JP2020114057A - Abnormality diagnosis device for motor rotation angle sensor, and motor control apparatus - Google Patents

Abstract

To provide an abnormality diagnosis device capable of improving the reliability and accuracy of detecting a failure in a motor rotation angle sensor, and a motor control apparatus equipped with the same.SOLUTION: An abnormality diagnosis device for a rotation angle sensor includes: a first electric angle calculation unit (410) that determines the presence/absence of an abnormality in the rotation angle sensor on the basis of a first sine signal (S1) or a first cosine signal (C1) extracted from output signals from a rotation angle sensor (320) provided to a motor, and that calculates a first electric angle (TH1) on the basis of at least one of the first sine signal and the first cosine signal; a second electric angle calculation unit (420) that calculates a second electric angle (TH2) on the basis of at least one of a second cosine signal (C2) which is calculated from the first sine signal and a second sine signal (S2) which is calculated from the first cosine signal; and an abnormality determination unit (430) that determines the abnormality in the rotation angle sensor on the basis of the first and second electric angles.SELECTED DRAWING: Figure 2

Description

The present invention relates to an abnormality diagnosis device that diagnoses an abnormality of a rotation angle sensor that detects a rotation angle of a motor, and a motor control device including the abnormality diagnosis device.

A main motor in an electric vehicle is provided with a sensor such as a resolver for detecting a rotation angle of the motor.

In a motor rotation angle detection system using a resolver, it is required to detect a resolver failure at an early stage. As the resolver failure, there is a high rate of disconnection failure of the sine/cosine winding, which is the resolver output winding. In general, a disconnection failure of the sine/cosine winding of a resolver is detected from the calculation result of the square root sum of squares of the sine/cosine signal, or a means for estimating the rotation angle is provided separately from the resolver, and the two are compared. It is detected (for example, see Patent Document 1).

JP, 2009-183034, A

Regarding the detection of disconnection failure of the sine/cosine winding of the resolver, it is required to be able to detect reliably regardless of manufacturing variations of the resolver and the operating state of the motor, and to prevent false detection.

On the other hand, in the prior art described in Patent Document 1 described above, the Hilbert transformer is used to delay (or advance) the phase of the sine/cosine signal output from the sine/cosine winding by 90 degrees. The rotation angle is estimated from the signal to detect the abnormality of the resolver. Therefore, it takes time to detect the disconnection failure. Further, it is difficult to shift the phase by 90 degrees while accurately preserving the amplitude by the Hilbert transform at any rotation speed of the motor. For this reason, the accuracy of failure detection may decrease or erroneous detection may occur due to manufacturing variations in resolvers and operating states of the motor.

Therefore, the present invention provides an abnormality diagnosis device for a rotation angle sensor that can improve the accuracy and reliability of failure detection of a motor rotation angle sensor such as a resolver, and a motor control device including the abnormality diagnosis device.

In order to solve the above-mentioned problems, an abnormality diagnosis device for a rotation angle sensor according to the present invention uses a first sine signal or a first cosine signal extracted from a two-phase signal output from a rotation angle sensor provided in a motor. Based on at least one of the first sine signal and the first cosine signal, the first electrical angle is calculated based on whether the rotation angle sensor is abnormal or not. Based on at least one of the electrical angle calculator, the second cosine signal calculated from the first sine signal, and the second sine signal calculated from the first cosine signal, the second A second electrical angle calculation unit that calculates an electrical angle and an abnormality determination unit that determines whether or not there is an abnormality in the rotation angle sensor based on the first electrical angle and the second electrical angle are provided.

In order to solve the above problems, a motor control device according to the present invention is based on a motor, a rotation angle sensor provided in the motor, an inverter for supplying electric power to the motor, and a two-phase signal output from the rotation angle sensor. And a control unit for controlling the inverter, the abnormality of the rotation angle sensor based on the first sine signal or the first cosine signal extracted from the two-phase signal output from the rotation angle sensor. The abnormality diagnosis device is provided with an abnormality diagnosis device for determining the presence or absence of the rotation angle sensor.

According to the present invention, the accuracy and reliability of failure detection of the rotation angle sensor of the motor can be improved.

Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

The structure of the motor control apparatus which is one embodiment is shown. The structure of the abnormality detection part in FIG. 1 is shown. The example of a waveform of each signal in an abnormality detection part is shown. The example of a waveform of each signal in an abnormality detection part is shown. The structural example of the abnormality determination part in FIG. 2 is shown. 6 is a flowchart showing an operation of an abnormality detection unit including the abnormality determination unit shown in FIG.

Embodiments of the present invention will be described below with reference to the drawings. In each drawing, the same reference numerals indicate the same constituent elements or constituent elements having similar functions.

FIG. 1 shows the configuration of a motor control device according to an embodiment of the present invention.

The motor control device 500 has a motor 300, a motor drive device 100, and an abnormality detection unit 400.

The motor drive device 100 has a current detection unit 120, a current control unit 110, an inverter 130, a rotational position detection unit 150, and an excitation unit 160.

The battery 200 is a DC voltage source of the motor drive device 100. The DC power stored in the battery 200 is converted by the inverter 130 of the motor drive device 100 into three-phase AC power of variable voltage/variable frequency. The inverter 130 supplies the three-phase AC power to the motor 300.

The motor 300 is a synchronous motor that is rotationally driven by the supply of three-phase AC power. As the motor 300, for example, a permanent magnet synchronous motor is applied.

A resolver 320 is attached to the motor 300 as a rotation angle sensor in order to control the phase of the three-phase AC voltage according to the phase of the induced voltage of the motor 300. The resolver 320 receives the excitation signal (sin ωt) from the excitation unit 160 and outputs two-phase signals (sin θsin ωt, cos θsin ωt) whose phases are shifted by 90° (θ: rotation angle of the motor). It should be noted that the amplitude of the signal is omitted in the mathematical expressions showing each signal in the figure.

Since the resolver 320 is composed of an iron core and a winding wire, it has excellent resistance to use environment, but a GMR sensor or a sensor using a Hall element may be applied as the rotation angle sensor.

The motor drive device 100 has a current control function for controlling the output of the motor 300, but in the present embodiment, so-called vector control is applied as follows.

The current detection unit 120 uses the three-phase motor current values (Iu, Iv, Iw) detected by a current sensor (for example, CT (Current Transformer)) to rotate the motor detected by a rotation position detection unit 150 described later. The dq conversion is performed according to the angle θ, and the dq axis current detection value (Id, Iq) is output. The current control unit 110 matches the dq-axis current detection values (Id, Iq) with the dq-axis current command values (Id*, Iq*) created by the host controller (not shown), A dq-axis voltage command (Vd*, Vq*) is created and output.

In the inverter 130, the dq axis voltage command (Vd*, Vq*) is converted into a three-phase motor voltage command (Vu*, Vv*, Vw*) according to the rotation angle θ to convert the three-phase motor voltage command. A drive signal created by pulse width modulation (PWM) as a modulated wave is created. The drive signal controls ON/OFF of the semiconductor switch element that constitutes the main circuit of the inverter 130, so that the inverter 130 outputs three-phase voltages (Vu, Vv, Vw) according to the motor voltage command.

Assuming that the amplitudes of the signals S1 and C1 input to the rotational position detector 150 according to the two output signals (sin θsin ωt, cos θsin ωt) of the resolver 320 are C and S, respectively, in the present embodiment, C= Since S(=A), S1=Ssinθ=Asinθ and C1=Ccosθ=Acosθ. The rotational position detector 150 calculates the rotation angle θ of the motor based on S1 and C1. The rotational position detecting unit 150 calculates a known means, for example, a means using a PLL (Phase Locked Loop), a means using numerical data of trigonometric functions (sin, cos, tan), and an arc tangent (tan ⁻¹ ). The rotation angle θ of the motor is calculated by using such means.

The signals S1 and C1 are two phases of the resolver 320 at a timing (π/2, 3π/2, 5π/2,...) That is an odd multiple of π/2 in terms of electrical angle in the excitation signal (sinωt). Of the output signal is sampled. A sample and hold circuit, for example, can be applied to the extraction of the signals S1 and C1.

The abnormality detection unit 400 receives the two signals S1 and C1 extracted from the output signal of the resolver 320, and detects the presence or absence of abnormality in the resolver 320 based on these signals. When the abnormality detection unit 400 detects an abnormality, it outputs an abnormality determination signal J1 for notifying an abnormality of the resolver 320 to a host controller (not shown). Upon receiving the abnormality determination signal J1 from the abnormality detection unit 400, the host control device transmits an abnormal stop command signal to the motor drive device 100. When the motor drive device 100 receives the abnormal stop command signal, the motor drive device 100 stops driving the inverter 130 or disconnects the electrical connection between the battery 200 and the inverter 130 to stop the motor 300.

FIG. 2 shows the configuration of the abnormality detection unit 400 in FIG.

As shown in FIG. 2, the abnormality detection unit 400 includes a first electric angle calculation unit 410, a second electric angle calculation unit 420, and an abnormality determination unit 430.

The first electrical angle computing unit 410 computes the first electrical angle TH1 based on the signals S1 and C1 extracted from the output signal of the resolver 320.

The second electrical angle calculation unit 420 inputs a signal (C2) obtained by differentiating the signal S1 with respect to time and a signal (S2) obtained by multiplying the signal C1 by “−1” to invert the positive/negative and then differentiating with time. The second electrical angle TH2 is calculated based on the signals S2 and C2.

The abnormality determination unit 430 receives the first electrical angle TH1 and the second electrical angle TH2 as input signals, determines whether there is an abnormality in the resolver 320 based on these signals, and outputs the determination result, that is, the abnormality determination signal J1. Is output.

In the present embodiment, the first electrical angle calculation unit 410 is an arc tangent (tan ⁻¹ ) calculation unit. That is, the first electrical angle calculation unit 410 calculates and calculates the rotation angle θ by arc tangent calculation based on the signals S1 (=Asin θ (normal time)) and C1 (=Acos θ (normal time)). θ is output as the first electrical angle TH1. For example, the first electrical angle calculation unit 410 calculates S1/C1 (=tan θ (normal)), and based on the calculated S1/C1, a preset arc tangent calculation formula, θ and tan θ Θ (=tan ⁻¹ (S1/C1)) is calculated using table data showing the relationship of

In the present embodiment, the second electrical angle calculation unit 420 is an arc tangent (tan ⁻¹ ) calculation unit. That is, the second electrical angle calculation unit 420 causes the signal S2(=d(-C1)/dt=d(-Acosθ)/dt=A(dθ/dt)·sinθ=Aω _m sinθ (normal) (ω _m is the angular velocity of the motor) and C2 (=d(S1)/dt=d(Asinθ)/dt=A(dθ/dt)・cosθ=Aω _m cosθ (normal)) is rotated by arctangent calculation. The angle θ is calculated, and the calculated θ is output as the second electrical angle TH2. For example, the first electrical angle calculation unit 410 calculates S2/C2 (=tan θ) and outputs the calculated S2/C2. Based on this, θ (=tan ⁻¹ (S2/C2)) is calculated using a preset arc tangent calculation formula, table data showing the relationship between θ and tan θ, and the like.

When the resolver 320 is operating normally, the amplitude (S) of the signal S1 and the amplitude (C) of the signal C1 are equal (S=C=A (normal time)), and the first electrical angle TH1 and the second electrical angle TH1 are equal to each other. The electrical angle TH2 matches. Further, when the resolver 320 is operating abnormally, the amplitude (S) of the signal S1 and the amplitude (C) of the signal C1 are different (see FIG. 3 described later), so that the first electrical angle TH1 and the second electrical angle TH1 The angle TH2 is different. Therefore, the abnormality determination unit 430 determines whether or not there is an abnormality in the resolver 320 by determining whether the first electrical angle TH1 and the second electrical angle TH2 match.

That is, when the first electrical angle TH1 and the second electrical angle TH2 match, the abnormality determination unit 430 determines that the resolver 320 is normal and outputs the abnormality determination signal J1 indicating normality. When the first electrical angle TH1 and the second electrical angle TH2 do not match and differ, the abnormality determination unit 430 determines that the resolver 320 is abnormal and outputs an abnormality determination signal J1 indicating abnormality.

Here, the state of each signal (S1, C1, S2, C2, TH1, TH2) in the abnormality detection unit 400 when an abnormality occurs in the resolver 320 will be described.

FIG. 3 shows a waveform example of each signal (S1, C1, S2, C2, TH1, TH2) in the abnormality detection unit 400. Note that at time T1 in FIG. 3, a disconnection fault has occurred in the sin winding of the resolver 320 (the winding that outputs the signal sin θsin ωt (amplitude omitted) during normal operation).

As shown in FIG. 3, until time T1, the resolver 320 is operating normally, so S1 is Asinθ and C1 is Acosθ. In this case, S2, which is the time derivative of C1, is Aω _m sin θ, and C2, which is the time derivative of S1, is Aω _m cos θ. At this time, both the first electrical angle TH1 and the second electrical angle TH2 are tan ⁻¹ (sin θ/cos θ), and TH1 and TH2 match, as indicated by “angle TH” in FIG.

After the time T1 when the disconnection failure occurs, S1 has an amplitude different from the normal time and has an offset like Bsinθ+C. Note that C1 is Acos θ as in the normal state. Therefore, TH1=tan ⁻¹ (S1/C1)=tan ⁻¹ {(Bsinθ+C)/(Acosθ)}. Further, S2, which is the time derivative of C1, is Aω _m sin θ, and C2, which is the time derivative of S1, is Bω _m cos θ. Therefore, TH2=tan ⁻¹ (S2/C2)=tan ⁻¹ {(Asin θ/(Bcos θ)}, and TH2 does not match TH1. In this case, as indicated by “angle TH” in FIG. TH1 and TH2 do not match and draw different waveforms.

As shown in FIG. 3, when the resolver 320 is normal, the first electrical angle TH1 and the second electrical angle TH2 match, but when a disconnection fault occurs, the mismatch immediately occurs between TH1 and TH2. Occurs. Therefore, the abnormality determination unit 430 can detect the abnormality early when the resolver 320 has an abnormality by determining the presence or absence of the abnormality of the resolver 320 depending on whether TH1 and TH2 match. it can. As a result, when an abnormality occurs in the resolver 320, the motor control device 500 can be stopped early.

Further, since S2/C2=(dC1/dt)/(dS1/dt), if the amplitude and offset of C1 and S1 are different from each other when the resolver is abnormal, S1/C1 and S2/C2 are different. Therefore, S1/C1 and S2/C2 will be different at the time of abnormality if the resolvers are the same even if the magnitude of the output signal varies depending on the resolver used. As a result, according to the present embodiment, it is possible to reliably detect an abnormality even if there is manufacturing variation of the resolver.

In the signals C1 and S1 corresponding to the output signals of the cos winding and the sin winding of the resolver 320, the amplitude may change depending on the rotation angle even in the normal state. Next, the state of each signal (S1, C1, S2, C2, TH1, TH2) in the abnormality detection unit 400 when an abnormality occurs in the resolver 320 will be described.

FIG. 4 shows a waveform example of each signal (S1, C1, S2, C2, TH1, TH2) in the abnormality detection unit 400. In this waveform example, when the resolver is normal, the amplitudes of S1 and C1 fluctuate within a range of ±10% depending on the rotation angle. Note that at time T1 in FIG. 4, a disconnection fault has occurred in the sin winding of the resolver 320 (the winding that outputs the signal sin θsinωt (amplitude omitted) during normal operation).

As shown in FIG. 4, when the amplitude of the signal S1 fluctuates within a range of ±10% under normal conditions, the signal C2 obtained by time-differentiating the signal S1 also fluctuates within a range of ±10%. The same applies to the signals C1 and S2. Therefore, as indicated by “angle TH” in FIG. 4, the first electrical angle TH1 and the second electrical angle TH2 are the same in a normal state. At the time of the wire breakage failure, as in the case of FIG. 3, the first electrical angle TH1 and the second electrical angle TH2 do not match and are different from each other. Therefore, even when the magnitude of the amplitude of the signals S1 and C1 changes with time in a normal state, the abnormality detection unit 400 according to the present embodiment can detect the presence or absence of abnormality of the resolver with high accuracy and reliability. it can.

Next, a description will be given of the configuration of the abnormality determination unit 430 including means for determining whether or not there is an abnormality in the resolver and for preventing erroneous detection, and the operation of the abnormality detection unit 400 including this abnormality determination unit 430.

FIG. 5 shows a configuration example of the abnormality determination unit 430 in FIG.

The abnormality determination unit 430 includes an absolute value calculation unit 431, a threshold value determination unit 432, and a normal frequency and abnormal frequency counting unit 433.

The absolute value calculator 431 calculates the absolute value of the difference between the first electrical angle TH1 and the second electrical angle TH2.

The threshold determination unit 432 determines whether the absolute value of the difference between TH1 and TH2 calculated by the absolute value calculation unit 431 is equal to or greater than a predetermined threshold.

The normal number and abnormal number counting unit 433 counts (counts) the number of times that the resolver is detected to be normal and the number of times that the resolver is detected to be abnormal, based on the determination result of the threshold value determination unit 432. .. When the normal count/abnormality count unit 433 determines that the number of times detected as abnormal is equal to or larger than a predetermined threshold value, it outputs an abnormality determination signal J1 indicating that the resolver 320 is abnormal.

FIG. 6 is a flowchart showing the operation of the abnormality detection unit 400 including the abnormality determination unit 430 shown in FIG.

In step S1, the abnormality detection unit 400 starts the operation of detecting the presence/absence of abnormality of the resolver 320.

Next, in step S2, the abnormality detection unit 400 acquires a signal S1 that is a sine signal (related to sin θ) and a signal C1 that is a cosine signal (related to cos θ). Further, based on the acquired S1 and C1, the first electrical angle calculation unit 410 in the abnormality detection unit 400 calculates the first electrical angle TH1.

Next, in step S3, the abnormality detection unit 400 calculates a signal S2 that is a sine signal by multiplying C1 by "-1" and time differentiating "-C1" by a differentiator. Further, the abnormality detection unit 400 calculates the signal C2, which is a cosine signal, by differentiating S1 with time using another differentiator.

Next, in step S4, the second electrical angle calculation unit 420 in the abnormality detection unit 400 calculates the second electrical angle TH2 based on S2 and C2 calculated in step S3.

Next, in step S5, the absolute value calculation unit 431 included in the abnormality determination unit 430 of the abnormality detection unit 400 calculates the absolute value (|TH1-TH2|) of the difference between TH1 and TH2.

Next, in step S6, the threshold determination unit 432 included in the abnormality determination unit 430 determines whether the absolute value of the difference between TH1 and TH2 calculated in step S6 is equal to or greater than a preset threshold. If this absolute value is greater than or equal to the threshold value (YES in step S6), then step S7 is executed. If it is smaller than the threshold value (NO in step S6), then step S10 is executed.

In step S7, the normal frequency and abnormal frequency counting section 433 provided in the abnormality determining section 430 determines that the absolute value of the difference between TH1 and TH2 is greater than or equal to the threshold value in step S6, so the resolver 320 is abnormal. If it is determined that the abnormal number (abnormal determination number) is counted up once, the normal number (normal determination number) already counted at the present time is reset. When step S7 is executed, then step S8 is executed.

In step S8, the normal/abnormal number counting unit 433 determines whether or not the number of abnormalities already counted at the present time (abnormality determination number) is equal to or greater than a preset threshold value. If the number of abnormalities is greater than or equal to the threshold value (YES in step S8), then step S9 is executed, and if smaller than the threshold value (NO in step S8), the abnormality detection unit 400 ends the series of operations.

In step S9, the normal frequency and abnormal frequency counting unit 433 determines that the abnormal frequency is equal to or greater than the threshold value in step S8. Therefore, it is determined that the abnormality of the resolver 320 has occurred, and the abnormality of the resolver 320 is determined as the abnormal stop processing. If it shows, the abnormality determination signal J1 is transmitted to the host controller. When step S9 is executed, the abnormality detection unit 400 ends the series of operations.

In step S10, the normal frequency and abnormal frequency counting unit 433 determines that the resolver 320 is normal because the absolute value of the difference between TH1 and TH2 is determined to be smaller than the threshold value in step S6. The normal count (normal judgment count) is incremented by one. When step S10 is executed, step S11 is executed next.

In step S11, the normal count and abnormal count counting unit 433 determines whether the normal count (normal determination count) that has already been counted at this point is equal to or greater than a preset threshold value. If the number of normal times is equal to or more than the threshold value (YES in step S11), step S12 is executed next, and if it is smaller than the threshold value (NO in step S11), the abnormality detection unit 400 ends the series of operations.

In step S12, the normal count/abnormal count counting unit 433 determines that the normal count is equal to or greater than the threshold in step S11, and therefore the resolver 320 is determined to be normal and is already counted at this time. Reset the error count (error count). When step S12 is executed, step S8 is executed next. The abnormality detection unit 400 ends a series of operations.

According to the configuration of the abnormality determination unit 430 shown in FIG. 5 and the operation of the abnormality detection unit 400 shown in FIG. , Resolver 320 abnormality and normality are determined. As a result, erroneous detection of abnormality can be prevented, and highly accurate abnormality detection can be performed.

As described above, according to the present embodiment, since the sine signal and the cosine signal can be calculated from the cosine signal and the sine signal, respectively, the first sine signal S1 (for example, Asinθ) extracted from the two-phase signal output from the resolver is calculated. (Normal), Bsinθ+C (abnormal): A≠B) and the first cosine signal C1 (for example, Acosθ (normal), Bcosθ+C (abnormal): A≠B) based on at least one signal A first electrical angle calculation unit 410 that calculates the first electrical angle TH1, a second cosine signal C2 that is calculated from S1 by time differentiation, and a second sine signal that is calculated from C1 by time differentiation. A second electrical angle calculation unit 420 that calculates a second electrical angle TH2 based on at least one of the signals of S2, and an abnormality determination unit that determines whether there is an abnormality in the resolver 320 based on TH1 and TH2. The presence or absence of abnormality of the resolver can be detected with high accuracy or high reliability by including 430.

Instead of the time differentiation, the difference between the cosine signal with respect to the predetermined time width and the difference with the sine signal with respect to the predetermined time width may be used.

Further, each electrical angle is not limited to arc tangent (tan ⁻¹ : arctangent) calculation, and arc sine (sin ⁻¹ : arc sine) calculation or arc cosine (cos ⁻¹ : arc cosine) calculation may be used. .. When the arcsine (sin ⁻¹ : arc sine) operation or the arc cosine (cos ⁻¹ : arc cosine) operation is used, information (A) indicating the magnitude of the amplitude of C1 and S1 at the normal time is acquired, and, for example, , TH1=cos ^-1 (C1/A) and TH2=cos ^-1 (C2/A) are used to judge the presence/absence of abnormality of the resolver 320, and TH1=sin ^-1 (S1/A) and TH2=sin The presence/absence of abnormality of the resolver 320 is determined based on ^-1 (S2/A).

Further, the present embodiment is applicable not only to the resolver 320 but also to a rotation angle sensor that outputs a two-phase signal. For example, the present embodiment can be applied to a GMR sensor or the like.

It should be noted that the present invention is not limited to the embodiment described above, and various modifications are included. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Moreover, it is possible to add/delete/replace other configurations with respect to a part of the configurations of the respective embodiments.

For example, in the above-described embodiment, the first and second electric angles are calculated, but the map is not limited to the electric angle, and a map for calculating a physical quantity according to S1 and C1 or another function may be used.

Further, the motor may be a winding field type synchronous motor.

100...Motor drive device, 110...Current control unit, 120...Current detection unit,
130... Inverter, 150... Rotational position detection part, 160... Excitation part,
200... Battery, 300... Motor, 320... Resolver,
400... Abnormality detecting section, 410... First electrical angle computing section, 420... Second electrical angle computing section,
430... Abnormality determination unit, 431... Absolute value calculation unit, 432... Threshold value determination unit,
433... Normal number and abnormal number counting unit, 500... Motor control device

Claims (15)

Abnormality diagnosis device for a rotation angle sensor that determines whether there is an abnormality in the rotation angle sensor based on a first sine signal or a first cosine signal extracted from a two-phase signal output from a rotation angle sensor provided in a motor At
A first electrical angle computing unit that computes a first electrical angle based on at least one of the first sine signal and the first cosine signal;
A second electrical angle is calculated based on at least one of a second cosine signal calculated from the first sine signal and a second sine signal calculated from the first cosine signal. A second electrical angle calculation unit for
An abnormality determination unit that determines whether or not there is an abnormality in the rotation angle sensor based on the first electrical angle and the second electrical angle;
An abnormality diagnosis device for a rotation angle sensor, comprising: The abnormality diagnosis device for a rotation angle sensor according to claim 1,
The first electrical angle calculation unit calculates the first electrical angle based on the first sine signal, and the second electrical angle calculation unit calculates the first electrical angle based on the second sine signal. Compute the second electrical angle, or
The first electrical angle calculation unit calculates the first electrical angle based on the first cosine signal, and the second electrical angle calculation unit calculates the first electrical angle based on the second cosine signal. An abnormality diagnosis device for a rotation angle sensor, which calculates a second electrical angle. The abnormality diagnosis device for a rotation angle sensor according to claim 1,
The first electrical angle calculation unit calculates the first electrical angle based on the first sine signal and the first cosine signal, and the second electrical angle calculation unit calculates the second electrical angle. An abnormality diagnosis device for a rotation angle sensor, wherein the second electrical angle is calculated based on a sine signal and the second cosine signal. The abnormality diagnosis device for a rotation angle sensor according to claim 1,
The rotation angle sensor, wherein the second cosine signal is calculated by time differentiation of the first sine signal, and the second sine signal is calculated by time differentiation of the first cosine signal. Abnormality diagnosis device. The abnormality diagnosis device for a rotation angle sensor according to claim 1,
The abnormality determination unit,
When the first electrical angle and the second electrical angle match, it is determined that the rotation angle sensor is normal,
An abnormality diagnosis device for a rotation angle sensor, characterized in that when the first electrical angle and the second electrical angle are different, it is determined that the rotation angle sensor is abnormal. In the rotation angle sensor abnormality diagnosis device according to claim 5,
The amplitude of the first sine signal and the amplitude of the first cosine signal have the same magnitude when the rotation angle sensor is normal, and have different magnitudes when the rotation angle sensor is abnormal. An abnormality diagnosis device for a rotation angle sensor. The abnormality diagnosis device for a rotation angle sensor according to claim 1,
The abnormality determination unit counts the number of abnormality determinations of the rotation angle sensor, and outputs an abnormality determination signal indicating that the rotation angle sensor is abnormal when the number of abnormality determinations is equal to or greater than a predetermined threshold. An abnormality diagnosis device for a rotation angle sensor. In the rotation angle sensor abnormality diagnosis device according to claim 7,
The abnormality diagnosing device for a rotation angle sensor, wherein the abnormality determining unit counts the number of times of normality determination of the rotation sensor, and resets the number of times of abnormality determination when the number of times of normality determination is a predetermined threshold value or more. The abnormality diagnosis device for a rotation angle sensor according to claim 3,
When the first sine signal, the first cosine signal, the second sine signal, and the second cosine signal are S1, C1, S2, and C2, respectively, the first electrical angle calculation unit , Tan ⁻¹ (S1/C1) calculates the first electrical angle, and the second electrical angle calculation unit calculates tan ⁻¹ (S2/C2) to calculate the second electrical angle. An abnormality diagnosis device for a rotation angle sensor. In the rotation angle sensor abnormality diagnosis device according to claim 9,
The abnormality diagnosis device for a rotation angle sensor, wherein S2 is calculated based on dC1/dt, and C2 is calculated based on dS1/dt. The abnormality diagnosis device for a rotation angle sensor according to claim 2,
The first electrical angle computing unit computes the first electrical angle using inverse sine computation based on the first sine signal, and the second electrical angle computing unit computes the second electrical angle. Calculate the second electrical angle using the arc sine operation based on a sine signal, or
The first electrical angle calculation unit calculates the first electrical angle using inverse cosine calculation based on the first cosine signal, and the second electrical angle calculation unit calculates the second cosine. An abnormality diagnosis device for a rotation angle sensor, wherein the second electrical angle is calculated using the inverse cosine calculation based on a signal. The abnormality diagnosis device for a rotation angle sensor according to claim 11,
The rotation angle sensor, wherein the second cosine signal is calculated by time differentiation of the first sine signal, and the second sine signal is calculated by time differentiation of the first cosine signal. Abnormality diagnosis device. The abnormality diagnosis device for a rotation angle sensor according to claim 1,
An abnormality diagnosis device for a rotation angle sensor, wherein the rotation angle sensor is a resolver. A motor,
A rotation angle sensor provided in the motor,
An inverter for supplying power to the motor,
A control unit that controls the inverter based on a two-phase signal output from the rotation angle sensor;
In a motor control device including
An abnormality diagnosis device for determining whether or not there is an abnormality in the rotation angle sensor based on a first sine signal or a first cosine signal extracted from the two-phase signal output from the rotation angle sensor,
The abnormality diagnosis device,
A first electrical angle computing unit that computes a first electrical angle based on at least one of the first sine signal and the first cosine signal;
A second electrical angle is calculated based on at least one of a second cosine signal calculated from the first sine signal and a second sine signal calculated from the first cosine signal. A second electrical angle calculation unit for
An abnormality determination unit that determines whether or not there is an abnormality in the rotation angle sensor based on the first electrical angle and the second electrical angle;
A motor control device comprising: The motor control device according to claim 14,
The motor control device, which stops the motor when the abnormality diagnosis device determines that the rotation angle sensor is abnormal.

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