The main reason we use the passive voice is when we want to emphasis the action rather than the actor or we don't know who did the action.
For example: I was robbed. (I don't know who robbed me. Saying this in the passive emphasizes my plight as a victim.)
The passive is frequently used in formal language when it may be cumbersome to identify the actor each time.
For example: It is thought that global warming is caused by C02 emissions. (In a long essay, it could be problematic to keep repeating words like "scientists say", "scientists believe", "experts warn", etc. Using the passive voice eliminates this problem.)
These are just two examples of passive usage. Follow the link posted by Paola to learn more.