In the vector control of permanent magnet synchronous motor (PMSM), according to the principle of Luenberger observer, a based on Luenberger observer of PMSM rotor speed and position estimation method was proposed, an effective solution to some drawbacks of the PMSM due to the installation of mechanical sensors. Using MATLAB/Simulink tool to build the control system simulation model and simulation, simulation results showed that the control system had good control performance. Finally, in STM32F103ZET6 as the control core of the hardware system for algorithm implementation. The experimental results showed that the PMSM control system based on Luenberger observer had high control precision and good stability.