JP2008026297A - Device for detecting rotation angle position - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for detecting the rotation angle position, suitable for accurate angle detection. <P>SOLUTION: Prior to full operation of an RDC 20, respective five sampling values a<SB>1</SB>to a<SB>5</SB>, b<SB>1</SB>to b<SB>5</SB>, and c<SB>1</SB>to c<SB>5</SB>of three phases of resolver signals are obtained. Calculated by Formulas (1) to (11), based on the sampling values a<SB>1</SB>to a<SB>5</SB>, b<SB>1</SB>to b<SB>5</SB>, and c<SB>1</SB>to c<SB>5</SB>error parameters A, B, C, d, e, f, γ', and δ' for correcting the amplitude differences, offsets, and initial phase errors are obtained. During full-operation of the RDC 20, respective sampling values a, b, and c of the three phases of resolver signals are obtained, and a rotation angle position θ is calculated, based on the error parameters A, B, C, d, e, f, γ', and δ' and the sampling values a, b, and c thus calculated. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an apparatus for correcting a rotational angle position of a position detector, and more particularly, to a rotational angle position detection apparatus suitable for accurately performing angle detection.

  A resolver is used as a sensor for detecting the rotation angle of the rotor. The resolver is rotatably attached to a rotating shaft such as a motor, and the reluctance between the rotor and the stator changes depending on the position of the rotor, and a resolver signal having a voltage corresponding to the change is output. Since the resolver signal from the resolver is analog, a resolver digital converter (RDC: Resolver Digital Converter) for converting this into a digital signal is prepared.

The resolver includes a three-phase resolver that outputs three resolver signals whose phases are different by 120 °. As an RDC using a three-phase resolver, for example, a technique described in Patent Document 1 is known. In the technique described in Patent Document 1, a three-phase / two-phase converter converts a three-phase signal into a two-phase signal, and the RDC detects the rotation angle position of the rotating shaft based on the two converted resolver signals as position detection data. Detect as.
JP 2004-271284 A

Ideally, the resolver signal is a sinusoidal waveform with no error. However, in reality, an initial phase error occurs between an amplitude difference, an offset, and a phase of a three-phase signal in a resolver signal due to variations in rotor shape, coil characteristics, rotor-stator gap variation, and the like.
Accordingly, the present invention has been made paying attention to such an unsolved problem of the conventional technology, and an object of the present invention is to provide a rotation angle position detection device suitable for accurately performing angle detection. It is said.

  [Invention 1] In order to achieve the above object, the rotational angle position detection device of the invention 1 includes a three-phase sensor that outputs three position detection signals having different phases that change in accordance with the rotational angle of the rotor. An apparatus comprising: a position detector for inputting a detection signal; detecting a rotation angle position of the rotor based on the input position detection signal; and an error parameter extracting device applied to the position detector, The position detector includes sampling value acquisition means for acquiring at least five sampling values having different rotational angle positions for each of the three position detection signals, and extracting the error parameter from the at least five sampling values. First input / output means for transmitting to the apparatus and receiving the error parameter from the error parameter extracting apparatus; and storing the error parameter And a rotation angle position correction unit that corrects the rotation angle position of the rotor based on the sampling value acquired by the sampling value acquisition unit and the error parameter of the memory. A second input / output means for receiving the sampling value transmitted from the first input / output means and transmitting the error parameter to the position detector; and the three position detections based on the received sampling value. Error parameter calculation means for calculating an error parameter for correcting a signal error.

With such a configuration, in the position detector, the sampling value acquisition means acquires at least five sampling values having different rotation angle positions for each of the three position detection signals, and the first input / output The acquired sampling value is transmitted to the error parameter extracting device by the means.
In the error parameter extraction device, when the sampling value is received by the second input / output unit, the error parameter calculation unit calculates an error parameter for correcting the error of the three position detection signals based on the received sampling value. The Then, the calculated error parameter is transmitted to the position detector by the second input / output means.

  In the position detector, when the error parameter is received by the first input / output means, the received error parameter is stored in the memory. Then, the rotation angle position correction unit corrects the rotation angle position of the rotor based on the acquired sampling value and the error parameter of the memory.

[Invention 2] Further, the rotation angle position detection device of Invention 2 is the rotation angle position detection device of Invention 1, wherein n is an integer of 5 or more, and the sampling value acquisition means includes at least any arbitrary rotation angle position. sampling values of the five by _{a 1 ~a n, b 1 ~b} n, obtains the c ₁ to c _n, the error parameter-calculating means, the sampling value a ₁ ~a _n acquired by the sampling value obtaining means, The error parameter is calculated as a solution of an equation obtained by substituting b _{1 to} b _n and c _{1 to} c _n into the following three equations.

_{a i = Acosθ i + D =} A (cosθ i + d)
b _i = Bcos (θ _i −2π / 3−γ) + E = B {cos (θ _i −2π / 3−γ) + e}
_{c i = Ccos (θ i -4π} / 3-δ) + F = C {cos (θ i -4π / 3-δ) + f}
However, A, B, and C are amplitude error parameters, D, E, and F are offset error parameters, and d, e, and f are D / A, E / B, and F / C. , Γ, and δ are error parameters of the initial phase of the B phase and the C phase with respect to the A phase, and i = 1,..., N.

With such a configuration, the sampling value obtaining means, the sampling value _{a 1 ~a n, b 1 ~b} n, c 1 ~c n is acquired, the error parameter-calculating means, the obtained sampled values a ₁ ~a _n, b ₁ ~b _n, the error parameters are calculated c ₁ to c _n as solution of the equation obtained by substituting the above three equations.

  [Invention 3] The rotation angle position detection device according to Invention 3 is the rotation angle position detection device according to Invention 1, in which the A phase and B phase signals and the A phase and C phase signals among the three position detection signals are provided. The rotation angle position is calculated on the basis of the rotation angle position, and an abnormality determination unit is provided that determines that the rotation angle position is abnormal when the calculated rotation angle position difference is equal to or greater than a predetermined value.

  With such a configuration, the rotation angle position is calculated and calculated based on the A-phase and B-phase signals and the A-phase and C-phase signals among the three position detection signals. When the difference in rotational angle position is greater than or equal to a predetermined value, it is determined that there is an abnormality.

  [Invention 4] Further, the rotation angle position detection device of the invention 4 is the rotation angle position detection device of the invention 1, wherein the A phase and B phase signals and the A phase and C phase signals among the three position detection signals. Rotation angle position calculating means for calculating the rotation angle position based on the rotation angle position and outputting an average value of the calculated rotation angle positions as the rotation angle position.

  With such a configuration, the rotation angle position calculation unit calculates the rotation angle position based on the A phase and B phase signals and the A phase and C phase signals among the three position detection signals. The average value of the rotation angle positions thus obtained is output as the rotation angle position.

  [Invention 5] Further, the rotation angle position detection device of Invention 5 is the rotation angle position detection device of Invention 1, wherein the error parameter calculation means calculates and updates the error parameter during the position detection of the position detector. Repeat.

  With such a configuration, the error parameter is calculated by the error parameter calculation means, and the error parameter in the memory is updated based on the calculated error parameter. This is repeated during position detection of the position detector.

As described above, according to the rotation angle position detection device of the first aspect of the invention, the rotation angle position is corrected based on the error parameter. The effect that good angle detection can be performed is obtained.
Furthermore, according to the rotation angle position detection apparatus of the second aspect, the error parameter can be accurately calculated, so that an effect that more accurate angle detection can be performed is obtained.

Furthermore, according to the rotation angle position detection device of the third aspect of the invention, it is possible to detect an abnormality of the sensor.
Furthermore, according to the rotation angle position detection device of the fourth aspect of the invention, there is an effect that angle detection with high reliability can be performed.
Furthermore, according to the rotation angle position detection device of the fifth aspect of the invention, the rotation angle position is corrected based on the error parameter updated during position detection. Therefore, highly accurate angle detection that follows changes in the environment and changes over time can be performed. The effect that it can be performed is acquired.

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 are diagrams showing an embodiment of a rotation angle position detection device according to the present invention.
First, the configuration of the three-phase resolver angle calculation circuit will be described.
FIG. 1 is a block diagram showing a configuration of a three-phase resolver angle calculation circuit.
As shown in FIG. 1, the three-phase resolver angle calculation circuit includes a three-phase resolver 10 rotatably attached to a rotating shaft such as a motor, and an excitation signal that outputs an excitation signal sinωt to the resolver 10 via an amplifier 15. A generator 16, an RDC 20 that detects the rotational angle position of the rotary shaft as position detection data based on an output signal from the resolver 10, and an error parameter extraction device 30 that calculates an error parameter based on an output signal from the RDC 20. It is configured.

  The resolver 10 is composed of a cylindrical stator and a rotor that grips the rotation shaft and is rotatably disposed in the stator, and the reluctance between the rotor and the stator varies depending on the position of the rotor, The fundamental wave component of the reluctance change per rotation of the rotor is configured to be one cycle. That is, the thickness of the rotor is changed so that the inner diameter center of the rotor coincides with the inner diameter center of the stator and the outer shape center of the rotor is decentered from the inner diameter center by a certain amount of eccentricity. It changes according to the position. For this reason, the resolver 10 outputs three-phase signals having phases different from each other by 120 ° as resolver signals that change according to the rotation angle of the rotation shaft.

The RDC 20 includes a parameter storage unit that stores error parameters. Further, the rotor is rotated to sample the three-phase resolver signal at five different rotational angle positions, and five sampled values a _{1 to} a ₅ , b _{1 to} b ₅ , and c _{1 to} c ₅ are obtained. get. Then, these 15 sampling values are sent to the error parameter extraction device 30.
The error parameter extraction device 30 acquires the resolver signal sampling values a _{1 to} a ₅ , b _{1 to} b ₅ , and c _{1 to} c ₅ from the RDC 20, and corrects the resolver signal error based on the acquired sampling values. An error parameter for calculating the error is calculated, and the calculated error parameter is stored in the RDC 20.

Next, processing of the error parameter extraction device 30 will be described.
FIG. 2 is a flowchart showing an error parameter calculation process executed by the error parameter extraction device 30.
When the error parameter calculation process is executed by the error parameter extraction device 30, as shown in FIG. 2, first, the process proceeds to step S100.

In step S100, a sampling value acquisition request is output to the RDC 20, and the process proceeds to step S102, where the sampling values a, b, and c of the resolver signal are acquired from the RDC 20, and the process proceeds to step S106.
In step S106, it is determined whether or not _five sampling values a _{1 to} a ₅ , b _{1 to} b ₅ , and c _{1 to} c ₅ have been acquired for each of the three-phase resolver signals. _{1 ~a 5, b 1 ~b 5} , when it is determined that acquires c ₁ ~c ₅ (Yes), the process proceeds to step S108.

In step S108, based on the sampling values _{a 1 ~a 5, b 1 ~b} 5, c 1 ~c 5 acquired, calculating an error parameter as follows.
The signal model of the three-phase signal from the resolver 10 is defined as the following equations (1) to (3).

Phase A signal: a (θ) = Acos θ + D = A (cos θ + d) (1)
B phase signal: b (θ) = Bcos (θ−2π / 3−γ) + E = B {cos (θ−2π / 3−γ) + e} (2)
C phase signal: c (θ) = Ccos (θ-4π / 3−δ) + F = C {cos (θ-4π / 3−δ) + f} (3)

However, A, B, and C are amplitude error parameters, D, E, and F are offset error parameters, and d, e, and f are D / A, E / B, and F / C. , Γ, and δ are error parameters of the initial phase with respect to the A phase of the B phase and the C phase.

Among the unknown error parameters, A, B, C, e, d, f, γ, and δ are obtained. D, E, and F can be calculated from d, e, and f. D, E, and F may be obtained first instead of d, e, and f.

γ ′ = 2π / 3 + γ, δ ′ = 4π / 3 + δ, B = A / r _b , C = A / r _c

In other words, the relationship of the following equation (4) is established between the above equations (1) and (2).

(a−Ad) ² + (br _b −Ae) ² −2 (a−Ad) (br _b −Ae) cos γ ′ = A ² sin ² γ ′ (4)

Similarly, the relationship of the following equation (5) is established between the above equations (1) and (3).

(a−Ad) ² + (cr _c −Af) ² −2 (a−Ad) (cr _c −Af) cos δ ′ = A ² sin ² δ ′ (5)

Eight unknowns are calculated using the above equations (4) and (5).

Eight 3-phase signal of the rotational angular position theta ₁ through? ₅ from the resolver 10 to calculate the unknowns five different _{{a (θ i), b} (θ i), c (θ i)} (i = 1, 2, 3, 4, 5). These each a _i, b _i, expressed by the following equation (6) is abbreviated as c _i.

a ₁ = A (cos θ ₁ + d), b ₁ = B {cos (θ ₁ −γ ′) + e}, c ₁ = C {cos (θ ₁ −δ ′) + f}
a ₂ = A (cos θ ₂ + d), b ₂ = B {cos (θ ₂ −γ ′) + e}, c ₂ = C {cos (θ ₂ −δ ′) + f}
a ₃ = A (cos θ ₃ + d), b ₃ = B {cos (θ ₃ −γ ′) + e}, c ₃ = C {cos (θ ₃ −δ ′) + f}
a ₄ = A (cos θ ₄ + d), b ₄ = B {cos (θ ₄ −γ ′) + e}, c ₄ = C {cos (θ ₄ −δ ′) + f}
a ₅ = A (cos θ ₅ + d), b ₅ = B {cos (θ ₅ −γ ′) + e}, c ₅ = C {cos (θ ₅ −δ ′) + f} (6)

Here, a new unknown is defined as in the following equation (7).

w _b = Ad−Aecos γ ′, x _b = r _b (Ae−Adcos γ ′), y _b = r _b cos γ ′ (7)

From the above equations (6) and (7), a quaternary simultaneous equation relating to the B phase can be constructed as the following equation (8) from four combinations of unequal combinations of i and j.

(a _i −a _j ) w _b + (b _i −b _j ) x _b + (a _i b _i −a _j b _j ) y _b − (b _i ² −b _j ² ) / 2 · r _b ² = (a _i ² −a _j ² ) / 2 (8)

From the solution of the above equation (8) and the above equation (7) for the B phase, the following equation (9) is obtained.

here,

s = a−Ad, t = br _b −Ae

Then, the following formula (10) is obtained.

s ² + t ² −2 stcos γ ′ = A ² sin ² γ ′ = A ² (1-cos ² γ ′) (10)

If the above equation (10) is substituted into the above equation (4), A can be calculated by the following equation (11).

Thereby, B = A / r _b , and γ ′, d, and e can be calculated by the above formulas (7) and (9).
Similarly, A can be calculated for the C phase, and C = A / r _c , δ ′, and f can be calculated.

In this way, all error parameters A, B, C, d, e, f, γ ′, δ ′ can be calculated.
The above is an example of a calculation method for calculating eight unknowns, but is not limited to this calculation method. Different equations may be created and calculated from the solutions.
Next, the process proceeds to step S110, where the calculated error parameters A, B, C, d, e, f, γ ′, δ ′ are sent to the RDC 20 to be stored, a series of processing is terminated, and the original processing is restored. Let

On the other hand, when it is determined in step S106 that the five sampling values a _{1 to} a ₅ , b _{1 to} b ₅ , and c _{1 to} c ₅ have not yet been acquired (No), the process proceeds to step S100.
Next, processing of the RDC 20 will be described.
First, the error parameter saving process will be described.
FIG. 3 is a flowchart showing an error parameter storage process executed by the RDC 20.

When the error parameter storage process is executed by the RDC 20, as shown in FIG. 3, first, the process proceeds to step S150.
In step S150, a sampling value acquisition request is received, the process proceeds to step S152, the three-phase resolver signal is simultaneously sampled to obtain sampling values a, b, and c, and the process proceeds to step S154 to acquire the acquired sampling. The values a, b, and c are transmitted to the error parameter extraction device 30, and the process proceeds to step S156.

  In step S156, it is determined whether or not five sets of sampling values a, b, and c have been transmitted. If it is determined that five sets of sampling values a, b, and c have been transmitted (Yes), the process proceeds to step S158. The error parameter is received, the process proceeds to step S160, the received error parameter is stored in the parameter storage unit, the series of processes is terminated, and the process returns to the original process.

On the other hand, when it is determined in step S156 that five sets of sampling values a, b, and c have not been transmitted (No), the process proceeds to step S150.
Next, the rotation angle position calculation process will be described.
FIG. 4 is a flowchart showing the rotation angle position calculation process executed by the RDC 20.
When the rotation angle position calculation process is executed by the RDC 20, as shown in FIG. 4, first, the process proceeds to step S200.

In step S200, the sampling timer is started, and the process proceeds to step S202, where it is determined whether the sampling timing has been reached based on the value of the sampling timer. If it is determined that the sampling timing has been reached (Yes), step S204 is performed. Migrate to
In step S204, three-phase resolver signals are simultaneously sampled to obtain sampling values a, b, and c, and the process proceeds to step S206.

In step S206, the rotation angle position θ _B is calculated based on the error parameters A, B, C, d, e, f, γ ′, δ ′ and the acquired sampling values a and b in the parameter storage unit. Of these error parameters, C, f, and δ ′ are not necessarily required.
The constants required to calculate the rotational angle position are actually {Ad, Be, r _b , γ ′} or {Ad, Cf, r _c , δ ′}. These are obtained by calculating at the time of receiving the error parameter and storing them in the parameter storage unit, or by reading the error parameters from the parameter storage unit and calculating them.

From the relationship between the A phase and the B phase, the following equation (12) is obtained.

から

From

となる。ただし、

It becomes. However,

は、測定に先立って誤差パラメータｒ_b、γ′から計算し、誤差パラメータ記憶部に記憶しておく。
回転角度位置θ_Bは、上式（12）からtan^-1をとることにより算出することができる。

Is calculated from the error parameters r _b and γ ′ prior to measurement and stored in the error parameter storage unit.
The rotation angle position θ _B can be calculated by taking tan ⁻¹ from the above equation (12).

Next, the process proceeds to step S208, and rotation is performed in the same manner as in step S206 based on the error parameters A, B, C, d, e, f, γ ′, δ ′ and the acquired sampling values a, c in the parameter storage unit. The angular position θ _C is calculated. Of these error parameters, B, d, and γ ′ are not necessarily required.
Next, it proceeds to a step S210, the rotational angular position theta _B, determines whether the absolute value of the difference between theta _C is smaller than the threshold value E _t, when it is determined to be smaller than the threshold value E _t (Yes) it is Then, the process proceeds to step S212, and the rotational angle position θ is calculated by the following equation (13).

θ = (θ _B + θ _C ) / 2 (13)

The amplitude difference, offset, and initial phase error can be corrected by the above equations (12) and (13).

Next, the process proceeds to step S214, where the calculated rotation angle position θ is output as position detection data, and a series of processes is terminated and the original process is restored.
On the other hand, in step S210, the rotational angular position theta _B, when the absolute value of the difference between theta _C is determined to be the threshold value E _t or more (No), the process proceeds to step S216, abnormally deal of the resolver 10 errors The process is executed, a series of processes are terminated, and the original process is restored.

On the other hand, when it is determined in step S202 that the sampling timing is not reached (No), the process waits in step S202 until the sampling timing is reached.
Next, the operation of the present embodiment will be described.
First, prior to the actual operation of the RDC 20, the RDC 20 is subjected to a test operation at the time of manufacture or the like.
In the error parameter extraction device 30, a sampling value acquisition request is output to the RDC 20 through step S100.

In the RDC 20, when an acquisition request is input, three-phase resolver signals are simultaneously sampled, and sampling values a, b, and c are output to the error parameter extraction device 30.
In the error parameter extraction device 30, the sampling values are obtained until _five sampling values a _{1 to} a ₅ , b _{1 to} b ₅ , and c _{1 to} c ₅ are obtained at different rotation angle positions for each of the three-phase resolver signals. Acquisition is repeated. When the necessary number of sampling values is acquired, the above formulas (1) to (11) are obtained based on the acquired sampling values a _{1 to} a ₅ , b _{1 to} b ₅ , and c _{1 to} c ₅ through step S108. ), Error parameters A, B, C, d, e, f, γ ′, δ ′ are calculated. Then, through step S110, the calculated error parameters A, B, C, d, e, f, γ ′, δ ′ are stored in the RDC 20.

Next, the RDC 20 is put into actual operation.
In the RDC 20, at the sampling timing, the three-phase resolver signal is sampled simultaneously through step S204, and the sampling values a, b, and c are obtained. Then, through steps S206 and S208, based on the error parameters A, B, C, d, e, f, γ ′, δ ′ and the acquired sampling values a, b, c in the parameter storage unit, The rotational angular positions θ _B and θ _C are calculated by 12). At this time, the rotational angular position theta _B, when the absolute value of the difference between theta _C is smaller than the threshold value E _t is, through steps S210, is calculated rotational angular position theta is by the above equation (13), the rotation angle calculated The position θ is output as position detection data.

In contrast, the rotational angular position theta _B, when the absolute value of the difference between theta _C is the threshold value E _t or more, through step S216, error processing is performed.
Thus, in this embodiment, five sampling values a _{1 to} a ₅ , b _{1 to} b ₅ , and c _{1 to} c ₅ are acquired for each of the three-phase resolver signals, and the acquired sampling value a based on _{1 ~a 5, b 1 ~b 5} , c 1 ~c 5, error parameters a by the above equation (1) ~ (11), B, C, d, e, f, and γ ', δ' The rotation angle position is corrected based on the calculated error parameters A, B, C, d, e, f, γ ′, and δ ′.

As a result, the rotational angle position θ is corrected based on the error parameter, so that the angle detection with higher accuracy can be performed even if an amplitude difference, an offset, and an initial phase error occur in the three-phase resolver signal as compared with the conventional case. be able to.
Further, in the present embodiment, rotation angle positions θ _B and θ _C are calculated based on the A phase and B phase signals and the A phase and C phase signals among the three-phase resolver signals, respectively, and the calculated rotations are calculated. When the absolute value of the difference between the angular positions θ _B and θ _C is equal to or greater than the threshold _Et, it is determined that there is an abnormality.

Thereby, the abnormality of the resolver can be detected.
Further, in the present embodiment, rotation angle positions θ _B and θ _C are calculated based on the A phase and B phase signals and the A phase and C phase signals among the three-phase resolver signals, respectively, and the calculated rotations are calculated. The average value of the angular positions θ _B and θ _C is output as the rotational angular position θ.
Thereby, highly reliable angle detection can be performed.

  In the above embodiment, the RDC 20 corresponds to the position detector of the invention 1, steps S102 and S110 correspond to the second input / output means of the invention 1, and step S108 is the error parameter calculation of the invention 1 or 2. Step S152 corresponds to the sampling value acquisition means of the first or second aspect. Steps S154 and S158 correspond to the first input / output means of the invention 1, and steps S206, S208 and S212 correspond to the rotation angle position correction means of the invention 1 or the rotation angle position calculation means of the invention 4. Step S210 corresponds to the abnormality determination means of the third aspect.

  In the above embodiment, the error parameters for correcting the amplitude difference, offset, and initial phase error are calculated. However, the present invention is not limited to this, and any one of the amplitude difference, offset, and initial phase error is calculated. An error parameter for correcting the error may be calculated. If the number of error parameters is less than 8, the number of samples in each phase may be less than 5.

  In the above embodiment, the error parameter is calculated prior to the actual operation of the RDC 20. However, the present invention is not limited to this, and the error parameter calculation process and the error parameter storage process of FIGS. By executing this in parallel with the rotation angle position calculation process, it is possible to repeatedly calculate and update the error parameter during the actual operation of the RDC 20.

Thereby, since the rotation angle position is corrected based on the error parameter updated to the actual operation of the RDC 20, it is possible to perform highly accurate angle detection following the environmental change and the secular change.
The applied sensor is not limited to the resolver, and may be, for example, a three-phase output sensor including three analog Hall ICs.

It is a block diagram which shows the structure of a three-phase resolver angle calculation circuit. 4 is a flowchart showing an error parameter calculation process executed by the error parameter extraction device 30. 5 is a flowchart showing an error parameter storage process executed by the RDC 20; 7 is a flowchart showing a rotation angle position calculation process executed by the RDC 20.

Explanation of symbols

10 Resolver 20 RDC
30 Error parameter extraction device

Claims (5)

The position detection signal is input from a three-phase sensor that outputs three position detection signals having different phases that change according to the rotation angle of the rotor, and the rotation angle position of the rotor is determined based on the input position detection signal. A device comprising a position detector for detection and an error parameter extraction device applied to the position detector,
The position detector includes sampling value acquisition means for acquiring at least five sampling values having different rotation angle positions for each of the three position detection signals, and the at least five sampling values as the error parameter. A first input / output unit for transmitting to the extraction device and receiving the error parameter from the error parameter extraction device; a memory for storing the error parameter; a sampling value acquired by the sampling value acquisition unit; and an error parameter of the memory Rotation angle position correction means for correcting the rotation angle position of the rotor based on
The error parameter extracting device receives the sampling value transmitted from the first input / output unit, and transmits a second input / output unit that transmits the error parameter to the position detector. And a rotation angle position detecting device, comprising: error parameter calculating means for calculating an error parameter for correcting an error between the three position detection signals. In claim 1,
n is an integer greater than or equal to 5,
The sampling value obtaining means, the sampling value a ₁ ~a _n rotational angular position one by any at least 5 different, b ₁ ~b _n, obtains the c ₁ to c _n,
Said error parameter-calculating means, the sampling value a ₁ ~a _n acquired by the sampling value acquisition unit, b ₁ ~b _n, a c ₁ to c _n as solution of the equation obtained by substituting into the following three equations The rotation angle position detection device characterized by calculating the error parameter.
_{a i = Acosθ i + D =} A (cosθ i + d)
b _i = Bcos (θ _i −2π / 3−γ) + E = B {cos (θ _i −2π / 3−γ) + e}
_{c i = Ccos (θ i -4π} / 3-δ) + F = C {cos (θ i -4π / 3-δ) + f}
However, A, B, and C are amplitude error parameters, D, E, and F are offset error parameters, and d, e, and f are D / A, E / B, and F / C. , Γ, and δ are error parameters of the initial phase of the B phase and the C phase with respect to the A phase, and i = 1,..., N. In claim 1,
When the rotation angle position is calculated based on the A-phase and B-phase signals and the A-phase and C-phase signals among the three position detection signals, and the difference between the calculated rotation angle positions is not less than a predetermined value A rotation angle position detection device comprising an abnormality determination means for determining an abnormality. In claim 1,
The rotation angle position is calculated based on the A-phase and B-phase signals and the A-phase and C-phase signals among the three position detection signals, and an average value of the calculated rotation angle positions is used as the rotation angle position. A rotation angle position detection device comprising rotation angle position calculation means for outputting. In claim 1,
A rotation angle position detection apparatus that repeatedly performs calculation by the error parameter calculation means and updating of the error parameter during position detection of the position detector.

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