This　paper　proposed　a　model-free　predictive　control　based　on　a　maximum　torque　per　ampere.　The　dynamic　model　of　the　permanent　magnet　synchronous　motor　is　used　to　derive　the　expression　of　electromagnetic　torque.　Using　the　maximum　torque　per　ampere　control　method　the　minimum　current　reference　is　derived.　To　achieve　a　robust　performance　under　parameter　changes　and　external　disturbances　influencing　the　permanent　magnet　synchronous　motor,　a　model-free　predictive　control　based　on　an　ultra-local　model　and　an　extended　state　observer　is　proposed.　The　simulation　results　showed　that　compared　with　the　classic　linear　controller,　the　proposed　control　strategy　ensures　smaller　speed　and　torque　ripples　and　better　robustness　under　parameter　mismatches　and　disturbance.　©　2023　IEEE.