The resolver amplitude error and quadrature error are expressed in the angular velocity spectrum as the second harmonic of the rotational frequency， which is the main source of the resolver angle measurement error and affects the angular velocity control accuracy and stability of the servo system. In this paper， a self-correction method for the second harmonic error of resolver based on characteristic frequency reference was proposed. Firstly， the mechanism of the resolver error was analyzed， and the mutual irrelevance of the amplitude error and quadrature error was obtained， and it was proved that the second harmonic error correction could be realized by adjusting the amplitude and phase difference of the resolver output signal. Then， the amplitude corrector based on proportional amplification and the phase angle corrector based on cross-adjustment were designed between the resolver and the Resolver-to-Digital Converter （RDC）. Finally， according to the constant characteristic frequency of the error signal in the linear control system， the servo system was controlled at a constant speed， and the amplitude of the second harmonic frequency in the angular velocity spectrum was used as the reference to adjust the amplitude corrector and phase corrector respectively， to correct second harmonic errors. The experimental results show that the method can reduce the second harmonic angle measurement error of the resolver by 78.5%， and the speed fluctuation of the servo system can be reduced by 40.5%.The method realizes the self-correction of the second harmonic error of the resolver， and can greatly improve the measurement accuracy of the resolver and the rotation stability of the servo system.