Self-sensing motor and motor rotor position detection method

The invention provides a self-sensing motor and a motor rotor position detection method. The self-sensing motor comprises a rotating shaft, a rotor is arranged on the rotating shaft, and a stator is arranged outside the rotor in the radial direction of the rotor; a Hall support is arranged at one end of the stator in the axial direction of the rotating shaft, a master control circuit board is arranged on the Hall support, and a controller is arranged on the master control circuit board. More than three Hall sensors are arranged on the Hall bracket, and the Hall sensors are used for acquiring electrical angle signals of the rotor; the absolute position encoder comprises a reading head and a scribed line, the reading head is arranged on the Hall support, and the scribed line is arranged on the outer wall of the magnet in the rotor; the reading head is matched with the scribed line to obtain initial position information of the rotor; the Hall sensor and the absolute position encoder are both connected with the c