Actually, I don't recommend you to mix the Azure Powershell and CLI together. If you insist on doing it, I have tried your script, I could not reproduce your issue, it works fine.
According to the error, you could try to pass a --subscription, it also works.
$sp_appid = (Get-AzADServicePrincipal -DisplayName joywebapp2).ApplicationId.Guid
$sp_secret = (Get-AzKeyVaultSecret -VaultName joykeyvault1 -Name joywebapp2).SecretValueText
$tenant_Id = "xxxxxxxxxxxx"
$subscription_Id = "xxxxxxxxxxx"
az login --service-principal --username $sp_appid --password $sp_secret --tenant $tenant_Id --subscription $subscription_Id

Note: Due to the AzureRM powershell module has been deprecated, I use the new Az powershell module, if you want to upgrade to Az, see this link. (It may not be the reason of the issue, but I recommend you to upgrade it.)
Update:
We have to use AZ CLI simply for the property we are trying to grab...there is no PowerShell equivalent.
Actually you can login with a service principal via powershell, the strong password is the secret, more details see this post.
$azureAplicationId ="Azure AD Application Id"
$azureTenantId= "Your Tenant Id"
$azurePassword = ConvertTo-SecureString "strong password" -AsPlainText -Force
$psCred = New-Object System.Management.Automation.PSCredential($azureAplicationId , $azurePassword)
Add-AzureRmAccount -Credential $psCred -TenantId $azureTenantId -ServicePrincipal