Many problems of the sensorless control of the motor in zero- and low-speed range are solved effectively by the pulsed high-frequency voltage injection (PHFVI) utilizing the salient pole effect generated in the motor. However, there still exist poor stability and large estimation error in the PHFVI control strategy when permanent magnet synchronous motor (PMSM) runs in the range of zero and low speed. For these problems, a new method of PHFVI is proposed based on the traditional method. The d axis component and the q axis component in the estimation synchronous coordinate system are both considered in the new method when the current response signal is demodulated, and the phase-locked loop (PLL) technology is used in the process of obtaining the speed and rotor position. After the theory is analyzed and the mathematical model of PMSM is built, the design process of PLL is strictly deduced. Finally, the overall design is verified by the comprehensive simulation. The results show that with the novel PHFVI method, the PMSM system has better stability, less error in position estimation, and better robustness.