7、ningandwithoutsalutingequationisresearched.Thesimulatingresultsshowthatitseffectisgoodandtherobustnesstointerferencewithcurrentsandmotorparametersishigh. Somemethodsofstatorfluxobservationareanalyzed.Theinfluenceofvarianceofmotorparametersandcurrenterrorisresearched. Toi