Initial electrical angle learning method for Hall-free linear motor

The invention discloses an initial electrical angle learning method for a Hall-free linear motor. The method comprises the following steps of: S1, iteratively searching an electrical angle of a rotor by adopting a binary search mode; S2, judging whether the rotor is located at the mechanical edge or not, if yes, dragging the rotor to leave the mechanical edge, then returning to the step S1, and if not, executing the step S3; and step S3, verifying a learning result: sending a voltage vector to the electrical angle position of the rotor searched in the step S1, judging whether the rotor moves or not through data fed back by an incremental encoder, and if the rotor moves, indicating that the search result is inaccurate and learning fails; and if the rotor does not move, determining that the electrical angle of the rotor is the initial electrical angle of the rotor obtained by learning, and ending the learning process. According to the invention, the electrical angle of the rotor can be learned when the system is powered on, an additional sensor does not need to be installed, the moving range of the rotor in the learning process is small, and the learning result is high in accuracy.