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The accurate observer and effective control of the air gap flux for electrically excited synchronous motor has significant sense to the performance improvement of vector control system. In this paper, a full-order closed-loop air gap flux estimator suitable for full speed range was put forward and analyzed in detail, it pointed out that the estimator was composed of two estimator models, i.e. current model and voltage model, and they switched smoothly because of their properties of filters. Both the simulation and experiment results demonstrated that the proposed electrically excited synchronous motor vector control system based on full-order closed-loop air gap flux estimator has excellent control property, and it has pretty high value in theories and application.