JP2002354876A - Apparatus and method for detecting deviation of sensor reference point, control apparatus and control method for electric motor, method for determining abnormality of electric motor, method for adjusting mounting position of sensor - Google Patents

Abstract

(57) [Problem] To more accurately detect a deviation of a reference point of a magnetic position detection sensor attached to an electric motor. SOLUTION: A motor rotates a rotor of an electric motor by a motor, and each phase coil of the electric motor is rotated.
An induced voltage generated at 4 W is detected using a star-connected three-phase balanced load circuit 24 having a neutral point grounded. The electronic control unit 40 converts the induced voltage into a rectangular wave signal that rises and falls at the zero-cross point in the zero-cross detection circuit 30.
To enter. The electronic control unit 40 inputs the counter value of the up / down counter 34 which is reset by the reference point signal from the magnetic pole position detection sensor 18 at the timing of the rise and fall of the rectangular wave signal. Detects deviation of the reference point. Since the deviation of the sensor reference point is detected based on the induced voltage, the accuracy can be increased.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device and a method for detecting a deviation of a sensor reference point, a control device and a control method for a motor, a method for judging an abnormality in a motor, and a method for adjusting a mounting position of a sensor. Detection device and method for detecting a deviation of a reference point of a magnetic position detection sensor provided in a motor having a motor and a polyphase coil, a control device and a control method for a motor in consideration of a deviation of a sensor reference point, and a method of detecting a sensor reference point. The present invention relates to a method for determining an abnormality in a motor that is performed simultaneously with detection of a deviation, and a method for adjusting a mounting position of a sensor in consideration of a deviation of a sensor reference point.

[0002]

2. Description of the Related Art As a sensor for detecting the rotational position of a rotor by detecting the position of a permanent magnet attached to the rotor of an electric motor, magnetic position detection sensors such as encoders, resolvers, and Hall elements are often used. As a way to determine whether the mounting position is misaligned,
A proposal has been made in which a mark for positioning is provided on a printed circuit board on which a sensor is mounted, and a deviation of a mounting position is determined from a positional relationship between the sensor body and the mark (for example, Japanese Utility Model Laid-Open No. 5-55776). . Also,
In order to detect the rotational position of the rotor without using a magnetic position detection sensor, the induced voltage of the stator of a three-phase brushless motor must be guided to an external phase circuit that forms a neutral point, and a zero-crossing should be detected by a comparison circuit. (For example, Japanese Patent Application Laid-Open No. 60-113690). Further, there has been proposed a sensor that detects a deviation from a reference point of a sensor by flowing a predetermined current in a u-phase where the torque has a value of 0 mechanically.

[0003]

However, in such an electric motor, the rotation position of the rotor may not be detected with high accuracy, or a complicated mechanism must be provided for accurately detecting the position of the rotor. In the case of providing alignment marks on the printed circuit board and determining the presence or absence of displacement of the mounting position, when the position of the mark itself provided on the printed circuit board is misaligned, correct the displacement of the mounting position of the magnetic position detection sensor. Not detectable.
Further, since the determination of the deviation based on such a mark is an indirect method, the deviation of the electromagnetic position cannot be accurately determined. The one that detects the rotational position of the rotor using an external phase circuit can accurately detect the rotational position of the rotor electromagnetically, but requires a comparison circuit in addition to the external phase circuit, and the configuration becomes complicated. I will. Furthermore, in the method of flowing a predetermined current in the u phase, the current flowing in the v and w phases changes with the unbalance of the winding resistance and the resistance change due to foreign matter attached to the winding, so that the deviation can be made with high accuracy. In some cases, it cannot be detected.

An object of the present invention is to provide an apparatus and a method for detecting a deviation of a sensor reference point, which detect a deviation of a reference point of a magnetic position detection sensor mounted on an electric motor more accurately. Another object of the present invention is to control an electric motor in consideration of a deviation of a reference point of a magnetic position detection sensor attached to the electric motor. Further, the sensor reference point deviation detecting device and the electric motor abnormality determining method of the present invention simultaneously detect the deviation of the reference point of the magnetic position detection sensor attached to the electric motor and the presence / absence of abnormality of the electric motor in a short time. The purpose is to do. Alternatively, a method for adjusting the mounting position of a sensor according to the present invention aims at adjusting the mounting position of a magnetic position detection sensor mounted on an electric motor such that the deviation of its reference point is small.

[0005]

Means for Solving the Problems and Actions and Effects Thereof The present invention relates to a sensor reference point shift detecting apparatus and shift detecting method, a motor control apparatus and control method, a motor abnormality determining method, and a sensor mounting position adjusting method. In order to achieve at least a part of the above-described objects, the following measures have been taken.

According to the present invention, there is provided an apparatus for detecting a deviation of a sensor reference point.
A displacement detection device that detects a displacement of a reference point of a magnetic position detection sensor provided in a motor having a permanent magnet and a polyphase coil, and a rotating unit that rotates a rotor of the motor,
Phase voltage detection means for detecting the voltage of each phase of the motor,
When the rotor of the electric motor is rotated by the rotating means, a reference point of the magnetic position detection sensor based on a phase voltage detected by the phase voltage detection means and a signal from a magnetic pole position detection sensor provided in the electric motor. And a shift determining means for determining the shift.

In the sensor reference point deviation detecting apparatus according to the present invention, the phase voltage detected by the phase voltage detecting means when the rotor of the electric motor is rotated and the signal from the magnetic pole position detecting sensor provided in the electric motor are used. To determine the deviation of the reference point of the magnetic position detection sensor. This is based on a rotation position of the rotor that can be detected based on an induced voltage that changes periodically by rotating the rotor, and a reference position that is detected by a magnetic position detection sensor based on magnetism that changes due to rotation of the rotor. This is based on the fact that the deviation of the reference point of the magnetic position detection sensor can be determined by comparing the point with the point. Since the deviation is detected based on the induced voltage, the deviation of the reference point of the magnetic position detection sensor can be accurately detected. Here, the “motor” may have a structure including a plurality of permanent magnets and a multi-phase coil, and may include not only a driving motor capable of receiving power supply and outputting power but also power supply. And a generator that functions as a generator that can output electric power in response to the electric power. Of course, a generator motor that functions as a motor and also functions as a generator is also included. The meaning of the motor is the same hereinafter.

In the sensor reference point shift detecting apparatus according to the present invention, the shift determining means includes an amplitude center voltage detecting means for detecting that the phase voltage detected by the phase voltage detecting means becomes the amplitude center voltage. Means for determining a deviation of a reference point of the magnetic position detection sensor based on a signal obtained from the magnetic pole position detection sensor when the amplitude center voltage detection means detects that the phase voltage becomes the amplitude center voltage. It can also be. This makes it possible to determine the deviation of the reference point of the magnetic position detection sensor with reference to the amplitude center voltage of the phase voltage. Here, the “judgment determination” includes not only the determination of the presence or absence of the shift, but also the determination of the degree of the shift and the determination of the shift itself.

In the sensor reference point shift detecting device according to the present invention, wherein the shift determining means includes an amplitude center voltage detecting means, the shift determining means counts up every time a predetermined time elapses and the rotor rotates. A counter reset when the phase center voltage is detected by the amplitude center voltage detecting means based on the value of the counter when the phase voltage becomes the amplitude center voltage. It may be a means for judging a point shift. In the sensor reference point deviation detecting device according to the aspect of the present invention, the reference point of the magnetic position detection sensor is a point at which the phase voltage coincides with any one of the times when the phase voltage reaches the amplitude center voltage a plurality of times, and Is a counter which is reset at a position where the rotor becomes a reference point of the magnetic position detection sensor by rotation, and the deviation judging means detects that the phase voltage becomes the amplitude center voltage by the amplitude center voltage detecting means. The means for calculating the degree of the deviation based on the value of the counter at that time and the maximum value of the counter at the time of resetting may be used. The rotation speed of the rotor can be obtained from the maximum value of the counter, the deviation between the counter value when the phase voltage becomes the amplitude center voltage and the maximum value or reset value (value 0) of the counter, and the rotation speed of the rotor. Thus, the deviation of the reference point of the magnetic position detection sensor can be obtained as an angle.

In the apparatus for detecting a deviation of a sensor reference point according to the present invention, wherein the deviation judging means comprises amplitude center voltage detecting means, the rotating means is means capable of rotating the rotor of the electric motor in both positive and negative directions. The deviation determining means is configured to control the magnetic field based on a phase voltage detected by the phase voltage detecting means and a signal obtained from the magnetic pole position detection sensor when the rotor of the electric motor is rotated in the forward direction by the rotating means. A first shift determined as a shift of a reference point of the position detection sensor, a phase voltage detected by the phase voltage detecting means when the rotor of the electric motor is rotated in the negative direction by the rotating means, and the magnetic pole; A base position of the magnetic position detection sensor based on a second deviation determined as a deviation of a reference point of the magnetic position detection sensor based on a signal obtained from the position detection sensor; It may be assumed to be means for determining the deviation of the point. In this way, it is possible to compensate for an offset or the like in the determination that occurs with the rotation direction. As a result, the deviation of the reference point can be determined more accurately.

Further, in the apparatus for detecting a deviation of a sensor reference point according to the present invention, the deviation judging means detects a first timing when a phase voltage detected by the phase voltage detecting means becomes an amplitude center voltage. One timing detecting means;
A second timing detection unit that detects a second timing at which a reference point of the magnetic position detection sensor is detected,
The magnetic position detection sensor may determine a deviation of a reference point based on the detected first timing and the detected second timing.
This is based on the fact that the deviation of the reference point can be detected based on the time between the first timing and the second timing.

In the sensor reference point deviation detecting apparatus according to the aspect of the present invention, wherein the deviation of the reference point is detected based on the first timing and the second timing. Means for storing a plurality of voltage data obtained by sampling a phase voltage detected by the means at a predetermined sampling cycle. The first timing is set based on the plurality of stored voltage data. The second timing detecting means obtains a plurality of position data obtained by the magnetic position detection sensor at predetermined time intervals or a signal from the magnetic position detection sensor by sampling at a predetermined sampling cycle. Second sampling data storage means for storing a plurality of pieces of position data to be stored. May be assumed to be a means for detecting said second timing based on a plurality of position data. In this case, the first timing can be detected more accurately based on the stored plurality of voltage data, and the second timing can be detected more accurately based on the stored plurality of position data. Therefore, since the deviation of the reference point of the magnetic position detection sensor is determined using the first timing and the second timing, the deviation of the reference point can be determined more accurately.
In the sensor reference point shift detecting apparatus according to the aspect of the present invention, the plurality of voltage data and the plurality of position data are sampled and stored at the same sampling period, and the shift determining unit determines the first timing and the second timing. A means for determining the degree of the deviation based on the second timing and the sampling period may be employed. This is because the number of samplings between the first timing and the second timing is multiplied by a corresponding angle with respect to one sample obtained based on the sampling period and the waveform of the phase voltage, to thereby determine the degree of deviation of the reference point by an angle. It is based on what can be determined with.

Further, in the sensor reference point shift detecting apparatus according to the aspect of the present invention, wherein the shift of the reference point is detected based on the first timing and the second timing, the shift determining means includes the first timing. And means for determining the degree of the deviation based on a time between the second timing and the second timing and a rotation speed of the rotor. This is to determine the deviation of the reference point by an angle by multiplying the time corresponding to the deviation of the reference point obtained from the time between the first timing and the second timing by the rotational angular velocity of the rotor. Based on what you can do.

In the apparatus for detecting a deviation of a sensor reference point according to the present invention, the magnetic position detection sensor is a resolver, and the deviation judging means determines that the phase voltage detected by the phase voltage detecting means becomes an amplitude center voltage. An amplitude center voltage detecting means, and a waveform adjusting means for adjusting a pseudo sine wave based on a signal obtained from the resolver, wherein the amplitude center voltage detecting means detects that the phase voltage becomes the amplitude center voltage. It may be a means for determining a deviation of the reference point of the resolver based on the wave height of the sine wave and the amplitude of the sine wave at the time. In this way, the deviation of the reference point can be determined based on the angle.

Further, in the apparatus for detecting a deviation of a sensor reference point according to the present invention, the multi-phase coil is a three-phase coil, and the phase voltage detecting means is connected to the three-phase coil and connected to a star-shaped three-phase coil. The means may have a balanced load circuit. In the sensor reference point deviation detecting apparatus according to the aspect of the present invention, the neutral point of the star connection may be grounded in the three-phase balanced load circuit. This makes it possible to detect the phase voltage as a voltage waveform centered on the ground, so that calculations and processing based on the phase voltage can be simplified.

In the apparatus for detecting a deviation of a sensor reference point according to the present invention, when the rotor of the electric motor is rotated by the rotating means, the waveform of the phase voltage detected by the phase voltage detecting means and the ideality of the electric motor. An abnormality determining means for determining an abnormality of the electric motor based on the waveform of the induced voltage may be provided. In this case, it is possible to detect the deviation of the reference point of the magnetic position detection sensor and determine the abnormality of the electric motor at the same time. As a result, the inspection of the electric motor can be performed accurately in a short time.

According to a first aspect of the present invention, there is provided a motor control device including the sensor reference point deviation detecting device according to any one of the above-described aspects, and the magnetic position detection sensor reference detected by the deviation detecting device. The gist of the present invention is to control the electric motor based on the point deviation.

In the first electric motor control device of the present invention, the electric motor is controlled in consideration of the deviation of the reference point of the magnetic position detection sensor, so that the electric motor can be controlled more appropriately. Further, even if the displacement of the reference point of the magnetic position detection sensor changes over time, this displacement can be detected, so that the electric motor can be more appropriately controlled regardless of the change over time.

According to a second aspect of the present invention, there is provided a motor control device for storing a deviation of the reference point of the magnetic position detection sensor detected by the sensor reference point deviation detecting device of any one of the above-described embodiments. The gist is that the electric motor is controlled based on the stored deviation.

In the second motor control device of the present invention, the motor is controlled in consideration of the deviation of the reference point of the magnetic position detection sensor, so that the motor can be controlled more appropriately.

A method for detecting a deviation of a sensor reference point according to the present invention is as follows.
A displacement detection method for detecting a displacement of a reference point of a magnetic position detection sensor provided in a motor having a permanent magnet and a multi-phase coil, the method comprising: (a) detecting a displacement of the multi-phase coil when a rotor of the motor is rotated; The gist is to detect the induced voltage generated and (b) determine a deviation of a reference point of the magnetic position detection sensor based on the detected induced voltage and a signal from a magnetic pole position detection sensor provided in the electric motor. .

In the method of detecting a deviation of the sensor reference point according to the present invention, the magnetic position is determined based on the induced voltage generated in the multi-phase coil when the rotor of the motor is rotated and the signal from the magnetic pole position detection sensor provided in the motor. The deviation of the reference point of the detection sensor is determined. This is based on a rotation position of the rotor that can be detected based on an induced voltage that changes periodically by rotating the rotor, and a reference position that is detected by a magnetic position detection sensor based on magnetism that changes due to rotation of the rotor. This is based on the fact that the deviation of the reference point of the magnetic position detection sensor can be determined by comparing the point with the point. Since the deviation is detected based on the induced voltage, the deviation of the reference point of the magnetic position detection sensor can be accurately detected.

In the method for detecting a deviation of a sensor reference point according to the present invention, the step (b) comprises detecting the magnetic position based on a signal obtained from the magnetic pole position detection sensor when the induced voltage becomes the amplitude center voltage. This may be a step of determining a deviation of the reference point of the sensor. This makes it possible to determine the deviation of the reference point of the magnetic position detection sensor based on the amplitude center voltage of the induced voltage. Here, the “judgment determination” includes not only the determination of the presence or absence of the shift, but also the determination of the degree of the shift and the determination of the shift itself.

In the method for detecting a deviation of a sensor reference point according to the aspect of the present invention in which the deviation of the reference point is determined based on the amplitude center voltage of the induced voltage, the step (b) includes counting up each time a predetermined time elapses, and Using a counter that is reset when the rotor reaches a predetermined position due to rotation, determining a deviation of a reference point of the magnetic position detection sensor based on a value of the counter when the induced voltage reaches an amplitude center voltage. Step. In the deviation detection method of the reference point according to the aspect of the present invention, the reference point of the magnetic position detection sensor is a point where the induced voltage coincides with any one of the times when the induced voltage becomes the amplitude center voltage over a plurality of times, and the counter is A counter which is reset at a position where the rotor becomes a reference point of the magnetic position detection sensor due to rotation, and the step (b) comprises the step of: detecting when the induced voltage becomes the amplitude center voltage. And the step of calculating the degree of the deviation based on the value of the counter and the maximum value of the counter when the counter is reset. The rotation speed of the rotor can be obtained from the maximum value of the counter, the deviation between the counter value when the phase voltage becomes the amplitude center voltage and the maximum value or reset value (value 0) of the counter, and the rotation speed of the rotor. Thus, the deviation of the reference point of the magnetic position detection sensor can be obtained as an angle.

In the method for detecting a deviation of a reference point of a sensor according to the present invention, the deviation of the reference point is determined based on the amplitude center voltage of the induced voltage. A first deviation determined as a deviation of a reference point of the magnetic position detection sensor based on an induced voltage detected when the motor is rotated and a signal obtained from the magnetic pole position detection sensor; and a rotor of the electric motor. On the basis of an induced voltage detected when the sensor is rotated in the negative direction and a second deviation determined as a deviation of a reference point of the magnetic position detection sensor based on a signal obtained from the magnetic pole position detection sensor. It may be a step of determining a deviation of a reference point of the magnetic position detection sensor. In this way, it is possible to compensate for an offset or the like in the determination that occurs with the rotation direction. As a result, the deviation of the reference point can be determined more accurately.

In the method for detecting a deviation of a sensor reference point according to the present invention, in the step (b), the first timing when the induced voltage becomes the amplitude center voltage and the reference point of the magnetic position detection sensor are detected. And determining the deviation of the reference point of the magnetic position detection sensor based on the second timing. This is based on the fact that the deviation of the reference point can be detected based on the time between the first timing and the second timing.

In the method for detecting a deviation of a sensor reference point according to the aspect of the present invention, the deviation of the reference point is determined based on the first timing and the second timing.
The first timing obtained based on a plurality of voltage data obtained by sampling the induced voltage at a predetermined sampling period, and a plurality of position data obtained at predetermined time intervals by the magnetic position detection sensor or A step of judging the deviation based on the second timing obtained based on a plurality of position data obtained by sampling a signal from the magnetic position detection sensor at a predetermined sampling cycle. Can also. In this case, the first timing can be detected more accurately based on the plurality of voltage data, and the second timing can be detected more accurately based on the plurality of position data. Therefore, since the deviation of the reference point of the magnetic position detection sensor is determined using the first timing and the second timing, the deviation of the reference point can be determined more accurately. In the displacement detection method of the sensor reference point according to the aspect of the present invention, the step (b) is performed based on the plurality of voltage data and the plurality of position data sampled at the same sampling period. And the second timing and the sampling period to determine the degree of the deviation. This is because the number of samplings between the first timing and the second timing is multiplied by a corresponding angle with respect to one sample obtained based on the sampling period and the waveform of the phase voltage, to thereby determine the degree of deviation of the reference point by an angle. It can be determined based on

In the method for detecting a deviation of a reference point of a sensor according to the aspect of the present invention, wherein the deviation of the reference point is determined based on the first timing and the second timing, the step (b) includes the step of: It may be a step of determining the degree of the deviation based on a time between a timing and the second timing and a rotation speed of the rotor. This is because the first timing and the second timing
Is obtained by multiplying the time corresponding to the deviation of the reference point obtained from the time between the above timing and the rotation angular velocity of the rotor, the deviation of the reference point can be determined by an angle.

In the method for detecting a deviation of a sensor reference point according to the present invention, the magnetic position detection sensor is a resolver, and the step (b) prepares a pseudo sine wave based on a signal obtained from the resolver, It may be a step of determining a deviation of a reference point of the resolver based on a wave height of the sine wave when the induced voltage becomes an amplitude center voltage and an amplitude of the sine wave. In this way, the deviation of the reference point can be determined based on the angle.

In the method of detecting a deviation of a sensor reference point according to the present invention, the multi-phase coil is a three-phase coil, and the phase voltage detecting means is connected to the three-phase coil and connected to a star-phase three-phase balanced load. It may be a means having a circuit. In the sensor reference point deviation detecting method according to the aspect of the present invention, the neutral point of the star connection may be grounded in the three-phase balanced load circuit. In this way, the induced voltage can be detected as a voltage waveform centered on the ground, so that calculations and processing based on the induced voltage can be simplified.

According to the motor abnormality determination method of the present invention, the deviation is detected by the deviation detection method of the sensor reference point according to any one of the above-described aspects, and at the same time, the waveform of the induced voltage and the ideal induction of the motor are obtained. The gist is to determine an abnormality of the electric motor based on the voltage waveform.

According to the abnormality determination method of the present invention, the abnormality is determined at the same time as the detection of the deviation of the reference point of the magnetic position detection sensor provided in the motor, so that it does not take much time to determine the abnormality of the motor. As a result, the inspection of the motor can be performed quickly.

According to a motor control method of the present invention, the motor is controlled based on the deviation of the reference point of the magnetic position detection sensor detected by the deviation detection method of the sensor reference point according to any one of the above-described embodiments. That is the gist.

According to the motor control method of the present invention, since the motor is controlled in consideration of the deviation of the reference point of the magnetic position detection sensor, the motor can be controlled more appropriately.

The method for adjusting the mounting position of the sensor according to the present invention adjusts the mounting position of the magnetic position detecting sensor based on the shift detected by the shift detecting method for the sensor reference point according to any one of the above-described embodiments. The point is to do.

According to the sensor mounting position adjusting method of the present invention, the sensor mounting position is adjusted using the deviation of the reference point of the magnetic position detecting sensor which is more accurately detected, so that the sensor can be mounted at a more appropriate mounting position. Can be adjusted.

[0037]

Next, embodiments of the present invention will be described with reference to examples.

[First Embodiment] FIG. 1 is a configuration diagram schematically showing the configuration of a sensor reference point deviation detecting apparatus 20 according to a first embodiment of the present invention. Deviation detecting device 20 of the first embodiment
Is a rotor 1 having an eight-pole permanent magnet attached to the outer peripheral surface.
2 is configured as a device for detecting a deviation of a reference point of an encoder as a magnetic pole position detection sensor 18 provided in a PM type electric motor 10 including a stator wound with coils 14U, 14V, and 14W of each phase of UVW. As shown, a motor 22 for rotating the rotor 12 of the electric motor 10 is provided.
And a star-connected three-phase balanced load circuit 24 connected to each phase coil 14U, 14V, 14W of the motor 10 and having a neutral point grounded, and each phase U of the three-phase balanced load circuit 24.
Voltage detection lines 26U, 26V, 26 connected to VW
An input processing circuit that amplifies and outputs the W signal, and a rectangular wave signal that forms a rise and a fall at a point where an analog signal from the input processing circuit crosses zero potential as its amplitude center potential is generated. A zero-cross detection circuit 30, an AD converter 32 for converting an analog signal from the input processing circuit 28 into a digital signal, an up / down counter 34 reset by a reference point signal from the magnetic pole position detection sensor 18, and a rectangular signal from the zero-cross detection circuit 30 Electronic control for calculating the deviation of the reference point of the magnetic pole position detection sensor 18 based on the wave signal and the counter value from the up / down counter 34 and determining abnormality of the winding of the electric motor 10 based on the signal from the AD converter 32. And a unit 40. Note that the zero-cross detection circuit 30
Can be configured using a comparator that sets the reference potential to zero potential.

The electronic control unit 40 is configured as a microprocessor with a CPU 42 at the center.
ROM 4 for storing processing programs and the like in addition to PU 42
4, a RAM 46 for temporarily storing data, and an input / output port (not shown). The electronic control unit 4
0 is the square wave signal from the zero-cross detection circuit 30 or A
Signal from D converter 32, up / down counter 3
4 is input via an input port.

Next, the principle of detecting the deviation of the reference point of the magnetic pole position detection sensor 18 in the deviation detecting device 20 of the first embodiment configured as described above will be described. FIG. 2 shows the magnetic pole position detection sensor 18 using the displacement detection device 20 of the first embodiment.
FIG. 3 is a flowchart for explaining the principle of detecting the deviation of the reference point of FIG. 3. FIG. 3 shows the induced voltage of the U-phase of the three-phase balanced load circuit 24 and the zero-cross detection circuit 30 when the rotor 12 of the electric motor 10 is rotated. Waveform, magnetic pole position detection sensor 18
FIG. 7 is an explanatory diagram showing an example of a reference point detection signal and a change of an up / down counter 34 due to the above. For ease of explanation, the flowchart of FIG.
Are shown focusing on only the U phase.

The shift detecting process is first executed from the process of waiting for the counter value C of the up / down counter 34 to reach the value 0 (step S100). The up / down counter 34 is reset to a value 0 by a signal (for example, a pulse signal) output from the magnetic pole position detection sensor 18 when the magnetic pole position detection sensor 18 detects the reference point, and the value is incremented every time a predetermined time elapses. Since it is configured as a counter that increments by one, the process of step S100 is a process of waiting for the magnetic pole position detection sensor 18 to be inspected to detect the reference point.

The counter value C of the up / down counter 34
Is detected to be a value 0 (time t in FIG. 3).
0), the value 0 is set in the circulation counter n (step S1).
02), and waits for zero-cross detection by the zero-cross detection circuit 30 (step S104). Now, motor 1
Since the 0 rotor 12 is rotated by the motor 22, an induced voltage is generated in each phase coil 14U, 14V, 14W. This voltage is applied to each phase coil 14U, 14V, 14
Each phase UV of the three-phase balanced load circuit 24 connected to each phase of W
Appears on W. Since the permanent magnet attached to the rotor 12 of the motor 10 has eight poles, the three-phase balanced load circuit 24
U crosses zero potential eight times each time the rotor 12 makes one rotation, and the zero-cross detection circuit 30 outputs four rectangular waves each time the rotor 12 makes one rotation (time t1 in FIG. 3).
To t8). The electronic control unit 40 can detect the zero cross by detecting the rise and fall of the rectangular wave signal from the zero cross detection circuit 30.

When a zero cross is detected, the rotation counter n
Is incremented by the value 1 (step S10).
6) The counter value C of the up / down counter 34 is input to the n-th counter value C (n) (step S10).
8), it is determined whether or not the circulation counter is equal to the value 8 (step S110). That is, until the zero cross is detected eight times, the counter value C (n) is detected every time the zero cross is detected.
, The counter value C of the up / down counter 34 is input. As described above, detecting the zero crossing eight times means that the rotor 12 makes one rotation. In addition,
Such processing when a zero cross is detected can be processed as interrupt processing due to the rise and fall of the rectangular wave signal from the zero cross detection circuit 30.

When the circulation counter n reaches the value 8, the maximum value of the counter value C of the up / down counter 34, that is, the value immediately before the up / down counter 34 is reset when the magnetic pole position detecting sensor 18 detects the reference point, is detected. The value (time t9 in FIG. 3) is input as the counter maximum value Cmax (step S112), and the input counter maximum value Cmax is divided by 360 degrees to obtain the up / down counter 34.
An angle conversion coefficient K for converting the counter value C into an angle is calculated (step S114). Then, using the calculated angle conversion coefficient K, the magnetic pole position detection sensor 1 is calculated by the following equation (1).
8 is calculated (step S11).
6), end the process.

[0045]

Ym = {K · {C (n) − {45 · (n−1)} / 8 ”(1)

Here, M in the equation (1) is the sum of the angles at the time of each zero-cross detection when there is no deviation in the reference point of the magnetic pole position detection sensor 18, and (0 + 45 + 9)
0 + 135 + 180 + 225 + 270 + 315). Now, assuming that the deviation of the reference point of the magnetic pole position detection sensor 18 is Y, the angle Xn at the time of the n-th zero-cross detection is calculated by the following equation (2) and is equal to K · C (n). Considering that 45 degrees × 8 is 360 degrees, that is, 0 degrees, when the average deviation Ym of the reference points is obtained, the above equation (1) is obtained.

[0047]

Xn = 45 · n + Y (2)

The principle by which the deviation of the reference point of the magnetic pole position detection sensor 18 can be detected has been described above. In the displacement detecting device 20 of the first embodiment, based on the principle of such displacement detection,
The shift detection routine illustrated in FIG. 4 is executed. When the shift detection routine illustrated in FIG. 4 is executed, first, the rotor 12 is driven to rotate at a predetermined rotation speed in the forward rotation direction by the motor 22 (step S120). By executing the processing of steps S100 to S116, the forward rotation deviation Y1 is obtained (step S12).
2). Next, the rotor 12 is rotationally driven by the motor 22 in the negative rotation direction at a predetermined number of rotations (step S124).
Is obtained (step S126). And the forward rotation deviation Y
The average of 1 and the negative rotation deviation Y2 is calculated as the deviation Ym (step S128).

As shown in FIG. 5, the forward rotation deviation Y1
A delay T11 caused by a circuit based on an offset by the zero-cross detection circuit 30 and a delay T12 caused by an interrupt process
And an error based on a total delay Td1 which is the sum of the counter value C and the readout delay T13. On the other hand, the negative rotation deviation Y2 is also caused by the delay T2 due to the circuit based on the offset by the zero-cross detection circuit 30 shown in FIG.
1, the delay T22 due to the interrupt processing, and the counter value C
Total delay Td2, which is the sum of the read delay T23 and
Error. The detection of the positive rotation deviation Y1 and the detection of the negative rotation deviation Y2 are performed by the same deviation detection device 20, so that the delay in the forward rotation and the delay in the negative rotation are equal. Therefore, if the average of the positive rotation deviation Y1 and the negative rotation deviation Y2 is calculated, the error due to the rotation direction is canceled, and the deviation Ym is calculated as being more accurate.

The deviation detecting device 2 of the first embodiment described above
According to 0, deviation of the reference point of the magnetic pole position detection sensor 18 can be detected based on the induced voltages of the phase coils 14U, 14V, and 14W and the reference point signal from the magnetic pole position detection sensor 18. Moreover, since the deviation is detected based on the zero-cross point of the induced voltage, there is no significant influence on the unbalance of the winding resistance or the change in the resistance due to foreign matter attached to the winding. That is, the magnetic pole position detection sensor 18
Can be detected more accurately. Furthermore, since the rotor 12 is rotated in both the positive and negative directions to cancel the error based on the rotation direction, the deviation of the reference point of the magnetic pole position detection sensor 18 can be detected more accurately.

In the deviation detecting device 20 of the first embodiment, the deviation of the reference point of the magnetic pole position detecting sensor 18 is detected, and at the same time, the abnormality of the electric motor 10 is inspected. The abnormality check of the motor 10 is performed by comparing the waveform of the ideal induced voltage of the motor 10 stored in the ROM 44 in advance with the waveform of each phase UVW input from the AD converter 32. The abnormality determination is based on, for example, the U-phase induced voltage waveform and the U-phase induced voltage input from the AD converter 32 when the rotor 12 is rotated at a predetermined rotational speed, for example, when considering the U-phase. Superimpose on the waveform
The determination can be made based on the degree of the deviation. As described above, the detection of the deviation of the reference point of the magnetic pole position detection sensor 18 and the inspection of the abnormality of the electric motor 10 can be performed simultaneously, so that the time required for the inspection of the electric motor 10 can be shortened.

In the displacement detecting device 20 of the first embodiment, an encoder is used as the magnetic pole position detecting sensor 18 provided in the electric motor 10, but it may be a Hall element or a resolver. When a resolver is used as the magnetic pole position detection sensor 18, a resolver digital converter may be used instead of the up-down counter.

[Second Embodiment] FIG. 6 is an explanatory view schematically showing the configuration of a sensor reference point deviation detecting device 120 according to a second embodiment of the present invention. Deviation detection device 120 of the second embodiment
Also, a rotor 1 with an 8-pole permanent magnet attached to the outer peripheral surface
12 and UVW phase coils 114U, 114V, 114
PM-type electric motor 11 comprising a W wound stator
0 is configured as a device for detecting a deviation of a reference point of a resolver serving as a magnetic pole position detection sensor 118 provided in 0.
As shown in the drawing, a motor 122 for rotating a rotor 112 of the electric motor 110 and a coil 114 for each phase of the electric motor 110 are provided.
U, 114V, and 114W, respectively, a star-connected three-phase balanced load circuit 124 having a neutral point grounded, and an R / D converter 128 for converting an analog signal from the magnetic pole position detection sensor 118 into a digital signal. A waveform conversion circuit 130 for shaping a waveform signal from the magnetic pole position detection sensor 118 into a sine wave, and voltage detection lines 126U, 126V, 126W connected to each phase UVW of the three-phase balanced load circuit 124.
Of the magnetic pole position detection sensor 11 based on the induced voltage of each phase UVW input through the oscilloscope, the sine wave signal shaped by the waveform conversion circuit 130, and the signal from the R / D converter 128.
And a shift calculator 140 for calculating a shift of the eight reference points.

The waveform conversion circuit 130 shapes a sine wave based on a signal directly input from the magnetic pole position detection sensor 118 by using an interpolation method or the like, and outputs the sine wave to the deviation calculation unit 140. Since the signal from the magnetic pole position detection sensor 118 is a discrete value for each sampling period, it is generated by, for example, calculating a zero cross point of a resonating wave waveform described later using two points near the zero cross point. By using a large error shaped into a sine waveform, the error can be reduced. Deviation detection device 12 of second embodiment
At 0, the error is reduced by using such a waveform conversion circuit 130.

The shift calculating unit 140 is configured as a microprocessor centered on the CPU 142,
ROM1 for storing a processing program in addition to U142
44, a RAM 146 for temporarily storing data, an input / output port and a timer (not shown). From the displacement calculating unit 140, a display device 15 such as a CRT for displaying and outputting the calculated displacement of the reference point of the magnetic pole position detection sensor 118 is displayed.
A display signal such as 0 is output via the output port.

Next, the operation of the displacement detecting apparatus 120 according to the second embodiment will be described. In the displacement detecting apparatus 120 of the second embodiment, the displacement detecting process will be described focusing only on the U-phase of the three-phase balanced load circuit 124 for ease of description. FIG. 7 is a flowchart illustrating a process when the displacement detecting device 120 of the second embodiment detects a displacement of the reference point of the magnetic pole position detection sensor 118 in a state where the rotor 112 is rotated by the motor 122. In the displacement detecting apparatus 120 of the second embodiment, first, the resolver signal waveform shaped by the waveform conversion circuit 130 is input, and the U-phase of the three-phase balanced load circuit 124 via the voltage detection line 126U at a predetermined sampling period. A voltage, that is, an induced voltage is input (step S200). Then, a plurality of data of the input U-phase induced voltage is analyzed, and the point at which the U-phase induced voltage becomes zero potential which is the amplitude center voltage (zero cross point)
Is calculated (step S202). Here, calculating the zero-crossing point using a plurality of data of the U-phase induced voltage reduces the error from the true value as compared with the case where the zero-crossing point is calculated only by two points crossing the zero-crossing point. Because you can do it.

Subsequently, the voltage value B of the resolver signal waveform corresponding to the calculated zero-cross point of the induced voltage of the U phase is selected (step S204), and the peak value A of the resolver signal waveform is selected (step S206). Then, the deviation amount θ is calculated for the selected voltage value B and peak value A using the relationship of the following equation (3) (step S208).

[0058]

## EQU3 ## Asin θ = B (3)

FIG. 8 shows an example of the relationship between the resolver signal waveform, the induced voltage waveform, and the deviation amount θ. Magnetic pole position detection sensor 1
18, that is, the zero-cross point as a reference point in the signal waveform from the resolver coincides with the zero-cross point of the U-phase induced voltage waveform unless the mounting position of the magnetic pole position detection sensor 118 is displaced. Magnetic pole position detection sensor 118
If the mounting position is shifted, as shown in FIG. 8, a shift occurs at the zero crossing point between the resolver signal waveform and the U-phase induced voltage waveform. At this time, since the resolver signal waveform is shaped into a sine wave, the value of the resolver signal waveform B at the zero cross point of the U-phase induced voltage waveform is
And the peak value A of the resolver signal waveform can be expressed as the above equation (3). From this equation (3), the shift amount θ can be obtained as an angle.

The displacement detecting apparatus 1 according to the second embodiment described above
According to 20, the magnetic pole position detection sensor is based on the value B of the resolver signal waveform as the magnetic pole position detection sensor 118 and the peak value A of the resolver signal waveform at the zero-cross point as the amplitude center voltage of the induced voltage waveform of the motor 110. 1
The deviation of the eighteen reference points can be detected. Moreover,
Since the resolver signal waveform is shaped into a sine wave using the signal directly input from the resolver serving as the magnetic pole position detection sensor 118, the deviation of the sensor reference point can be detected accurately. Further, since the zero cross point of the induced voltage waveform is calculated using a plurality of data, the influence of the deflection of the induced voltage can be reduced, and the deviation of the sensor reference point can be detected more accurately.

[Third Embodiment] Next, a description will be given of a sensor reference point deviation detecting device 120B according to a third embodiment of the present invention. The displacement detection device 120B according to the third embodiment
It has the same hardware configuration as the displacement detection device 120 of the embodiment. Therefore, the displacement detection device 120B of the third embodiment
The description of the hardware configuration will be omitted because it is redundant.

In the displacement detecting device 120B of the third embodiment,
The displacement of the sensor reference point is detected by a displacement detection process illustrated in FIG. 9 instead of the displacement detection process illustrated in FIG. 7 described in the displacement detection device 120 of the second embodiment. In the displacement detection device 120B of the third embodiment, the displacement detection process will be described focusing only on the U-phase of the three-phase balanced load circuit 124 for ease of description. In the deviation detecting device 120B of the third embodiment, first, the resolver signal waveform shaped by the waveform conversion circuit 130 is input, and the U-phase of the three-phase balanced load circuit 124 is input via the voltage detection line 126U at a predetermined sampling cycle.
The phase voltage, that is, the induced voltage is input (step S21).
0). Then, a plurality of data of the input U-phase induced voltage is analyzed to calculate a point (zero cross point) T1 at which the induced voltage of the U phase becomes zero potential which is the amplitude center voltage, and a zero cross point of the input resolver signal waveform. T2 is calculated (step S212). The calculation of the zero-crossing point T1 of the U-phase induced voltage waveform and the zero-crossing point T2 of the resolver signal waveform based on a plurality of data and the effects thereof have been described above.

When the zero-cross point T1 of the induced voltage waveform and the zero-cross point T2 of the resolver voltage waveform are calculated, the number of samplings T between the calculated zero-crossing points T1 and T2 is counted (step S214), and the counted number of samplings T Is multiplied by the equivalent angle α per sampling interval to calculate the shift amount θ (step S216). FIG.
0 shows an example of the relationship between the resolver signal waveform and the induced voltage signal waveform. Assuming that the horizontal axis in FIG. 10 is the rotation angle of the rotor 112, the number of samplings T between the zero cross point T1 of the induced voltage waveform and the zero cross point T2 of the resolver voltage waveform is multiplied by the equivalent angle α per sampling interval. Thus, it can be understood that the shift amount of the sensor reference point can be detected with an angle. Here, the equivalent angle α per one sampling interval can be determined by the sampling period and the rotation speed of the rotor 112.

The displacement detecting device 1 according to the third embodiment described above.
According to 20B, the zero-cross point as the amplitude center voltage of the induced voltage waveform of the motor 110 and the magnetic pole position detection sensor 11
The deviation of the reference point of the magnetic pole position detection sensor 118 can be detected based on the zero cross point of the signal waveform of the resolver as 8. Naturally, the zero-cross point of the induced voltage waveform and the zero-cross point of the diameter of the resolver signal are calculated using a plurality of data, so that the deviation amount of the sensor reference point can be detected with high accuracy.

In the displacement detecting device 120B of the third embodiment,
The horizontal axis in FIG. 10 is considered to be the rotation angle of the rotor 112, and the deviation is obtained by multiplying the sampling number T between the zero cross point T1 of the induced voltage waveform and the zero cross point T2 of the resolver voltage waveform by the equivalent angle α per sampling interval. Calculated the quantity θ,
Assuming that the horizontal axis of FIG. 10 is time, the time between the zero-cross point T1 of the induced voltage waveform and the zero-cross point T2 of the resolver voltage waveform is calculated, and the shift amount θ is calculated by multiplying this by the rotational angular velocity. Is also good.

In the displacement detecting device 120 of the second embodiment and the displacement detecting device 120B of the third embodiment, the magnetic pole position detecting sensor 11 is used by using the displacement θ of the sensor reference point thus detected.
The adjustment amount of the mounting position of 8 is obtained and displayed on the display device 150. The display value calculated by the following equation (4) is displayed on the display device 150. Here, the “current angle” is R
The angle at the present time detected by the / D converter 128, and the “angle at the end of the shift detection” is detected by the R / D converter 128 when the shift detection processing is completed and the rotation of the rotor 112 is stopped. Angle. Adjustment of the mounting position of the magnetic pole position detection sensor 118 may be adjusted so that the display value of the display device 150 becomes zero.

[0067]

[Expression 4] display value = current angle−angle at end of shift detection + shift amount θ (4)

In the displacement detecting device 120B of the third embodiment,
A resolver is used as the magnetic pole position detection sensor 118, and a zero-cross point T1 of the induced voltage waveform and a zero-cross point T2 of the resolver signal waveform are calculated to detect a deviation of the sensor reference point. Since it can be replaced with a point, it can be applied to a magnetic pole position detection sensor that outputs a signal that cannot be converted into a sine waveform.

The detection of the deviation of the sensor reference point has been described with reference to the first, second, and third embodiments. In each of the embodiments, the present invention has been described as a form in which the present invention is applied to a sensor reference point shift detection apparatus. However, as is apparent from the above-described sensor reference point shift detection principle, the present invention is applied as a sensor reference point shift detection method. be able to. Also,
The present invention can also be applied to a control device for a motor having any of the embodiments. In other words, the system includes the hardware configuration of any of the above-described embodiments, detects a deviation of the reference point of the magnetic pole position detection sensor provided in the electric motor at a predetermined timing while controlling the driving of the electric motor, and detects the detected deviation and the magnetic pole position detection sensor. , The position of the rotor of the motor is calculated based on the signal from the controller, and a control device for controlling the driving of the motor based on the calculated position can be employed. Furthermore, a control device that stores the deviation of the sensor reference point detected by each of the above-described embodiments and drives and controls the electric motor using the stored deviation of the sensor reference point may be used. Of course, it is also possible to take a form of a control method for controlling the drive of the electric motor using the deviation of the sensor reference point detected in each of the above-described embodiments.

In each of the above embodiments, the motors 10 and 110
The motors 10, 110 are provided with a permanent magnet and a polyphase coil, and generate an induced voltage by rotating a rotor. Any type of electric motor or generator may be used.

The embodiments of the present invention have been described with reference to the embodiments. However, the present invention is not limited to these embodiments, and various embodiments may be made without departing from the scope of the present invention. Of course, it can be carried out.

[Brief description of the drawings]

FIG. 1 is a configuration diagram schematically showing the configuration of a sensor reference point deviation detection device 20 according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating a principle of detecting a deviation of a reference point of the magnetic pole position detection sensor 18 by the deviation detection device 20 of the first embodiment.

3 shows the induced voltage of the U-phase of the three-phase balanced load circuit 24 when the rotor 12 of the motor 10 is rotated, the waveform of the zero-cross detection circuit 30, the detection signal of the reference point by the magnetic pole position detection sensor 18, and the up / down. FIG. 9 is an explanatory diagram showing an example of a change of a counter 34.

FIG. 4 is a flowchart illustrating an example of a deviation detection routine executed by the deviation detection device 20 of the first embodiment.

FIG. 5 is an explanatory diagram illustrating an error when the rotor 12 is rotated forward.

FIG. 6 is an explanatory view schematically showing a configuration of a sensor reference point shift detecting device 120 according to a second embodiment of the present invention.

FIG. 7 is a flowchart illustrating an example of a shift detection process performed by the shift detection device 120 according to the second embodiment.

FIG. 8 is an explanatory diagram illustrating an example of a relationship among a resolver signal waveform, an induced voltage waveform, and a deviation amount θ.

FIG. 9 is a flowchart illustrating an example of a shift detection process performed by a shift detection device 120B according to the third embodiment.

FIG. 10 is an explanatory diagram illustrating an example of a relationship between a resolver signal waveform and an induced voltage waveform.

[Explanation of symbols]

10, 110: electric motor, 12, 112: rotor, 14
U, 14V, 14W, 114U, 114V, 114W ...
Each phase coil, 18, 118 ... magnetic pole position detection sensor, 2
0, 120, 120B... Deviation detecting device, 22, 122.
Motor, 24, 124 ... three-phase balanced load circuit, 26U, 2
6V, 26W, 126U, 126V, 126W: voltage detection line, 28: input processing circuit, 30: zero cross detection circuit, 32: AD converter, 34: up / down counter, 40: electronic control unit, 42: CPU, 44 ...
ROM, 46 RAM, 128 R / D converter, 1
30: Waveform conversion circuit, 140: Deviation calculator, 142: C
PU, 144: ROM, 146: RAM, 150: Display device.

 ────────────────────────────────────────────────── ─── Continued from the front page (72) Inventor Yoshihiro Namiki 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation F-term (reference) 5H019 AA10 BB01 5H560 BB04 BB07 BB12 DA07 DA13 DC13 JJ15 RR03 TT02 TT12 TT15 TT20 XB05 5H611 AA01 BB08 PP05 QQ03 RR00 TT01 UA01

Claims (30)

[Claims] 1. A displacement detecting device for detecting a displacement of a reference point of a magnetic position detection sensor provided in a motor having a permanent magnet and a multi-phase coil, comprising: a rotating unit for rotating a rotor of the motor; and the motor. Phase voltage detecting means for detecting the voltage of each phase, and when the rotor of the electric motor is rotated by the rotating means, a phase voltage detected by the phase voltage detecting means and a magnetic pole position detecting sensor provided in the electric motor. And a deviation determining means for determining a deviation of a reference point of the magnetic position detection sensor based on the signal of (a) and (b). 2. The apparatus according to claim 1, wherein the deviation determining means includes amplitude center voltage detecting means for detecting that the phase voltage detected by the phase voltage detecting means becomes an amplitude center voltage, and the phase voltage is detected by the amplitude center voltage detecting means. 2. The deviation detecting device according to claim 1, wherein the deviation detecting device determines a deviation of a reference point of the magnetic position detection sensor based on a signal obtained from the magnetic pole position detection sensor when detecting the amplitude center voltage. 3. The deviation judging means includes a counter which counts up each time a predetermined time elapses and is reset when the rotor comes to a predetermined position due to rotation. 3. The deviation detecting device according to claim 2, wherein the deviation detecting device determines a deviation of a reference point of the magnetic position detection sensor based on a value of the counter when detecting that the voltage becomes an amplitude center voltage. 4. The displacement detection device according to claim 3, wherein the reference point of the magnetic position detection sensor is a point that coincides with one of the cases where the phase voltage becomes the amplitude center voltage a plurality of times. The counter is a counter that is reset at a position where the rotor becomes a reference point of the magnetic position detection sensor due to rotation. The deviation determination unit converts the phase voltage to the amplitude center voltage by the amplitude center voltage detection unit. A deviation detecting device which is means for calculating the degree of the deviation based on the value of the counter at the time of detecting the occurrence and the maximum value of the counter when reset. 5. The displacement detecting device according to claim 2, wherein the rotating means is a means capable of rotating a rotor of the electric motor in both positive and negative directions, and wherein the displacement determining means comprises: A reference point of the magnetic position detection sensor based on a phase voltage detected by the phase voltage detection means and a signal obtained from the magnetic pole position detection sensor when the rotor of the electric motor is rotated in a forward direction by a rotation means. And a phase voltage detected by the phase voltage detection means when the rotor of the electric motor is rotated in the negative direction by the rotation means, and a first deviation determined as a deviation from the magnetic pole position detection sensor. A second position determined as a deviation of the reference point of the magnetic position detection sensor based on
A deviation detecting device that determines a deviation of a reference point of the magnetic position detection sensor based on the deviation. 6. A first timing detection means for detecting a first timing when a phase voltage detected by the phase voltage detection means becomes an amplitude center voltage, wherein the deviation determination means comprises: 2nd where the reference point is detected
Second timing detection means for detecting the first timing and the second detected timing.
2. The deviation detecting device according to claim 1, wherein the deviation detecting device determines a deviation of a reference point of the magnetic position detection sensor based on the timing. 7. The displacement detecting device according to claim 6, wherein the first timing detecting means is configured to sample a plurality of phase voltages detected by the phase voltage detecting means at a predetermined sampling cycle. A first sampling data storage unit for storing voltage data, wherein the first timing is detected based on the stored voltage data; and the second timing detection unit is configured to detect the first timing by the magnetic position detection sensor for a predetermined time. A second sampling data storage unit for storing a plurality of position data obtained by each sampling or a plurality of position data obtained by sampling a signal from the magnetic position detection sensor at a predetermined sampling cycle; A deviation detecting device which is means for detecting the second timing on the basis of the second timing. 8. The displacement detection device according to claim 7, wherein the plurality of voltage data and the plurality of position data are sampled and stored at a same sampling cycle, and the displacement determination unit includes Timing and the second
8. The deviation detecting device according to claim 7, wherein said deviation detecting unit determines the degree of said deviation based on said timing and said sampling period. 9. The apparatus according to claim 1, wherein the shift determining unit determines the degree of the shift based on a time between the first timing and the second timing and a rotation speed of the rotor. Item 9. The deviation detecting device according to any one of Items 6 to 8. 10. The deviation detecting device according to claim 1, wherein the magnetic position detection sensor is a resolver, and the deviation judging means is such that a phase voltage detected by the phase voltage detecting means is an amplitude center voltage. And a waveform adjusting means for adjusting a pseudo sine wave based on a signal obtained from the resolver,
A deviation determining unit that determines a deviation of a reference point of the resolver based on a peak height of the sine wave and an amplitude of the sine wave when the phase center voltage is detected to be the amplitude central voltage by the amplitude center voltage detecting unit. Detection device. 11. The displacement detecting device according to claim 1, wherein the multi-phase coil is a three-phase coil, and the phase voltage detecting means is connected to the three-phase coil and has a star shape. A displacement detecting device as a means having a connected three-phase balanced load circuit. 12. The deviation detecting device according to claim 11, wherein the neutral point of the star connection is grounded in the three-phase balanced load circuit. 13. When the rotor of the electric motor is rotated by the rotating means, the electric motor is based on a waveform of a phase voltage detected by the phase voltage detecting means and a waveform of an ideal induced voltage of the electric motor. The deviation detecting device according to claim 1, further comprising an abnormality determining unit that determines an abnormality of the deviation. 14. A control device for a motor, comprising: the shift detecting device according to claim 1; and controlling the motor based on a shift of a reference point of the magnetic position detection sensor detected by the shift detecting device. . 15. A storage means for storing a deviation of a reference point of the magnetic position detection sensor detected by the deviation detecting device according to claim 1, and controlling the electric motor based on the stored deviation. Electric motor control device. 16. A displacement detection method for detecting a displacement of a reference point of a magnetic position detection sensor provided in a motor having a permanent magnet and a multi-phase coil, wherein: (a) when a rotor of the motor is rotated; Detecting an induced voltage generated in the multi-phase coil, and (b) determining a deviation of a reference point of the magnetic position detection sensor based on the detected induced voltage and a signal from a magnetic pole position detection sensor provided in the electric motor. Misalignment detection method. 17. The step (b) is a step of judging a deviation of a reference point of the magnetic position detection sensor based on a signal obtained from the magnetic pole position detection sensor when the induced voltage becomes an amplitude center voltage. 17. The method for detecting misalignment according to claim 16. 18. The method according to claim 18, wherein the step (b) uses a counter that counts up each time a predetermined time elapses and that is reset when the rotor reaches a predetermined position due to rotation. 18. The displacement detecting method according to claim 17, further comprising the step of determining a displacement of a reference point of the magnetic position detection sensor based on the value of the counter when the displacement of the reference point is reached. 19. The displacement detection method according to claim 18, wherein the reference point of the magnetic position detection sensor is a point that coincides with one of the cases where the induced voltage becomes the amplitude center voltage a plurality of times. The counter is a counter that is reset at a position where the rotor becomes a reference point of the magnetic position detection sensor by rotation, and the step (b) detects that the induced voltage becomes an amplitude center voltage. And calculating a degree of the deviation based on a value of the counter at the time of reset and a maximum value of the counter at the time of reset. 20. The step (b), wherein the magnetic position detecting sensor is based on an induced voltage detected when the rotor of the electric motor is rotated in the forward direction and a signal obtained from the magnetic pole position detecting sensor. The magnetic field based on a first deviation determined as a deviation of the reference point, an induced voltage detected when the rotor of the electric motor is rotated in the negative direction, and a signal obtained from the magnetic pole position detection sensor. 20. The displacement detection method according to claim 17, wherein the step of determining the displacement of the reference point of the magnetic position detection sensor is based on the second displacement determined as the displacement of the reference point of the position detection sensor. 21. The step (b) is performed based on a first timing when the induced voltage becomes an amplitude center voltage and a second timing when a reference point of the magnetic position detection sensor is detected. 17. The displacement detecting method according to claim 16, further comprising the step of determining a displacement of a reference point of the magnetic position detection sensor. 22. The step (b), wherein the first timing obtained based on a plurality of voltage data obtained by sampling the induced voltage at a predetermined sampling cycle, and the predetermined timing determined by the magnetic position detection sensor. The shift based on a plurality of position data obtained every time or the second timing obtained based on a plurality of position data obtained by sampling a signal from the magnetic position detection sensor at a predetermined sampling cycle. 22. The deviation detecting method according to claim 21, which is a step of judging the deviation. 23. The method according to claim 23, wherein the step (b) includes the first timing, the second timing, and the second timing obtained based on the plurality of voltage data and the plurality of position data sampled at the same sampling period. 23. The deviation detecting method according to claim 22, further comprising the step of determining the degree of the deviation based on a sampling period. 24. The step (b) is a step of determining the degree of the deviation based on a time between the first timing and the second timing and a rotation speed of the rotor. 24. The displacement detecting method according to claim 21. 25. The displacement detection method according to claim 16, wherein the magnetic position detection sensor is a resolver, and the step (b) prepares a pseudo sine wave based on a signal obtained from the resolver. And a step of determining a deviation of a reference point of the resolver based on a wave height of the sine wave when the induced voltage becomes an amplitude center voltage and an amplitude of the sine wave. 26. The displacement detecting method according to claim 16, wherein the multi-phase coil is a three-phase coil, and the phase voltage detecting means is connected to the three-phase coil and has a star shape. A displacement detecting method, which is a means having a connected three-phase balanced load circuit. 27. The displacement detecting method according to claim 26, wherein the neutral point of the star connection is grounded in the three-phase balanced load circuit. 28. An abnormality of the electric motor is determined based on a waveform of the induced voltage and a waveform of an ideal induced voltage of the electric motor at the same time as the deviation is detected by the deviation detecting method according to claim 16. For determining the abnormality of the electric motor. 29. A method of controlling an electric motor that controls the electric motor based on a deviation of a reference point of the magnetic position detection sensor detected by the deviation detection method according to claim 16. Description: 30. A sensor mounting position adjusting method for adjusting a mounting position of the magnetic position detecting sensor based on the shift detected by the shift detecting method according to claim 16. Description: