Monitoring and control device and monitoring and control method

Abstract

To provide a monitoring control device that diagnoses the presence of detection abnormality of the rotating state of a rotor.SOLUTION: The monitoring control device comprises: a rotation sensor 2 for detecting the rotating state of a rotor and outputting an analog signal that corresponds to the detected rotating state; an RD converter 3 for calculating the absolute angle of the rotor on the basis of the analog signal and outputting a signal that includes the absolute angle; a first control device 10 for generating a first diagnosis signal at a first timing on the basis of the absolute angle and outputting the first diagnosis signal; and a second control device 20 for generating a second diagnosis signal on the basis of the analog signal at a second timing that is different from the first timing. The second control device 20 executes a noise rejection process on the second diagnosis signal, executes a phase adjustment process on the first diagnosis signal that corresponds to the noise rejection process, and compares the phase-adjusted first diagnosis signal with the noise-rejected second diagnosis signal so as to diagnose the presence of detection abnormality of the rotating state.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a monitoring control device and a monitoring control method for diagnosing the presence or absence of an abnormality in detection of a rotation state. [Background technology]

[0002] Conventionally, there is known a rotation angle detection device that includes a plurality of rotation angle sensor elements and a plurality of AD converters, and that calculates a rotation angle at a reference timing when an AD converter fails (Patent Document 1). In this rotation angle detection device, the plurality of AD converters acquire cosine signals and sine signals output as analog signals according to the rotation angle of the detection target from the plurality of rotation angle sensor elements, and sequentially convert the signals into digital cosine values ​​and sine values ​​at a constant conversion period. At this time, the AD conversion timing is synchronized between the plurality of AD converters. An angle calculation processing unit included in the rotation angle detection device calculates a plurality of angles that can be substituted when an AD converter fails. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-67695 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above rotation angle detection device does not take into consideration noise in the analog signal output from the rotation angle sensor element, and therefore has a problem of malfunction when noise is superimposed on the analog signal.

[0005] An object of the present invention is to provide a monitoring and control device and a monitoring and control method that are capable of diagnosing detection abnormalities in the rotation state even when noise is superimposed on the analog signal. [Means for solving the problem]

[0006] The present invention solves the above problems by detecting the rotational state of a rotating body using a rotation sensor, outputting an analog signal corresponding to the detected rotational state, calculating the absolute angle of the rotating body based on the analog signal using a conversion unit, generating a first diagnostic signal based on the absolute angle at a first timing using a first control device, generating a second diagnostic signal based on the analog signal at a second timing different from the first timing using a second control device, performing noise removal processing on the second diagnostic signal, performing phase adjustment processing on the first diagnostic signal corresponding to the noise removal processing, and comparing the phase-adjusted first diagnostic signal with the noise-removed second diagnostic signal to diagnose whether or not there is a detection abnormality in the rotational state. Effect of the Invention

[0007] According to the present invention, even if noise is superimposed on the analog signal, it is possible to diagnose detection abnormalities in the rotation state. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram of a monitoring and control device according to the first embodiment. [Diagram 2] FIG. 2 is an explanatory diagram for explaining the time difference relationship between the true value and the calculated value of the rotation angle of the rotor. [Diagram 3] FIG. 3 is a block diagram of a monitoring and control device according to the second embodiment. [Figure 4] FIG. 4 is a block diagram of a monitoring and control device according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a monitoring control device and a monitoring control method according to an embodiment of the present invention will be described with reference to the drawings. In this embodiment, an example in which the monitoring control device is mounted on a drive system of a vehicle will be described. Note that the monitoring control device is not limited to a drive system of a vehicle, and can be mounted on a system that drives at least a device that includes a rotating body such as a motor.

[0010] First Embodiment FIG. 1 is a block diagram showing a monitoring control device 1 according to a first embodiment of the present invention. The monitoring control device 1 shown in FIG. 1 is mounted on a drive system of a vehicle. The drive system of the vehicle is a system that drives a motor with power from a battery. The vehicle equipped with the drive system is a vehicle equipped with a motor, such as a hybrid vehicle, a plug-in vehicle, or an electric vehicle. The motor is driven by a three-phase AC current supplied from an inverter (INV). An example of the circuit configuration of the inverter is a configuration in which a series circuit in which switching elements are connected in series as an upper arm and a lower arm is connected in parallel for three phases. The inverter converts the DC power of the battery into AC power by turning on and off the switching elements, and outputs the converted AC power to the motor. The motor may function as a generator, and the power generated by the motor during regeneration is supplied to the battery via the inverter.

[0011] The monitoring and control device 1 includes a resolver 2, an RD converter 3, a first control device 10, and a second control device 20. The monitoring and control device 1 has a control system (hereinafter referred to as a main system) for detecting the state of a rotor (rotating body) included in a motor and controlling the motor via an inverter according to the detected value, and a monitoring system (hereinafter referred to as a monitoring system) separate from the control system. The main system is connected to the inverter from the resolver 2 via the RD converter 3 and the first control device 10, and is composed of signal lines that pass an analog signal output from the resolver 2, an angle signal (encoder signal) converted from the analog signal by the RD converter 3, and a motor control signal. The monitoring system is provided to obtain an output signal of the resolver 2 via a system separate from the main system, and to determine whether or not a detection abnormality has occurred in the main system.

[0012] The resolver 2 is mechanically connected to a rotor included in the motor. The resolver 2 is a rotation sensor that detects the rotation angle of the rotor and outputs the detected value as an analog value. The resolver 2 is also connected to the RD converter 3 and a second control device 20. The resolver 2 uses the excitation signal input from the RD converter 3 as a carrier wave and outputs the rotation angle of the rotor as a two-phase AC voltage (analog signal) modulated with a sine wave and a cosine wave.

[0013] The RD converter 3 samples the analog signal output from the resolver 2 and generates a digital signal by AD-converting (analog-to-digital conversion) the sampled voltage value. The digital signal is a two-phase (AB-phase) encoder signal obtained by sampling the sine wave and cosine wave included in the analog signal. The AB-phase digital signal contains information on the relative angle of the rotor. The RD converter 3 also calculates the absolute angle of the rotor based on the detection value of the resolver 2. The absolute angle is a value that expresses the absolute position of the rotor from a reference position in degrees. The relative angle indicates how much the rotor has moved before and after it has moved, and corresponds to the amount of rotational displacement of the rotor. The absolute angle is expressed by a code, and the relative angle is indicated by the output waveform of the AB signal. That is, the RD converter 3 calculates the absolute angle and relative angle of the rotor based on the analog signal from the resolver 2, and outputs an angle signal including the absolute angle and an angle signal including the relative angle. The RD converter 3 outputs an angle signal including an absolute angle to the first control device 10, and outputs an angle signal including a relative angle to the first control device 10 and the second control device 20.

[0014] The first control device 10 acquires an absolute angle and a relative angle from the RD converter 3, calculates a control command value for motor control according to the acquired absolute angle and relative angle, and outputs a motor control signal including the control command value to the inverter (INV). The first control device 10 has a CPU and a memory such as a RAM or a ROM, and executes various control functions by executing a program stored in the memory with the CPU. The first control device 10 has a control unit 11 and a signal blocking unit 12 as functional blocks. The control unit 11 includes a function of acquiring an angle signal from the RD converter 3, a function of controlling the motor, and a function of generating a diagnostic signal. The control unit 11 simultaneously acquires the absolute angle and the relative angle from the RD converter 3. Then, the control unit 11 calculates the current angular velocity of the motor from the acquired absolute angle and / or relative angle. The control unit 11 also calculates a control command value by PI control based on a required torque input from outside and the calculated angular velocity, etc., and outputs a motor control signal to the inverter. Moreover, the control unit 11 calculates a first absolute angle based on the acquired absolute angle, generates a first diagnostic signal based on the first absolute angle, and outputs it to the second control device 20. The first diagnostic signal includes information on the absolute angle used for motor control. That is, the control unit 11 outputs information on the rotation angle of the rotor used for motor control to the second control device 20 for diagnosis. Furthermore, the control unit 11 calculates a first relative angle based on the acquired relative angle, generates a signal based on the first relative angle, and outputs it to the second control device 20. Hereinafter, in this embodiment, the absolute angle calculated by the control unit 11 or the absolute angle output from the control unit 11 is referred to as the first absolute angle, and the relative angle calculated by the control unit 11 or the relative angle output from the control unit 11 is referred to as the first relative angle. Note that the control unit 11 may take the absolute angle input from the RD converter 3 as it is as the first absolute angle, and output an angle signal including the first absolute angle as it is to the second control device 20. Furthermore, control unit 11 may take the relative angle input from RD converter 3 as the first relative angle as it is, and output an angle signal including the first relative angle to second control device 20 as it is.

[0015] The signal cutoff unit 12 cuts off the motor control signal output from the first control device 10 to the inverter in response to a cutoff signal transmitted from the diagnosis unit 24, which will be described later. The cutoff signal is output from the diagnosis unit 24 when it is diagnosed that there is an abnormality in the detection of the rotation state of the rotor. When the signal cutoff unit 12 receives the cutoff signal from the diagnosis unit 24, it cuts off the motor control signal generated by the control unit 11. Furthermore, when cutting off the motor control signal, the signal cutoff unit 12 may perform fail-safe control such as stopping motor control or issue a warning to the outside, assuming that there is an abnormality in the detection of the rotation state of the rotor. When the signal cutoff unit 12 does not receive the cutoff signal from the diagnosis unit 24, it outputs the motor control signal generated by the control unit 11 to the inverter without cutting it off.

[0016] The second control device 20 acquires an analog signal from the resolver 2 and generates a second diagnostic signal based on the analog signal. The second diagnostic signal is a diagnostic signal different from the first diagnostic signal generated by the first control device 10. In this embodiment, the second control device 20 calculates a second absolute angle based on the analog signal and generates a second diagnostic signal based on the second absolute angle. The second control device 20 performs noise removal processing on the generated second diagnostic signal, and also performs phase modulation processing corresponding to the noise removal processing on the first diagnostic signal output from the first control device 10. Then, the second control device 20 compares the phase-modulated first diagnostic signal with the noise-removed second diagnostic signal to diagnose the presence or absence of a detection abnormality in the rotation state of the rotor. The second control device 20 has a CPU and a memory such as a RAM or ROM, and executes various control functions by executing programs stored in the memory with the CPU. The second control device 20 has a CPU separate from the CPU included in the first control device 10. The second control device 20 has, as functional blocks, a second absolute angle calculation unit 21, a first absolute angle estimation unit 22, a noise removal processing unit 23, and a diagnosis unit 24.

[0017] The second absolute angle calculation unit 21 specifies a sine function (sinθ) and a cosine function (cosθ) representing the rotation angle from the analog signal output from the resolver 2, and calculates the absolute angle of the rotor by taking the arctangent (arctan[sinθ / cosθ]). The calculation timing of the absolute angle in the second absolute angle calculation unit 21 is different from the calculation timing of the first absolute angle in the control unit 11 of the first control device 10. In other words, the calculation timing of the second absolute angle calculation unit 21 and the calculation timing of the control unit 11 of the first control device 10 are not synchronized. Hereinafter, in this embodiment, the absolute angle calculated by the second absolute angle calculation unit 21 is referred to as the second absolute angle. Also, the relative angle of the rotor calculated at the same timing as the calculation timing of the second absolute angle is referred to as the second relative angle. And, since the first absolute angle and the second absolute angle are not calculated at the same timing (at the same time), a time difference occurs between the first absolute angle and the second absolute angle. Furthermore, the second absolute angle calculation unit 21 generates a second diagnostic signal based on the second absolute angle and outputs it to the first absolute angle estimation unit 22. The second diagnostic signal includes information on the second absolute angle, in other words, includes information on a rotation angle calculated at a timing different from that of the first absolute angle used for motor control.

[0018] The first absolute angle estimation unit 22 acquires the relative angle calculated by the RD converter 3, and acquires the first relative angle from the control unit 11 of the first control device 10. Furthermore, the first absolute angle estimation unit 22 estimates an estimate value of the first absolute angle based on the second absolute angle, the first relative angle, and the relative angle acquired from the RD converter 3, using the following formula (1).

number

[0019] The first absolute angle estimation unit 22 outputs the second diagnostic signal generated by the second absolute angle calculation unit 21 as a second diagnostic signal, including information on the estimated value of the first absolute angle, to the noise removal processing unit 23. Since the estimated value of the first absolute angle is a value calculated based on the second absolute angle, the second diagnostic signal output from the first absolute angle estimation unit 22 to the noise removal processing unit 23 is a signal based on the second absolute angle. Furthermore, since the second absolute angle is a value calculated based on the analog signal output from the resolver 2, the second diagnostic signal output from the first absolute angle estimation unit 22 to the noise removal processing unit 23 is a signal based on the analog signal.

[0020] The noise removal processing unit 23 performs noise removal processing on the second diagnostic signal output from the first absolute angle estimation unit 22 and including the estimated value of the first absolute angle, and performs phase adjustment processing corresponding to the noise removal processing on the second diagnostic signal output from the first control device 10 and including the first absolute angle. Before performing noise removal processing and phase adjustment processing, the noise removal processing unit 23 performs conversion processing on the angle signals of the estimated value of the first absolute angle included in the second diagnostic signal and the first absolute angle included in the first diagnostic signal from signals including discrete changes to signals that change continuously. From the estimated value of the first absolute angle, the noise removal processing unit 23 calculates the sine wave component (sine component) and cosine wave component (cosine component) of the estimated value, and also calculates the sine wave component and cosine wave component of the first absolute angle from the first absolute angle.

[0021] The noise removal processing unit 23 performs noise removal processing on each of the sine wave component and the cosine wave component of the estimate value of the first absolute angle. Examples of the noise removal processing include weighted average processing. The noise removal processing unit 23 calculates an estimate value of the first absolute angle from the sine wave component and the cosine wave component from which noise has been removed, and outputs the second diagnosis signal from which noise has been removed, including the estimate value of the first absolute angle from which noise has been removed, to the diagnosis unit 24.

[0022] The noise removal processing unit 23 also performs a phase adjustment process corresponding to the noise removal process on each of the sine wave component and the cosine wave component of the first absolute angle. The phase adjustment process is a process having the same phase characteristics as the noise removal process. The noise removal processing unit 23 calculates a phase-adjusted first absolute angle from the phase-adjusted sine wave component and the cosine wave component, and outputs the phase-adjusted first absolute angle and the phase-adjusted first absolute angle to the diagnosis unit 24. The sine wave component and the cosine wave component of the estimated value of the first absolute angle are shifted in phase by the noise removal process compared to before the noise removal process. By reflecting the phase shift generated in the sine wave component and the cosine wave component of the estimated value of the first absolute angle to each of the sine wave component and the cosine wave component of the first absolute angle, it is possible to suppress erroneous detection due to the phase shift in the diagnosis unit 24 at the subsequent stage.

[0023] The diagnostic unit 24 compares the first diagnostic signal whose phase has been adjusted by the noise removal processing unit 23 with the second diagnostic signal whose noise has been removed by the noise removal processing unit 23 to diagnose the presence or absence of a detection abnormality in the rotation state of the rotor. Specifically, the diagnostic unit 24 identifies the phase-adjusted first absolute angle from the first diagnostic signal, identifies an estimate of the first absolute angle whose noise has been removed from the second diagnostic signal, and calculates a difference between the phase-adjusted first absolute angle and the estimate of the first absolute angle whose noise has been removed. A judgment threshold for judging a detection abnormality is set in advance in the diagnostic unit 24. The judgment threshold is set to a value larger than the detection error, for example. Then, if the difference between the phase-adjusted first absolute angle and the estimate of the first absolute angle whose noise has been removed is less than the judgment threshold, the diagnostic unit 24 judges that the absolute angle calculated by the RD converter 3 is a correct value and diagnoses that there is no detection abnormality. On the other hand, if the difference between the phase-adjusted first absolute angle and the estimate of the first absolute angle whose noise has been removed is equal to or greater than the judgment threshold, the diagnostic unit 24 judges that there is a detection abnormality. For example, if an abnormality occurs in the AD conversion of the RD converter 3, or if an abnormality occurs in the signal line of the main system or the signal line of the monitoring system, the value of the first absolute angle and / or the second absolute angle will be an abnormal value. In this embodiment, the first absolute angle is acquired from the first control device 10 using the signal line of the main system, and the second absolute angle is calculated using the signal line of the monitoring system. Then, when a detection abnormality occurs, a large angle difference occurs between the first absolute angle and the second absolute angle with a time difference. In this embodiment, the detection abnormality is diagnosed based on the magnitude of this angle difference.

[0024] When the diagnostic unit 24 determines that there is an abnormality in the detection of the rotation state of the rotor, the diagnostic unit 24 outputs a cut-off signal to the signal cut-off unit 12. When the diagnostic unit 24 determines that there is no abnormality in the detection of the rotation state of the rotor, the diagnostic unit 24 does not output a cut-off signal to the signal cut-off unit 12.

[0025] As described above, in this embodiment, the resolver 2 detects the rotation state of the rotor and outputs an analog signal corresponding to the detected rotation state, the RD converter 3 calculates the absolute angle of the rotor based on the analog signal and outputs a signal including information on the calculated absolute angle, the first control device 10 generates a first diagnostic signal based on the absolute angle acquired from the RD converter 3 at a first timing and outputs the first diagnostic signal to the second control device 20. Then, the second control device 20 generates a second diagnostic signal based on the analog signal at a second timing different from the first timing, performs noise removal processing on the second diagnostic signal, performs phase adjustment processing corresponding to the noise removal processing on the first diagnostic signal, and compares the phase-adjusted first diagnostic signal with the noise-removed second diagnostic signal to diagnose the presence or absence of a detection abnormality of the rotor. As a result, the monitoring control device 1 or the monitoring control method according to this embodiment can diagnose a detection abnormality of the rotation state without requiring synchronization of the conversion timing of the analog signal. Furthermore, in this embodiment, when an abnormality occurs in the AD conversion of the RD converter 3, or when an abnormality occurs in the signal line of the main system or the signal line of the monitoring system, the abnormality can be detected. Furthermore, the monitoring and control device 1 or monitoring and control method of this embodiment performs noise removal processing on the second diagnostic signal based on the analog signal, so that even if noise is superimposed on the analog signal output from the resolver 2, it is possible to diagnose detection abnormalities in the rotation state.

[0026] Meanwhile, the following device is conceivable as a device for diagnosing rotor detection abnormality different from the present embodiment. For example, a plurality of AD converters are connected to a resolver, and the timing of AD conversion is synchronized between the plurality of AD converters, and digital signals output from the plurality of AD converters are compared to diagnose rotor detection abnormality. In such a device, there is a problem that the plurality of AD converters need to be synchronized, and in order to achieve synchronization, an AD converter with high calculation accuracy is required. Furthermore, when there are three or more AD converters to be synchronized, there is also a problem that it is difficult to synchronize them with each other.

[0027] On the other hand, in this embodiment, since synchronization of the conversion timing of the analog signal is not required when calculating the absolute angle, the above problem can be solved.

[0028] In this embodiment, the first control device 10 calculates a first absolute angle of the rotor at a first timing and generates a first diagnostic signal including information on the first absolute angle, and the second control device 20 calculates a second absolute angle of the rotor at a second timing based on the analog signal from the resolver 2 and generates a second diagnostic signal based on the second absolute angle. This makes it possible to diagnose detection abnormalities in the rotation state without requiring synchronization of the conversion timing of the analog signal. Furthermore, even if noise is superimposed on the analog signal from the resolver 2, detection abnormalities in the rotation state can be diagnosed.

[0029] In this embodiment, the RD converter 3 calculates the absolute angle and the relative angle at a predetermined timing based on the analog signal from the resolver 2, and outputs the calculated signals. The first control device 10 and the second control device 20 operate asynchronously, and the timing at which the control unit 11 acquires the relative angle from the RD converter 3 differs from the timing at which the first absolute angle estimation unit 22 acquires the relative angle from the RD converter 3. Since the control unit 11 and the first absolute angle estimation unit 22 acquire the relative angle at different timings, it is possible to diagnose detection abnormalities in the rotation state without requiring synchronization of the conversion timing of the analog signal. Furthermore, even if noise is superimposed on the analog signal from the resolver 2, it is possible to diagnose detection abnormalities in the rotation state.

[0030] In this embodiment, the second control device 20 calculates the sine wave component and cosine wave component of the estimated value of the first absolute angle from the estimated value of the first absolute angle, and calculates the sine wave component and cosine wave component of the first absolute angle from the first absolute angle. The second control device 20 then performs noise removal processing on the sine wave component and cosine wave component of the estimated value to calculate a noise-removed estimated value, and performs phase adjustment processing on the sine wave component and cosine wave component of the first absolute angle to calculate a phase-adjusted first absolute angle.

[0031] As in this embodiment, the monitoring and control device 1 is provided near the inverter to output a motor control signal to the inverter that drives the motor. For this reason, the monitoring and control device 1 must operate in an environment that is susceptible to noise caused by switching (on and off operations) of the switching elements, and there is a high possibility that noise will be superimposed on the analog signal output from the resolver 2. As an apparatus for diagnosing rotor detection abnormalities that is different from this embodiment, the following apparatus is conceivable. For example, the rotor angle is directly calculated from the analog signal output from the resolver 2, and the rotor detection abnormality is diagnosed using the calculated rotor angle. In such an apparatus, when noise is superimposed on the analog signal, noise is also superimposed on the rotor angle calculated from the analog signal. For this reason, there is a problem that erroneous detection occurs when a rotor detection abnormality is diagnosed using the rotor angle on which noise is superimposed. In addition, in order to suppress erroneous detection in the above apparatus, for example, a filter process may be performed on the calculated rotor angle. In this case, a characteristic such as that shown in "Rotation angle in a comparative example" in FIG. 2 is obtained. FIG. 2 is an explanatory diagram for explaining the time difference relationship between the true value and the calculated value for the rotor rotation angle. In Figure 2, the vertical axis represents the rotor rotation angle, and the horizontal axis represents time (unit: [s]). If filter processing is performed on the calculated rotor angle to remove noise, as shown in Figure 2, in a scene where the rotor angle changes discontinuously, the filtered rotor angle has a tendency to have a large time lag from the true value, resulting in a problem of delayed diagnosis of rotor detection anomalies.

[0032] On the other hand, in this embodiment, a signal including a discrete change, that is, an estimate value of the first absolute angle, is converted into a signal including a sine wave component and a cosine wave component that change continuously, and a noise removal process is performed on the sine wave component and the cosine wave component of the estimate value. In addition, in this embodiment, a signal including a discrete change, that is, the first absolute angle, is converted into a signal including a sine wave component and a cosine wave component that change continuously, and a phase adjustment process is performed on the sine wave component and the cosine wave component of the first absolute angle. Then, an estimate value of the first absolute angle from which noise has been removed is calculated from the sine wave component and the cosine wave component from which the noise has been removed, and a phase-adjusted first absolute angle is calculated from the sine wave component and the cosine wave component from which the phase adjustment process has been performed. This provides an effect of removing noise superimposed on the analog signal, and further provides characteristics as shown by the "processed first absolute angle" and the "processed first absolute angle estimate value" in FIG. 2. That is, in a scene where the angle of the rotor changes discontinuously, the time difference between each signal input to the diagnosis unit 24 and the true value can be reduced compared to the rotation angle in the comparative example. As a result, unlike the device according to the comparative example in which the calculated rotor angle is filtered, it is possible to suppress delays in diagnosing rotor detection abnormalities.

[0033] In this embodiment, the number of monitoring systems is not limited to one, and multiple monitoring systems may be provided. When multiple monitoring systems are provided, multiple control devices that are the same as the second control device 20 are provided in correspondence with the monitoring systems, and the signal line of the analog signal of the resolver 2 is branched to output the analog signal of the resolver 2 to each control device, forming the monitoring system. Then, when the signal cutoff unit 12 receives a cutoff signal from any one of the diagnostic units 24 included in the multiple second control devices 20, it cuts off the motor control signal. As a result, even if there are multiple monitoring systems, synchronization is not required, so that the software processing load can be reduced and detection abnormalities can be diagnosed with high accuracy. Furthermore, even if noise is superimposed on the analog signal from the resolver 2, detection abnormalities in the rotation state can be diagnosed.

[0034] Second Embodiment 3 is a block diagram showing a monitoring control device 1 according to a second embodiment of the present invention. In this embodiment, a part of the control of the first control device 10 and a part of the control of the second control device 20 are different from those in the first embodiment. The rest of the configuration is the same as that of the first embodiment described above, and in the following description, the same configuration and control process as those in the first embodiment will not be described, but the description of the first embodiment will be appropriately used for the omitted description. In this embodiment, due to the difference in the configuration, the target parameters diagnosed by the diagnosing unit 24 are changed from those in the first embodiment to the estimated values ​​of the phase-adjusted rotor rotation speed and the noise-removed rotor rotation speed.

[0035] The control unit 11 included in the first control device 10 calculates the rotation speed of the rotor based on the absolute angle acquired from the RD converter 3. The control unit 11 acquires the absolute angle from the RD converter 3 at a predetermined period, calculates the difference between the current value and the previous value of the absolute angle, and calculates the rotation speed of the rotor from the calculated difference of the absolute angle. The control unit 11 also generates a first diagnostic signal including information on the calculated rotation speed, and outputs it to the noise removal processing unit 23 of the second control device 20. Hereinafter, in this embodiment, the rotation speed calculated by the control unit 11 is referred to as the first rotation speed. Note that the first rotation speed is a value calculated based on the absolute angle acquired from the RD converter 3, and therefore the first diagnostic signal is a signal based on the absolute angle acquired from the RD converter 3.

[0036] The second control device 20 has a second absolute angle calculation unit 21, a first absolute angle estimation unit 22, a noise removal processing unit 23, a diagnosis unit 24, and a rotation speed calculation unit 25. The second absolute angle calculation unit 21 and the first absolute angle estimation unit 22 are similar to the second absolute angle calculation unit 21 and the first absolute angle estimation unit 22 in the first embodiment.

[0037] The noise removal processor 23 performs noise removal processing on the second diagnosis signal output from the first absolute angle estimation unit 22 and including the estimated value of the first absolute angle, in the same manner as in the first embodiment. The noise removal processor 23 outputs the second diagnosis signal including the estimated value of the first absolute angle from which noise has been removed to the rotation speed calculation unit 25. Note that the noise removal processing in this embodiment may be the same processing as the noise processing in the first embodiment, or may be different processing.

[0038] Furthermore, the noise removal processor 23 performs a phase adjustment process on the first diagnostic signal that is output from the first control device 10 and includes the first rotation speed. Unlike the first embodiment, the noise removal processor 23 performs a phase adjustment process on the first rotation speed. The noise removal processor 23 outputs the phase-adjusted first diagnostic signal, including the phase-adjusted first rotation speed, to the diagnostic unit 24. Note that the phase adjustment process in this embodiment may be the same as the phase adjustment process in the first embodiment, or may be different.

[0039] The rotation speed calculation unit 25 calculates an estimate of the first rotation speed from which noise has been removed, based on the estimate of the first absolute angle from which noise has been removed, output from the noise removal processing unit 23. The rotation speed calculation unit 25 acquires the estimate of the first absolute angle from which noise has been removed at a predetermined period by the noise removal processing unit 23, calculates the difference between the current value and the previous value of the noise-removed estimate, and calculates the estimate of the first rotation speed from which noise has been removed, based on the difference of the calculated estimate values. The calculation timing of the current value of the estimate of the first absolute angle by the first absolute angle estimation unit 22 is the same as the calculation timing of the current value of the second absolute angle by the second absolute angle calculation unit 21, but is different from the timing at which the first control unit 10 acquires the current value of the absolute angle from the RD converter 3. The calculation timing of the previous value of the estimate of the first absolute angle by the first absolute angle estimation unit 22 is the same as the calculation timing of the previous value of the second absolute angle by the second absolute angle calculation unit 21, but is different from the timing at which the first control unit 10 acquires the previous value of the absolute angle from the RD converter 3.

[0040] The rotation speed calculation unit 25 generates a second diagnostic signal including information on the estimated value of the first rotation speed from which noise has been removed, and outputs the second diagnostic signal to the diagnosis unit 24. Since the estimated value of the first rotation speed is a value calculated based on the second absolute angle, the second diagnostic signal is a signal based on the second absolute angle. Furthermore, since the second absolute angle is a value calculated based on the analog signal from the resolver 2, the second diagnostic signal is a signal based on the analog signal.

[0041] The diagnosis unit 24 compares the phase-adjusted first diagnostic signal output from the noise removal processing unit 23 with the noise-removed second diagnostic signal output from the rotation speed calculation unit 25 to diagnose the presence or absence of a detection abnormality in the rotation state of the rotor. Specifically, the diagnosis unit 24 identifies the phase-adjusted first rotation speed from the first diagnostic signal, identifies an estimate of the noise-removed first rotation speed from the second diagnostic signal, and calculates the difference between the phase-adjusted first rotation speed and the noise-removed estimate. A judgment threshold for judging a detection abnormality is set in advance in the diagnosis unit 24. The judgment threshold is set to a value larger than the detection error, for example. The judgment threshold is expressed by the rotation speed, unlike the first embodiment. Then, when the difference between the phase-adjusted first rotation speed and the noise-removed estimate of the first rotation speed is less than the judgment threshold, the diagnosis unit 24 judges that the absolute angle calculated by the RD converter 3 is a correct value and diagnoses that there is no detection abnormality. On the other hand, when the difference between the phase-adjusted first rotation speed and the noise-removed estimated value of the first rotation speed is equal to or greater than the judgment threshold, the diagnosis unit 24 judges that there is a detection abnormality. In this embodiment, the first rotation speed is acquired from the first control device 10 using a signal line of the main system, and the estimated value of the first rotation speed is estimated using a signal line of the monitoring system. Then, when a detection abnormality occurs, a large rotation speed difference occurs between the first rotation speed with a time difference and the estimated value of the first rotation speed. In this embodiment, the detection abnormality is diagnosed based on the magnitude of the rotation speed difference.

[0042] When the diagnostic unit 24 determines that there is an abnormality in the detection of the rotation state of the rotor, the diagnostic unit 24 outputs a cut-off signal to the signal cut-off unit 12. When the diagnostic unit 24 determines that there is no abnormality in the detection of the rotation state of the rotor, the diagnostic unit 24 does not output a cut-off signal to the signal cut-off unit 12.

[0043] The diagnostic unit 24 may also calculate the amount of fluctuation in the rotation speed of the rotor, and determine whether to diagnose a detection abnormality in the rotation state or to stop the diagnosis according to the amount of fluctuation in the rotation speed of the rotor. For example, the diagnostic unit 24 calculates the difference between the relative angle acquired from the RD converter 3 and the first relative angle acquired from the control unit 11, and calculates the amount of fluctuation in the rotation speed of the rotor from the calculated difference. A fluctuation determination threshold for determining the fluctuation in the rotation speed of the rotor is set in advance in the diagnostic unit 24. The diagnostic unit 24 compares the calculated amount of fluctuation in the rotation speed with the fluctuation determination threshold, and determines that there is a fluctuation in the rotation speed when the calculated amount of fluctuation in the rotation speed is equal to or greater than the fluctuation determination threshold. Then, when it is determined that there is a fluctuation in the rotation speed, the diagnostic unit 24 stops the diagnosis of a detection abnormality in the rotation state based on the difference between the phase-adjusted first rotation speed and the noise-removed estimated value of the first rotation speed. For example, when the rotation speed of the rotor is fluctuating due to an external torque request or the like, it is not possible to distinguish whether the difference between the phase-adjusted first rotation speed and the noise-removed estimated value of the first rotation speed is due to a fluctuation in the rotation speed or due to a detection abnormality. Therefore, when the fluctuation in the rotation speed is large, the diagnosis of the detection abnormality of the rotation state is stopped.On the other hand, when the calculated fluctuation amount of the rotation speed is less than the fluctuation judgment threshold, the diagnosis unit 24 judges that there is no fluctuation in the rotation speed or that the fluctuation in the rotation speed is small, and continues the diagnosis of the detection abnormality of the rotation state.

[0044] As described above, in this embodiment, the first control device 10 calculates the first rotation speed of the rotor based on the first absolute angle and generates a first diagnostic signal including information on the first rotation speed, and the second control device 20 estimates an estimate of the first rotation speed of the rotor based on the second absolute angle and generates a second diagnostic signal including information on the estimate of the first rotation speed. The phase-adjusted first rotation speed and the noise-removed estimate of the first rotation speed are compared to diagnose the presence or absence of a detection abnormality in the rotation state. This makes it possible to diagnose a detection abnormality in the rotation state without requiring synchronization of the conversion timing of the analog signal. In addition, in this embodiment, if an abnormality occurs in the AD conversion of the RD converter 3, or if an abnormality occurs in the signal line of the main system or the signal line of the monitoring system, the abnormality can be detected. Furthermore, in this embodiment, since a noise removal process is performed on the second diagnostic signal based on the analog signal, a detection abnormality in the rotation state can be diagnosed even if noise is superimposed on the analog signal output from the resolver 2.

[0045] In this embodiment, the RD converter 3 calculates the relative angle of the rotor based on the analog signal and outputs a signal including the relative angle, and the second control device 20 calculates the amount of fluctuation in the rotation speed of the rotor based on the relative angle, and when the amount of fluctuation is equal to or greater than a predetermined threshold (fluctuation determination threshold), the diagnosis of the presence or absence of detection abnormality in the rotation state is stopped. This makes it possible to prevent erroneous detection when the rotation speed fluctuates.

[0046] In this embodiment, the number of monitoring systems is not limited to one, and multiple monitoring systems may be provided. When multiple monitoring systems are provided, the same control device as the second control device 20 is provided in correspondence with the monitoring systems, and the signal line of the analog signal of the resolver 2 is branched to output the analog signal of the resolver 2 to each control device, forming the monitoring system. Then, when the signal cutoff unit 12 receives a cutoff signal from any one of the diagnostic units 24 included in the multiple second control devices, it cuts off the motor control signal. As a result, even if there are multiple monitoring systems, synchronization is not required, so that the software processing load can be reduced and detection abnormalities can be diagnosed with high accuracy. Furthermore, even if noise is superimposed on the analog signal from the resolver 2, detection abnormalities in the rotation state can be diagnosed.

[0047] Third Embodiment FIG. 4 is a block diagram showing a monitoring control device 1 according to a third embodiment of the present invention. In this embodiment, a part of the control of the second control device 20 is different from that of the first embodiment. The other configuration is the same as that of the first embodiment described above, and in the following description, the same configuration and control process as those of the first embodiment will not be described, but the description of the first embodiment will be appropriately used for the omitted description. In this embodiment, due to the difference in the configuration, the target parameters diagnosed by the diagnosing unit 24 are changed from the first embodiment to the phase-adjusted estimate of the second absolute angle and the noise-removed second absolute angle.

[0048] The second control device 20 acquires an analog signal from the resolver 2, and uses the analog signal itself as a second diagnostic signal. The second diagnostic signal is a diagnostic signal different from the first diagnostic signal generated by the first control device 10. In this embodiment, the second control device 20 performs noise removal processing on the second diagnostic signal, which is the analog signal itself, and performs phase adjustment processing corresponding to the noise removal processing on the first diagnostic signal output from the first control device 10. Then, the second control device 20 compares the phase-adjusted first diagnostic signal with the noise-removed second diagnostic signal to diagnose the presence or absence of a detection abnormality in the rotation state of the rotor. In this embodiment, the second control device 20 has a second absolute angle estimation unit 26, a noise removal processing unit 23, and a diagnosis unit 24 as functional blocks.

[0049] The second absolute angle estimation unit 26 acquires the relative angle from the RD converter 3. In this embodiment, the second control device 20 does not have the second absolute angle calculation unit 21 in the first embodiment. Therefore, the timing at which the second absolute angle estimation unit 26 acquires the relative angle from the RD converter 3 is synchronized with the timing at which the noise removal processing unit 23, which will be described later, acquires the analog signal output from the resolver 2. The second absolute angle estimation unit 26 acquires a first diagnostic signal including the first absolute angle and the first relative angle from the control unit 11 of the first control device 10. In addition, the second absolute angle estimation unit 26 estimates an estimate value of the second absolute angle based on the first absolute angle, the first relative angle, and the relative angle acquired from the RD converter 3, using the following formula (2).

number

[0050] The second absolute angle estimation unit 26 outputs the first diagnostic signal generated by the first control device 10 as a first diagnostic signal to the noise removal processing unit 23, including information on the estimated value of the second absolute angle. Since the estimated value of the second absolute angle is a value calculated based on the first diagnostic signal, the first diagnostic signal output from the second absolute angle estimation unit 26 to the noise removal processing unit 23 is a signal based on the first absolute angle.

[0051] The noise elimination processing unit 23 acquires an analog signal from the resolver 2 and performs noise elimination processing on the second diagnostic signal, which is the analog signal itself. Since the second diagnostic signal in this embodiment is the analog signal itself, it is a signal based on the analog signal. In addition, the noise elimination processing unit 23 performs phase adjustment processing corresponding to the noise elimination processing on the second diagnostic signal, which is output from the second absolute angle estimation unit 26 and includes an estimated value of the second absolute angle. Before performing the phase adjustment processing, the noise elimination processing unit 23 performs conversion processing on the angle signal of the estimated value of the second absolute angle included in the first diagnostic signal from a signal including discontinuous changes to a signal that changes continuously. The noise elimination processing unit 23 identifies a sine function (sine wave component) and a cosine function (cosine wave component) that represent the rotation angle from the analog signal.

[0052] The noise removal processing unit 23 performs noise removal processing on each of the sine wave component and the cosine wave component of the analog signal. The noise removal processing may be the same as the noise removal processing performed on the sine wave component and the cosine wave component of the estimated value of the first absolute angle in the first embodiment, or may be a different processing. The noise removal processing unit 23 calculates a second absolute angle from which noise has been removed by taking the arctangent of the sine wave component and the cosine wave component from which noise has been removed. The calculation timing of the second absolute angle by the noise removal processing unit 23 is different from the calculation timing of the first absolute angle by the first control device 10. The noise removal processing unit 23 outputs a second diagnosis signal from which noise has been removed, including information on the second absolute angle from which noise has been removed, to the diagnosis unit 24.

[0053] The noise removal processing unit 23 also performs a phase adjustment process corresponding to the noise removal process on each of the sine wave component and the cosine wave component of the estimate of the second absolute angle. The phase adjustment process is a process having phase characteristics equivalent to those of the noise removal process. The phase adjustment process may be the same process as the phase adjustment process performed on the sine wave component and the cosine wave component of the first absolute angle in the first embodiment, or may be a different process. The noise removal processing unit 23 calculates a phase-adjusted estimate of the second absolute angle from the phase-adjusted sine wave component and the cosine wave component, and outputs the phase-adjusted estimate of the second absolute angle, including the phase-adjusted estimate of the second absolute angle, to the diagnosis unit 24 as a phase-adjusted first diagnosis signal.

[0054] The diagnosis unit 24 compares the first diagnosis signal whose phase has been adjusted by the noise removal processing unit 23 with the second diagnosis signal whose noise has been removed by the noise removal processing unit 23 to diagnose the presence or absence of a detection abnormality in the rotation state of the rotor. Specifically, the diagnosis unit 24 identifies an estimate of the second absolute angle whose phase has been adjusted from the first diagnosis signal, identifies a second absolute angle whose noise has been removed from the second diagnosis signal, and calculates a difference between the estimate of the second absolute angle whose phase has been adjusted and the second absolute angle whose noise has been removed. A judgment threshold for judging a detection abnormality is set in advance in the diagnosis unit 24. The judgment threshold is set to a value larger than the detection error, for example. The judgment threshold may be the same value as the judgment threshold of the diagnosis unit 24 in the first embodiment, or may be a different value. Then, when the difference between the estimate of the second absolute angle whose phase has been adjusted and the second absolute angle whose noise has been removed is less than the judgment threshold, the diagnosis unit 24 judges that the absolute angle calculated by the RD converter 3 is a correct value, and diagnoses that there is no detection abnormality. On the other hand, when the difference between the phase-adjusted estimate of the second absolute angle and the noise-removed second absolute angle is equal to or greater than the judgment threshold, the diagnosis unit 24 judges that a detection abnormality exists. In this embodiment, the first absolute angle is acquired from the first control device 10 using a signal line of the main system, and an analog signal (a signal equivalent to the second absolute angle) is acquired using a signal line of the monitoring system. Then, when a detection abnormality occurs, a large angle difference occurs between the first absolute angle and the second absolute angle with a time difference. In this embodiment, the detection abnormality is diagnosed based on the magnitude of this angle difference.

[0055] When the diagnostic unit 24 determines that there is an abnormality in the detection of the rotation state of the rotor, the diagnostic unit 24 outputs a cut-off signal to the signal cut-off unit 12. When the diagnostic unit 24 determines that there is no abnormality in the detection of the rotation state of the rotor, the diagnostic unit 24 does not output a cut-off signal to the signal cut-off unit 12.

[0056] As described above, in this embodiment, the second control device 20 generates a noise-removed second diagnostic signal by executing noise removal processing on the analog signal output from the resolver 2. This makes it possible to obtain a noise-removed second diagnostic signal without going through the calculation of the second absolute angle by the second absolute angle calculation unit 21, the estimation of the first absolute angle by the first absolute angle estimation unit 22, and the calculation of the sine wave component and cosine wave component of the estimated value of the first absolute angle by the noise removal processing unit 23, as in the first embodiment, and therefore it is possible to obtain the effect of reducing the calculation load while obtaining the same effect as the first embodiment.

[0057] Fourth Embodiment In this embodiment, a part of the control of the second control device 20 is different from the first to third embodiments. The rest of the configuration is the same as any of the first to third embodiments described above, and in the following description, the same configuration and control processing as the first to third embodiments will not be described, but the descriptions of the first to third embodiments will be appropriately cited for the omitted descriptions. In this embodiment, due to the difference in the above configuration, the frequency characteristics of the noise removal processing and phase adjustment processing by the noise removal processing unit 23 are different from the frequency characteristics of the noise removal processing and phase adjustment processing in the first to third embodiments.

[0058] The noise elimination processing unit 23 acquires information on the rotation speed of the rotor and information on the frequency of a carrier wave (carrier frequency) for generating a control signal for a switching element from the first control device 10 that controls the inverter. The switching elements of the inverter are controlled, for example, by PWM (Pulse Width Modulation) control. An example of a carrier wave used in PWM control is a triangular wave. The noise elimination processing unit 23 changes the frequency characteristics of the noise elimination processing for the second diagnostic signal and the phase adjustment processing for the first diagnostic signal based on at least one of the rotor rotation speed and the carrier frequency. For example, the noise elimination processing unit 23 changes the frequency characteristics of the noise elimination processing so that the frequency band of the signal to be filtered becomes higher as the rotor rotation speed increases. Also, for example, the noise elimination processing unit 23 changes the frequency characteristics of the noise elimination processing so that the frequency band of the signal to be filtered becomes higher as the carrier frequency increases. Also, for example, when the carrier frequency is low in a region where the rotor rotation speed is high, the noise elimination processing unit 23 changes the frequency characteristics of the noise elimination processing so that the frequency band of the signal to be filtered becomes higher in accordance with the rotor rotation speed. In order to associate the phase adjustment process with the noise removal process, the noise removal processor 23 changes the frequency characteristics of the phase adjustment process in accordance with the change in the frequency characteristics of the noise removal process.

[0059] As described above, in this embodiment, the second control device 20 changes the frequency characteristics of the noise removal process and the phase adjustment process based on at least one of the rotor rotation speed and the frequency of the carrier wave for generating the control signal for the switching element. This makes it possible to realize the noise removal process according to the rotor rotation speed or the operating state of the inverter. The switching frequency of the switching elements in the inverter is generally controlled according to the temperature of the motor and the parts that constitute the inverter. Therefore, when the frequency characteristics of the noise removal process are set based on a specific switching frequency, for example, when a process for lowering the switching frequency is performed to lower the temperature of a high-temperature motor, there is a problem that the frequency characteristics of the noise removal process do not match the lowered switching frequency and the noise cannot be sufficiently removed. In addition, as the rotor rotation speed increases, the frequency of the analog signal output from the resolver 2 increases. When a weighted average process or the like is performed as the noise removal process, the frequency of the analog signal and the number of weighted averages do not correspond to each other, and aliasing occurs in the weighted average process, and it is possible that the original behavior of the analog signal output from the resolver 2 cannot be detected. The above problem is particularly prominent in electric vehicles using a motor as a drive source. In the noise elimination processing unit 23 of this embodiment, when the carrier frequency is higher than the carrier frequency threshold, i.e., when the switching frequency is higher than the switching frequency threshold, the noise elimination processing unit 23 can change the band from which noise is eliminated to a high frequency band. In addition, when the carrier frequency is lower than the carrier frequency threshold, i.e., when the switching frequency is lower than the switching frequency threshold, the noise elimination processing unit 23 can change the band from which noise is eliminated to a low frequency band. In addition, the noise elimination processing unit 23 can reduce the number of weighted average calculations in a region where the rotor rotation speed is higher than the rotation speed threshold (the filter frequency is set to a high frequency band as the noise elimination characteristic), and can increase the number of weighted average calculations in a region where the rotor rotation speed is lower than the rotation speed threshold (the filter frequency is set to a low frequency band as the noise elimination characteristic).That is, when weighted average processing or the like is performed as noise removal processing, it is possible to suppress the possibility of aliasing occurring in the weighted average processing and to verify the original behavior of the analog signal output from the resolver 2. That is, the monitoring control device 1 including the noise removal processing unit 23 of this embodiment can execute noise removal processing according to the operating state of the motor while detecting the original behavior of the analog signal output from the resolver 2.

[0060] Although the embodiments of the present invention have been described above, these embodiments are described to facilitate understanding of the present invention, and are not described to limit the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design modifications and equivalents that fall within the technical scope of the present invention. [Explanation of symbols]

[0061] 1...Monitoring and control device 2...Resolver 3...RD converter 10...First control device 11...Control section 12...Signal cutoff section 20...Second control device 21...Second absolute angle calculation unit 22...First absolute angle estimator 23...Noise removal processing section 24…Diagnostics Department 25…Rotation speed calculation section 26...Second absolute angle estimator

Claims

1. a rotation sensor that detects a rotation state of a rotating body and outputs an analog signal corresponding to the detected rotation state; a converter that calculates an absolute angle of the rotating body based on the analog signal and outputs a signal including information of the absolute angle; a first control device that generates a first diagnostic signal based on the absolute angle at a first timing and outputs the first diagnostic signal; a second control device that generates a second diagnostic signal at a second timing different from the first timing based on the analog signal; The second control device is performing a noise removal process on the second diagnostic signal; performing a phase adjustment process corresponding to the noise removal process on the first diagnostic signal; A monitoring and control device that compares the phase-adjusted first diagnostic signal with the noise-removed second diagnostic signal to diagnose whether or not there is an abnormality in the detection of the rotation state.

2. 2. The monitoring and control device according to claim 1, the first control device calculates a first absolute angle of the rotating body at the first timing and generates the first diagnostic signal including the first absolute angle; The second control device is calculating a second absolute angle of the rotating body at the second timing based on the analog signal; A monitor and control device that generates the second diagnostic signal based on the second absolute angle.

3. 3. The monitoring and control device according to claim 2, The converter calculates an absolute angle and a relative angle at a predetermined timing based on the analog signal, and outputs a signal including the calculated absolute angle and the calculated relative angle; A monitoring control device in which the first control device 10 acquires the relative angle from the converter at a timing different from the timing at which the second control device acquires the relative angle from the converter.

4. 4. The monitoring and control device according to claim 3, The second control device is calculating a sine wave component and a cosine wave component of the estimate of the first absolute angle from the estimate of the first absolute angle; Calculating a sine wave component and a cosine wave component of the first absolute angle from the first absolute angle; performing the noise removal process on the sine wave component and the cosine wave component of the estimate value of the first absolute angle to calculate a noise-removed estimate value of the first absolute angle; The monitoring and control device calculates a phase-adjusted first absolute angle by performing the phase adjustment process on the sine wave component and the cosine wave component of the first absolute angle.

5. 3. The monitoring and control device according to claim 2, the first control device calculates a first rotation speed of the rotating body based on the first absolute angle, and generates the first diagnostic signal including information of the first rotation speed; The second control device is Estimating an estimated value of a first rotation speed of the rotating body based on the second absolute angle, and generating the second diagnostic signal including information of the estimated value of the first rotation speed; A monitoring and control device that diagnoses whether or not there is an abnormality in the detection of the rotation state by comparing the phase-adjusted first rotation speed with an estimated value of the first rotation speed from which noise has been removed.

6. 6. The monitoring and control device according to claim 5, The converter calculates a relative angle of the rotating body based on the analog signal, and outputs a signal including information of the relative angle. The second control device is calculating a fluctuation amount of the rotation speed of the rotating body based on the relative angle; If the amount of variation is equal to or greater than a predetermined threshold, the monitoring and control device stops diagnosing whether or not there is an abnormality in the detection of the rotation state.

7. 2. The monitoring and control device according to claim 1, The second control device is a monitoring control device that performs the noise removal process on the analog signal to generate the second diagnostic signal from which noise has been removed.

8. In the monitoring and control device according to any one of claims 1 to 7, the rotating body is driven by an inverter including a switching element, The second control device is a monitoring control device that changes the frequency characteristics of the noise removal process and the phase adjustment process based on at least one of the rotation speed of the rotating body and the frequency of a carrier wave for generating a control signal for the switching element.

9. A monitoring and control method for diagnosing the presence or absence of a detection abnormality in the rotation state of a rotating body, comprising: a rotation sensor detects a rotation state of the rotating body and outputs an analog signal corresponding to the detected rotation state; A converter calculates an absolute angle of the rotating body based on the analog signal and outputs a signal including the absolute angle; a first control device that controls the rotating body generates a first diagnostic signal based on the absolute angle at a first timing and outputs the first diagnostic signal; The second control device generating a second diagnostic signal at a second timing different from the first timing based on the analog signal; performing a noise removal process on the second diagnostic signal; performing a phase adjustment process corresponding to the noise removal process on the first diagnostic signal; The monitoring and control method includes comparing the phase-adjusted first diagnostic signal with the noise-removed second diagnostic signal to diagnose whether or not there is an abnormality in the detection of the rotation state.

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