Aiming at the problem of uncertain parameters of permanent magnet synchronous motor (PMSM), this paper proposes an adaptive backstepping sliding-mode control method with reducing chattering based on extended state observer (ESO). Firstly, in order to compensate for the disturbance caused by the parameters uncertainties and external disturbance in the velocity equation, a velocity loop ESO is established to improve the design accuracy of the virtual control law in the backstepping derivation process. Further, for the purpose of weakening the chattering of the sliding-mode control, the current loop ESO is designed. The current loop ESO not only suppresses the influence of the parameters uncertainties but also weakens the sliding-mode chattering. Finally, the backstepping sliding-mode control law is given according to the Lyapunov stability theorem in which the derivation of the virtual control law is acquired by dynamic surface control(DSC). Simulations and experiments are performed on MATLAB and dSPACE semi-physical simulation platform. The simulation and experimental results show that the proposed method can achieve better speed tracking in the presence of uncertain parameters, and has robustness and stability.