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High frequency (HF) signal injection is an effective sensorless control scheme for interior permanent-magnet synchronous motor (IPMSM) drives to achieve low and zero speed operation. However, the audible noise produced by the injected HF signal is often very shrill and harsh to hear, which restricts the actual application. In order to reduce the audible noise, a novel pseudo-random HF square-wave voltage injection scheme is proposed in this paper. The HF voltages with two different frequencies are randomly injected into the estimated rotor reference frame cycle by cycle, and a corresponding signal demodulation method for extracting the rotor position information is presented. Based on the principle analysis of this random frequency injection scheme, the digital time-delay effect in HF signal is considered and a compensation method for signal demodulation is proposed, which is effective in reducing position estimation error. Then, the power spectra density (PSD) in fixed frequency and pseudo-random frequency injection schemes are compared both theoretically and experimentally. The distribution of HF voltage and current PSD is extended by using the proposed injection scheme. Finally, this sensorless control method is verified by simulation and experiment on a 2.2-kW IPMSM drive platform. [ABSTRACT FROM AUTHOR]