In this text, the sensorless control of interior permanent magnet synchronous machines (IPMSM) in the full-speed domain based on the composite high-frequency wave injection (HFI) method and second-order generalized integrator flux observer (SOGI-FO) is studied. HFI is used to compute the rotor angle and speed in the zero low-speed range. SOGI-FO is used to compute the rotor angle and speed in the medium to high-speed range. Due to the difference between low speed and high speed in the transition zone, the estimated speed position is different; a unified phase-locked loop (PLL) is used to achieve a smooth transition in the transition zone.