Laminar Flow:
If the flow in the pipe is laminar, you can use the Poiseuille Equation to calculate the flow rate:
$$
Q=\frac{\pi D^4 \Delta P}{128 \mu \Delta x}
$$
Where $Q$ is the flow rate, $D$ is the pipe diameter, $\Delta P$ is the pressure difference between the two ends of the pipe, $\mu$ is dynamic viscosity, and $\Delta x$ is the length of the pipe.
If your pipe is carrying water at room temperature, the viscosity will be $8.9\times 10^{-4} \, Pa\cdot s$. Assuming the pipe is $5\, m$ long and that the $3 \, bar$ pressure is the gauge pressure, the flow rate is
$$
Q = \frac{\pi (0.015)^4(3\times 10^5\,Pa)}{128(8.9\times 10^{-4} \, Pa\cdot s)(5\,m)}=0.0084 \frac{m^3}{s} = 8.4 \frac{l}{s}
$$
However, if we calculate the Reynolds number for this flow rate:
$$
V = \frac{Q}{A} = \frac{0.0084\frac{m^3}{s}}{\frac{\pi}{4}(0.015m)^2} = 48\frac{m}{s}
$$
$$
Re = \frac{\rho D V}{\mu} = \frac{(1000\frac{kg}{m^3})(0.015m)(48\frac{m}{s})}{8.9\times 10^{-4}\, Pa\cdot s}= 8\times 10^{5}
$$
...we see that this flow is well into the turbulent regime, so unless your pipe is very long, this method is not appropriate.
Turbulent flow:
For turbulent flow, we can use Bernoulli's Equation with a friction term. Assuming the pipe is horizontal:
$$
\frac{\Delta P}{\rho}+\frac{V^2}{2}=\mathcal{F}
$$
where $\mathcal{F}$ accounts for friction heating and is given in terms of an empirical friction factor, $f$:
$$
\mathcal{F} = 4f\frac{\Delta x}{D}\frac{V^2}{2}
$$
The friction factor, $f$, is correlated to Reynolds number and pipe surface roughness. If the pipe is smooth, like drawn copper, the friction factor will be about 0.003 in this case. I got that value from "Fluid Mechanics for Chemical Engineers" by de Nevers, table 6.2 and figure 6.10. I also assumed that the Reynolds number will be about $10^5$. Substituting the equation for friction heating into Bernoulli's Equation and solving for velocity:
$$
V=\sqrt{\frac{2 \Delta P}{\rho \left( 4f\frac{\Delta x}{D}+1 \right)}}
$$
If your pipe is some other material with a rougher surface, then this analysis will over-predict the flow rate. I'd suggest looking for tables of friction factors for your particular material if you need higher accuracy.