Affected by the band-pass filter, the rotor position estimation accuracy in the pulsation injection method of the PMSM is low. For this reason, a method of sensorless control of PMSM based on variable universe fuzzy PI is proposed. The variable universe fuzzy method is used to dynamically adjust the fixed PI parameters on the speed loop. The system delay is reduced and the accuracy of rotor position estimation is improved. The simulation results show that the variable universe fuzzy PI can be used for rotor position estimation, and it reduces the average error of 0.331 degrees than that of the traditional sensorless control method.