To address the issues of speed susceptibility to internal and external disturbances under various operating conditions in permanent magnet synchronous motor (PMSM), a parallel linear active disturbance rejection control (PLADRC) strategy based on delay compensation is proposed. Aiming at the problem that PMSM may be subject to the external time lag effect introduced by signal processing, inverter response, and other factors, the Smith predictor is introduced in combination with the active disturbance rejection control (ADRC) to make the control system respond to the internal parameter changes and external perturbations more accurately and quickly. Meanwhile, for the problem of poor anti-disturbance performance of linear ADRC (LADRC) in limited bandwidth, a parallel LADRC is designed to effectively improve its anti-disturbance capability while keeping its bandwidth unchanged and its parameters easy to adjust. Finally, the stability of the LADRC is analyzed, and the parameter design and perturbation performance are analyzed on this basis. Simulation and experimental results show that the proposed algorithm improves the adjustment time by 52. 5% , 49. 5% , and 42. 4% compared with LADRC after the motor is subjected to speed step, load perturbation, and internal parameter change, which verifies that the control strategy effectively enhances the resistance to internal and external perturbation and speed tracking ability of the PM synchronous motor under multiple operating conditions.