This article proposes a three-vector-based model predictive flux control(TV-MPFC) using an ultralocal model. The conventional mathematical model of PMSM is replaced by an ultralocal model, and an extended state observer (ESO) is designed to estimate the unknown dynamics in the model, thereby eliminating disturbances caused by unmodeled dynamics. The control objective of the inner loop is shifted from current vectors to stator flux vectors, and three voltage vectors are applied within one period to achieve zero dq-axis flux tracking error. Simulations and experiments demonstrate that the proposed model predictive control achieves excellent current and speed regulation.