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Sensorless control based on high-frequency square-wave voltage injection (HFSVI) is one of the most common sensorless control methods for synchronous reluctance motors (SynRMs). However, the injection frequency for SynRMs cannot be too high due to various factors. As the injection frequency decreases, the dead-time harmonic current will greatly affect the separation of high frequency signals. This paper analyzes the effect of dead-time harmonic current on the HFSVI-based sensorless control performance of SynRMs and proposes a source of position estimation error. Then, a dead-time compensation method suitable for filter-free HFSVI is proposed. It can estimate current vector spatial orientation without any low-pass filters (LPFs) and effectively compensate the impact of dead-time setting. The correctness of the theoretical analysis and the feasibility of the proposed methods in this paper are verified by experiments.