Abstract：Due to the advantages of faster dynamic performance and smaller torque ripple，high frequency

pulse voltage injection（PSVI）is widely used in sensorless control of permanent magnet synchronous motor

（PMSM）at low-speed range. Under low switching frequency，the dynamic and steady performance of the

traditional high frequency pulse voltage injection method is seriously affected due to the larger system delay，the

high-frequency phase update delay caused by the special control structure，and the increase of the phase delay

caused by the lower cut-off frequency of the filter. In view of the above problems，compensation schemes for

different non-ideal factors were proposed based on the detailed analysis of the influence of the filter phase delay

and the delayed phase update of high frequency pulse voltage under low switching frequency on the rotor position

estimation. Finally，the influence of the above non-ideal factors and the compensation scheme were simulated and

verified. The simulation results show that the proposed solution can effectively reduce the rotor position estimation

error.

      Key words：permanent magnet synchronous motor（PMSM）；sensorless control；high frequency pulse voltage injection（PSVI）method；rotor position estimation；non-ideal factor