A sensorless speed control of a permanent magnet synchronous motor(PMSM) which utilizes MRAS based scheme to estimate rotor speed and position is presented. Considering an error between real and estimated rotor position values, a state equation of PMSM in the synchronous d-q reference frame is represented. A state equation of model system which uses estimated speed and nominal parameter values is expressed. To minimize the errors between the derivatives of d-q axis currents of real and model system, MRAS based adaptation mechanisms for the estimation of rotor speed and position are derived. On the other hand, for the acceleration stage of motor just before the sensorless operation, an acceleration scheme using only d-axis current control is proposed. To show the validity of the proposed scheme, experimental works are carried out and evaluated. During acceleration stage, the acceleration scheme using only d-axis current command shows good acceleration performance and controlled current level. For the sensorless operation, at low speed (5% of rated speed), a good performance is observed.