Aim to metro application, without speed sensor control algorithm based on model reference adaptive system (MRAS) was introduced in detail, and the methods of the stator resistance identification to improve the accuracy of speed estimation in very low-speed region was proposed to meet metro large torque startup requirement. The control algorithm was validated that could implement full-condition speed estimation by ground and on-board test, and completely satisfied all requirements of metro applications. Its successfully application in Wuxi metro line-1 also showed that the system was reliable.