, generation situations such as bridge arm misleads may all cause inverter output overcurrent, hold very much when excessively stream is serious
The damage of the important devices such as system IGBT is easily caused, system is lost the job ability, produce potential safety hazard, damage is brought to user
Lose.
Existing three-phase inversion output overcurrent troubleshooting technology is typically with the derailing switches such as fuse or relay
Part realizes that hardware protection is acted, and such scheme is although simple and easy to apply, but the shortcomings of there is relatively costly, easy misoperation；Or
The three-phase output current for detecting is monitored using the software strategy in circuit control device, when there is over current fault at once
Protection act instruction is sent, this kind of protection is carried out typically by the form that software blocked six roads pwm pulse ripple is exported, by soft
Although part protects low cost, the protection scheme has certain time-delay, it is impossible to ensure the promptness of protection.
Utility model content
The purpose of this utility model is to provide a kind of three-phase inverter output overcurrent protection circuit and three-phase inversion system, electricity
Road can be protected to there occurs the three-phase inverter of output overcurrent failure in time, while fault message is passed into inverter control
Device processed is processed.
In order to solve the above-mentioned technical problem, the utility model provides a kind of three-phase inverter output overcurrent protection circuit,
Including：Rectification for gathering inverter three-phase output current samples filtration module, with rectification sampling filtration module successively phase
Signal amplification module, voltage comparison module even, and logic processing module；First output of wherein described logic processing module
End is suitable to output fault-signal and feeds back to circuit control device, and passes through its second output end output PWM locking signals simultaneously extremely
Pwm signal lockout circuit, to control pwm signal lockout circuit to turn off.
Further, the rectification sampling filtration module includes：Diode D1, diode D2, diode D3, resistance R1, electricity
Resistance R2, electric capacity C1；Wherein three-phase output detection electric current is passed through by converging in one end of resistance R1 after corresponding rectifies
It is changed into voltage signal after over sampling resistance R1 samplings, the sampling voltage signal is filtered through the RC that resistance R2 and electric capacity C1 is constituted
After circuit filtering signal amplification module is input to as three-phase output current sampled signal.
Further, the signal amplification module is suitable for use with in-phase proportion computing circuit, i.e. three-phase output current sampling letter
Number it is input to the in-phase end of operational amplifier A 1 in in-phase proportion computing circuit.
Further, the voltage comparison module includes：Resistance R5, electric capacity C2, voltage comparator A2, resistance R6 and resistance
R7；Wherein the output end of operational amplifier A 1 is connected with one end of resistance R5, and the other end of resistance R5 is with voltage comparator A2's
In-phase end is connected；The end of oppisite phase receiving voltage benchmark value of voltage comparator A2, and be connected with one end of filter capacitor C2, filter
The other end ground connection of ripple electric capacity C2；The output end of voltage comparator A2 is connected with one end of current-limiting resistance R6, current-limiting resistance R6's
The other end is connected and as the output end of voltage comparison module with one end of pull-up resistor R7.
Further, the logic processing module is further adapted for obtaining fault clearance signal by circuit control device, and passes through
First output end sends PWM open signals, to realize after Failure elimination, can be instructed by controller and resetted, and removes failure anti-
Feedforward information, releases failure block protection, it is recovered normal operating condition.
Further, the logic processing module includes：Nor gate U1, nor gate U2, nor gate U3；Wherein nor gate U1's
A ends are connected with the output end of voltage comparison module, and the Y ends of the B ends AND OR NOT gates U3 of nor gate U1 are connected, the Y ends of nor gate U1
The A ends of AND OR NOT gate U3 are connected to constitute rest-set flip-flop, while the A ends of the Y ends AND OR NOT gates U2 of not gate U1, B ends are connected；And
The B ends of nor gate U3 receive the fault clearance signal from circuit control device, the Y ends output PWM locking signals of nor gate U3
Give pwm signal lockout circuit；And fault-signal is exported by the Y ends of nor gate U2.
Further, the first output end of the logic processing module is also associated with fault-signal feedback circuit；
The fault-signal feedback circuit includes：Resistance R8, optocoupler U4；Wherein described fault-signal is input into by resistance R8
To optocoupler U4, and it is input into circuit control device by after optocoupler U4 isolation.
Another aspect, the utility model additionally provides a kind of three-phase inversion system.
The three-phase inversion system includes：Pwm signal lockout circuit and circuit control device, and described three-phase inversion
Device output overcurrent protection circuit.
Further, the three-phase inversion system is the level inverse conversion system of three-phase two, and the pwm signal lockout circuit is
Six road PWM lockout circuits.
The beneficial effects of the utility model are, can the utility model proposes a kind of three-phase inverter output overcurrent protection circuit
Quick protection is made for instantaneous overcurrent spike, prevents instantaneous overcurrent from damaging power device；The current foldback circuit has excessively stream
Fault locking function, once over current fault occurs, carries out the block of six road pwm signals by hardware mode immediately, compares software
The required response time is short for lock mode, and protection is rapid；And there is this current foldback circuit fault message to feed back work(simultaneously
Can, fault message is fed back into circuit control device while hardware protection is implemented, software protection is conveniently carried out, improve protection
Redundancy；And after three-phase inversion system detectio to over current fault is eliminated, the current foldback circuit can be according to inverter control
The fault clearance instruction that device processed sends is resetted, and releases failure block and fault message feedback signal, makes three-phase inversion system
Into normal operating conditions；For compared to the only protection circuit of detection two-phase output current value, the circuit detects that three-phase is defeated simultaneously
Go out the overcurrent condition of electric current, protection precision and reliability are higher.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the theory diagram of this three-phase inverter output overcurrent protection circuit；
Fig. 2 is the circuit theory diagrams of this three-phase inverter output overcurrent protection circuit；
The road pwm signal lockout circuit schematic diagrams of Tu3Shi six.
Specific embodiment
The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram,
Basic structure of the present utility model is only illustrated in a schematic way, therefore it only shows the composition relevant with the utility model.
Embodiment 1
Fig. 1 is the theory diagram of this three-phase inverter output overcurrent protection circuit.
This three-phase inverter output overcurrent protection circuit includes：Rectification for gathering inverter three-phase output current is sampled
Filtration module, signal amplification module, voltage comparison module, logic processing circuit, fault-signal feedback circuit, pwm signal block
Circuit.
Fig. 2 show the circuit theory diagrams of this three-phase inverter output overcurrent protection circuit.
Below to rectification sampling filtration module, signal amplification module, voltage comparison module, logic processing circuit, failure letter
Number feedback circuit, the circuit that implements of pwm signal lockout circuit carries out expansion explanation.
As rectification sample filtration module a kind of optional implementation method, diode D1, diode D2, diode D3,
Resistance R1, resistance R2, electric capacity C1 constitute rectification sampling filter circuit.Inverter three-phase output current Ia detection outputs and rectification
Diode D1 anodes are connected, and inverter three-phase output current Ib detection outputs are connected with commutation diode D2 anodes, inverter
Three-phase output current Ic detection outputs are connected with commutation diode D3 anodes.Commutation diode D1 negative electrodes, commutation diode D2
Negative electrode, commutation diode D3 negative electrodes, interconnection between one end of resistance R1, one end of resistance R2.The other end of resistance R1 with
Ground is connected.The other end of resistance R2, one end of electric capacity C1 are connected with the in-phase end of operational amplifier A 1 simultaneously.Electric capacity C1's is another
End is connected to the ground.Inverter three-phase output detection electric current Ia, Ib, Ic by after commutation diode D1, D2, D3 rectification the one of R1
End is converged, and by being changed into voltage signal after sample resistance R1 samplings, the sampling voltage signal is through resistance R2 and electric capacity C1 structures
Into the filtering of RC filter circuits after the in-phase end of operational amplifier A 1 is input to as three-phase output current sampled signal.
As a kind of optional implementation method of signal amplification module, resistance R2, resistance R3, resistance R4, operational amplifier
A1 constitutes signal amplification module.The in-phase end of operational amplifier A 1 is connected with the intersection of resistance R1, electric capacity C1, operational amplifier
The end of oppisite phase of A1 is connected with each other with one end of one end of resistance R3, resistance R4, and the other end of resistance R3 is connected to the ground, resistance R4's
The other end is connected with the output end of operational amplifier A 1, and power supply VCC is connected to operational amplifier with the power end of operational amplifier
A1 powers.Three-phase current sampled signal after rectification sampling filter circuit conditioning carries out the same phase of signal by operational amplifier A 1
Amplify the sampled signal that output amplitude after nursing one's health meets process demand.
As a kind of optional implementation method of signal amplification module, resistance R5, electric capacity C2, voltage comparator A2, resistance
R6, resistance R7 constitute voltage comparison module.The output end of operational amplifier A 1 is connected with one end of resistance R5, and resistance R5's is another
End is connected with the in-phase end of voltage comparator A2.The end of oppisite phase receiving voltage benchmark value Uref of voltage comparator A2, and with
One end of filter capacitor C2 is connected, and the other end of filter capacitor C2 is connected to the ground.The output end of voltage comparator A2 and current limliting electricity
Hinder R6 one end be connected, the other end of current-limiting resistance R6 is connected with one end of pull-up resistor R7, the other end of pull-up resistor R7 and
Power supply VCC is connected.The in-phase end of voltage comparator A2 is inputed to by the sampled signal Ufdb after in-phase signal enhanced processing, with
The voltage ratio of voltage comparator A2 end of oppisite phase input exports comparative result after being compared compared with a reference value Uref.
Used as a kind of optional implementation method of logic processing module, nor gate U1, nor gate U2, nor gate U3 is constituted and patrolled
Collect process circuit.The A ends of nor gate U1 are connected with the junction of resistance R6, resistance R7, the B ends AND OR NOT gates U3's of nor gate U1
Y ends are connected.The A ends of the Y ends AND OR NOT gates U3 of nor gate U1 are connected, while the A ends of AND OR NOT gate U2, B ends are connected.Nor gate U3
B ends receive the fault clearance signal ERROR_clear from circuit control device.The Y ends output PWM block letters of nor gate U3
Number give six road PWM lockout circuits.The nor gate U1 AND OR NOT gates U3 of the logic processing circuit constitutes a rest-set flip-flop, the RS
Trigger is blocked with the Determines failure feedback signal of ERROR_clear according to the comparative result of voltage comparator A2 with PWM
The state of signal.Failure feedback signal after nor gate U2 outputs are anti-phase controls the break-make of fault feedback circuit.
Used as a kind of optional implementation method of fault-signal feedback circuit, resistance R8, optocoupler U4, resistance R9 constitute failure
Signal feedback circuit.The Y ends of one end AND OR NOT gate U2 of resistance R8 are connected, and receive failure feedback signal, the other end and light of R8
1 end of coupling U4 is connected.2 ends of optocoupler U4 are connected to the ground, and 3 ends of optocoupler U4 are connected with one end of resistance R9, while exporting failure
Feedback signal ERROR_fdb is to circuit control device.The other end of resistance R9 is connected with signal ground.4 ends of optocoupler U4 and signal
Power supply VDD is connected.The fault-signal feedback circuit is controlled the break-make of optocoupler U4 by logic processing circuit output signal,
Realize the transmission to over current fault information.
Fig. 3 is the six road pwm signal lockout circuit schematic diagrams of the design.
Resistance R10 and six have mutually isostructural pwm signal lockout circuit six road pwm signal lockout circuits of composition.
Resistance R11, electric capacity C3, metal-oxide-semiconductor Q1 constitute PWM1 signal lockout circuits.Resistance R11 one end connects PWM1 input signals
PWM1I, the resistance R11 other ends are connected with the drain electrode of electric capacity C11 one end and metal-oxide-semiconductor Q1, and export PWM1 signals PWM1O.Electric capacity
The other end of C11 is connected to the ground.One end of the grid connection resistance R10 of metal-oxide-semiconductor Q1, the other end connection PWM blocks of resistance R10
Signal.The source electrode of metal-oxide-semiconductor Q1 is connected to the ground.Described R11, C3, Q1 are to constitute PWM1 signal lockout circuits, remaining five road PWM
Signal (PWM2, PWM3, PWM4, PWM5, PWM6) lockout circuit has identical circuit knot with the PWM1 signals lockout circuit
Structure.The metal-oxide-semiconductor grid of six road pwm signal lockout circuits is commonly connected to one end of resistance R10, receives same PWM locking signals.
Six roads pwm signal lockout circuit controls in pwm signal lockout circuit six metal-oxide-semiconductors by the state of PWM locking signals
Conducting and shut-off, realize the block control to six road pwm signals.
Functional realiey process described in the design：
Three-phase inverter output detection electric current (Ia, Ib, Ic) is by shape after commutation diode (D1, D2, D3) rectification superposition
Cathode node into three-phase dc electric current sum at (D1, D2, D3) is exported, and the change of any phase output current will all cause this
The change of electric current sum.The electric current sum is changed into voltage signal and facilitates subsequent conditioning circuit to process after being sampled through resistance R1.It is described
Voltage signal obtains a voltage for stabilization after filtering high-frequency interferencing signal through the filter circuit that resistance R2 and electric capacity C1 is constituted
Signal.To cause that the voltage magnitude meets subsequent conditioning circuit process demand, filtered voltage signal passes through operational amplifier U1
With mutually amplifying, determined by resistance R3 and resistance R4 with phase multiplication factor.Voltage signal Ufdb after amplification is sent to voltage
The in-phase end of comparator A2, the voltage ratio set with end of oppisite phase is compared compared with a reference value Uref, exports comparative result to follow-up
Logic processing circuit.Overcurrent protection judgment threshold is determined that user can be actually needed according to system by voltage ratio compared with a reference value Uref
It is designed.When three-phase output current is normal, current detection signal Ufdb is less than a reference value Uref, voltage comparator A2 outputs
Low level is to logic processing circuit.When three-phase output current reaches the over current fault threshold value of user's setting, current detection signal
Ufdb is more than a reference value Uref, and voltage comparator A2 exports the high level pulled up through resistance R7 to logic processing circuit, represents hair
Raw over current fault.
During generation over current fault, the breakdown judge signal and inverter control of logic processing circuit nor gate U1 are input to
The fault clearance signal ERROR_clr that what device sent be input to nor gate U3 is all low level, both cause by nor gate U1 and
The rest-set flip-flop of nor gate U3 compositions is maintained at the nor gate U1 output high level set during system worked well, and nor gate U3 is defeated
Go out low level state, i.e., failure feedback signal is high level when normal, PWM locking signals are low level.To reduce circuit energy
Consumption, set output current it is normal when optocoupler be off state, while be input to circuit control device failure feedback signal be it is low
Level.To realize the setting, carried out after the high level fault feedback signal feeding nor gate U2 of nor gate U1 outputs in circuit anti-
Phase processor so that the failure feedback signal exported through nor gate U2 is changed into low level.The low level causes that optocoupler U4 is in and closes
Disconnected state, optocoupler U4 is exported and is pulled to ground by resistance R9 to the failure feedback signal ERROR_fdb of circuit control device, that is, be input to
The failure feedback signal ERROR_fdb of circuit control device is low level, and software protection is failure to actuate.The low electricity of nor gate U3 outputs
Flat PWM locking signals send into pwm signal lockout circuit through resistance R10, and the low level causes six road pwm signal lockout circuits
Metal-oxide-semiconductor is in off state, do not influence six road PWM input signals (PWM1I, PWM2I, PWM3I, PWM4I, PWM5I,
PWM6I output state).
When over current fault occurs, the breakdown judge signal for being input to logic processing circuit nor gate U1 is changed into from low level
High level, it is still low level to be input to the fault clearance signal ERROR_clr of nor gate U3, and both are by nor gate U1 and/or non-
Cause that the failure feedback signal of nor gate U1 outputs is changed into low level after the rest-set flip-flop treatment of door U3 compositions so that nor gate U3
The PWM locking signals of output are change high level.U1 output low level fault feedback signal through nor gate U2 it is anti-phase after be changed into
High level, triggering optocoupler U4 conductings, the failure feedback signal ERROR_fdb for feeding back to circuit control device is pulled to high level
VDD, trigger controller in house software protection act.The high level PWM locking signals of nor gate U3 outputs are sent into through resistance R10
Pwm signal lockout circuit, the high level triggers the metal-oxide-semiconductor conducting of six road pwm signal lockout circuits so that six road PWM input letters
Number (PWM1I, PWM2I, PWM3I, PWM4I, PWM5I, PWM6I) is pulled to ground, i.e. six tunnel PWM output signals (PWM1O,
PWM2O, PWM3O, PWM4O, PWM5O, PWM6O) all it is changed into low level, realize the block of six road pwm signals.
After excessively stream fault clearance, the high level when breakdown judge result of voltage comparator A2 outputs is by failure is changed into
Low level is input to nor gate U1, and circuit control device sends a high level fault clear signal ERROR_clr to nor gate
U3, both cause the failure feedback letter of nor gate U1 outputs after the rest-set flip-flop that nor gate U1 and nor gate U3 is constituted is processed
Number it is changed into high level so that the PWM locking signals of nor gate U3 outputs are changed into low level, i.e. rest-set flip-flop output failure feedback letter
Number and level state of PWM locking signals when returning to normal work.Failure feedback signal through nor gate U2 it is anti-phase after turn
Become low level, control optocoupler U4 shut-offs, the failure feedback signal ERROR_fdb for being input to circuit control device is turned by high level
It is changed into low level, i.e. failure feedback signal is eliminated.The PWM locking signals of six road pwm signal lockout circuits are input to by electricity high
Flat turn is changed into low level, and the metal-oxide-semiconductor in six road PWM lockout circuits is turned off, six road PWM input signals (PWM1I, PWM2I,
PWM3I, PWM4I, PWM5I, PWM6I) be released from block, six tunnel PWM output signals (PWM1O, PWM2O, PWM3O, PWM4O,
PWM5O, PWM6O) export normal pwm signal.
Therefore, this three-phase inverter output overcurrent protection circuit, can effectively carry out rapidly three-phase inverter output overcurrent guarantor
Shield, while having fault-signal to feed back and fault clearance function.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of three-phase inversion system.
The three-phase inversion system includes：Pwm signal lockout circuit and circuit control device, and as described in Example 1
Three-phase inverter output overcurrent protection circuit.
The three-phase inversion system is the level inverse conversion system of three-phase two, and the pwm signal lockout circuit is six road PWM
Lockout circuit.
Therefore, there is three-phase inverter output overcurrent protection circuit software and hardware dual redundant to protect, and protection is rapid, and performance can
Lean on, while simple structure, using conventional electronic component, low cost, the output overcurrent that can be widely used in three-phase inversion system is protected
Shield.
With above-mentioned according to desirable embodiment of the present utility model as enlightenment, by above-mentioned description, related work people
Member can carry out various changes and amendments in the range of without departing from this utility model technological thought completely.This reality
The content on specification is not limited to new technical scope, it is necessary to its technology is determined according to right
Property scope.
Claims (9)
1. a kind of three-phase inverter output overcurrent protection circuit, it is characterised in that including：
Rectification for gathering inverter three-phase output current samples filtration module, is sequentially connected with rectification sampling filtration module
Signal amplification module, voltage comparison module, and logic processing module；Wherein
First output end of the logic processing module is suitable to output fault-signal and feeds back to circuit control device, and passes through simultaneously
Its second output end exports PWM locking signals to pwm signal lockout circuit, to control pwm signal lockout circuit to turn off.
2. three-phase inverter output overcurrent protection circuit according to claim 1, it is characterised in that
The rectification sampling filtration module includes：Diode D1, diode D2, diode D3, resistance R1, resistance R2, electric capacity C1；
Wherein
Three-phase output detects electric current by converging in one end of resistance R1 after corresponding rectifies, by sample resistance R1
It is changed into voltage signal after sampling, the sampling voltage signal is made after being filtered through the RC filter circuits that resistance R2 and electric capacity C1 is constituted
For three-phase output current sampled signal is input to signal amplification module.
3. three-phase inverter output overcurrent protection circuit according to claim 2, it is characterised in that
The signal amplification module is suitable for use with in-phase proportion computing circuit, i.e.,
Three-phase output current sampled signal is input to the in-phase end of operational amplifier A 1 in in-phase proportion computing circuit.
4. three-phase inverter output overcurrent protection circuit according to claim 3, it is characterised in that
The voltage comparison module includes：Resistance R5, electric capacity C2, voltage comparator A2, resistance R6 and resistance R7；Wherein
The output end of operational amplifier A 1 is connected with one end of resistance R5, the other end of resistance R5 and the same phase of voltage comparator A2
End is connected；The end of oppisite phase receiving voltage benchmark value of voltage comparator A2, and be connected with one end of filter capacitor C2, filtered electrical
Hold the other end ground connection of C2；
The output end of voltage comparator A2 is connected with one end of current-limiting resistance R6, the other end and the pull-up resistor R7 of current-limiting resistance R6
One end be connected and as the output end of voltage comparison module.
5. three-phase inverter output overcurrent protection circuit according to claim 4, it is characterised in that
The logic processing module is further adapted for obtaining fault clearance signal by circuit control device, and is sent out by the first output end
Send PWM open signals.
6. three-phase inverter output overcurrent protection circuit according to claim 5, it is characterised in that
The logic processing module includes：Nor gate U1, nor gate U2, nor gate U3；Wherein
The A ends of nor gate U1 are connected with the output end of voltage comparison module, and the Y ends of the B ends AND OR NOT gates U3 of nor gate U1 are connected,
The A ends of the Y ends AND OR NOT gates U3 of nor gate U1 are connected to constitute rest-set flip-flop, while the A of the Y ends AND OR NOT gates U2 of not gate U1
End, B ends are connected；And
The B ends of nor gate U3 receive the fault clearance signal from circuit control device, the Y ends output PWM blocks of nor gate U3
Signal gives pwm signal lockout circuit；And fault-signal is exported by the Y ends of nor gate U2.
7. the three-phase inverter output overcurrent protection circuit according to claim any one of 1-6, it is characterised in that
First output end of the logic processing module is also associated with fault-signal feedback circuit；
The fault-signal feedback circuit includes：Resistance R8, optocoupler U4；Wherein
The fault-signal is input into optocoupler U4 by resistance R8, and is input into circuit control device by after optocoupler U4 isolation.
8. a kind of three-phase inversion system, it is characterised in that including：
Pwm signal lockout circuit and circuit control device, and
Three-phase inverter output overcurrent protection circuit as described in claim any one of 1-7.
9. three-phase inversion system according to claim 8, it is characterised in that
The three-phase inversion system is the level inverse conversion system of three-phase two, and
The pwm signal lockout circuit is six road PWM lockout circuits.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621383616.2U CN206272224U (en) | 2016-12-15 | 2016-12-15 | Three-phase inverter output overcurrent protection circuit and three-phase inversion system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621383616.2U CN206272224U (en) | 2016-12-15 | 2016-12-15 | Three-phase inverter output overcurrent protection circuit and three-phase inversion system |
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| CN113746066A (en) * | 2020-05-29 | 2021-12-03 | 比亚迪股份有限公司 | Current converter overcurrent protection method and circuit and current converter controller |
| CN113746066B (en) * | 2020-05-29 | 2022-12-09 | 比亚迪股份有限公司 | Current converter overcurrent protection method and circuit and current converter controller |
| CN116298635A (en) * | 2023-03-30 | 2023-06-23 | 海信家电集团股份有限公司 | IPM fault detection system, IPM fault detection method, IPM fault detection device and storage medium |
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