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When the traditional speed control encounters the abrupt load, it will cause a large speed fluctuations which may affect the stability of the motor operation. In order to reduce the speed fluctuations and improve the response speed of the motor speed, an improved adaptive reaching law model-free control method based on the Extended Sliding-mode Disturbance Observer (ESMDO) was proposed. The disturbance is extended for analysis by introducing the motor motion equation, and the mathematical model of the disturbance observer is established to increase the accuracy of disturbance observation. In order to reduce the chattering of the slide controller and improve the response speed, the new algorithm adopts an improved adaptive slide reaching law. By adopting the method of gain adaptation, controller can adjust the speed of approaching the sliding mode. By verifying the excellent performance of the new control strategy in improving the system response speed and anti-interference capability through the simulation comparison of the new algorithm with model-free control based on exponential reaching law and the PI control strategy.