To improve the speed and current tracking accuracy of permanent magnet synchronous motors (PMSM), as well as the robustness of the speed control system, fixed time adaptive terminal sliding mode control method for PMSM based on super-twisting eso. The loop for speed tracking and current regulation are both controlled by the proposed fixed time adaptive terminal sliding mode cascaded controller. Using Lyapunov functions, the stability of the speed and current controllers is demonstrated, guaranteeing the system fixed time convergence. In order to ensure the anti-interference ability of the speed control system, super-twisting eso was constructed to estimate the lumped disturbance of the speed tracking loop, and the adverse effects of unknown disturbances on the speed control system were weakened through feedforward compensation to improve the anti-interference performance of the speed control system. Finally, simulation and experimental verification were conducted, and the results of the experiment and simulation demonstrated the superiority and efficacy of the suggested control method.