同时将电气稳态的概念引入转子位置估计中，有效地解决了电机在稳态情况下转子位置估计误差大的问题。

And electric steady also is introduced to estimation of rotor position, which solves effectively the problem of big error on rotor position estimation in process of dynamic.

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考虑电机的饱和对转子位置估计的影响，建立了包含电机饱和影响的数学模型，以补偿饱和对转子磁极位置估计的影响；

Saturation effect is considered for the rotor position estimation. The mathematical model including saturation is built for compensating the effect of saturation.

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文中比较了现有的无位置传感器电机转子位置的估计方法及启动方法，并分析了其优缺点。

This paper compares existing methods of rotor position estimation and stating methods from standstill, and analysis their advantages and disadvantages.

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