The invention relates to a model reference self-adaptive system parameter self-tuning method based on two-dimensional fuzzy control. The model reference self-adaptive system parameter self-tuning method based on two-dimensional fuzzy control includes the following steps that first, according to an actual physical model of a permanent magnet synchronous motor, a model reference self-adaptive system based on a two-dimensional fuzzy controller is constructed; second, according to the actual model and a reference model, direct-axis and quadrature-axis currents under corresponding input are calculated respectively, and a current error variable e(t) is obtained according to an error calculation formula; third, the change range of the e(t) is defined as the pulsation band e(t)band of the current error variable, the rate of change of the e(t) is defined as de(t)/dt, after action of the input scale factors Ke and Kc of the two-dimensional fuzzy controller, the e(t)band and the de(t)/dt are input into the two-dimensional fuzzy controller; fourth, according to a two-dimensional fuzzy rule, the output of the two-dimensional fuzzy controller is obtained; fifth, after the output scale factor Ku acts on the output of the two-dimensional fuzzy controller, the rate of change of the rotation speed is estimated; sixth, discrete integration is performed on the obtained rate of change for estimating the rotation speed, and then the estimated rotation speed value can be obtained. The model reference self-adaptive system parameter self-tuning method based on two-dimensional fuzzy control can be widely applied to the field of control over motors without position sensors.