: In the vector control of interior permanent magnet synchronous motor, position sensors such as resolvers are used to obtain the rotor position. However, an angular error occurs between the actual rotor position and the measured rotor position angle where hardware and software delays exist during resolver signal processing. This angular error results in discrepancies between the real and desired operating conditions thereby reducing motor torque. This paper proposes an angle error compensation method that utilizes the voltage difference between the ideal and actual d-axis voltages. The ideal d-axis voltage is calculated in real time using motor nonlinear parameters and inverter nonlinear correction based on a current map. The effectiveness of the proposed method is verified through simulation results.