：推导了永磁电机电磁转矩和反电势的一般表达式，建立了考虑电感谐波和气隙磁密谐波的多相永磁无刷直 流电机数学模型-Simulation and Analysis of Multiphase PM Brushless M otor System

通过测量非导通相的反电势波形，运用KALMAN滤波器，估计出转子的位置-By measuring the non-conduction phase of the BEMF waveform, using KALMAN filter, the estimated rotor position