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Permanent Magnet Synchronous motor is a nonlinear, multi-variable and strongly coupled system with uncertain external interference. In order to improve the control accuracy at low speed, an improved Active Disturbance Rejection control is used to control it. Firstly, a new nonlinear function is constructed by interpolation method to replace the original optimal control function of ADRC, which makes it smoother and more continuous at the origin. And apply this function to extended state observer, Finally, the nonlinear state error feedback is used as fractional-order proportion integration The differentiation is substituted to enhance the dynamic performance. The simulation results of SIMULINK show that the proposed control algorithm has faster response speed and better anti-interference ability than the traditional ADRC in PMSM low speed control.