Permanent Magnet Synchronous Motor (PMSM) is a system with multivariable, nonlinear, and strong coupling characteristics. Due to the uncertainty of model parameters and external load disturbances, traditional linear control methods often struggle to achieve effective control. Considering the significant advantages of Nonlinear Model Predictive Control (NMPC) in handling complex constraint optimization of nonlinear systems, as well as its ability to reduce computational burden and improve system robustness, Nonlinear Model Predictive Control Method with Analytical Formal Control Law (ANMPC) in this paper is used to design PMSM controller, and conducts simulation analysis on the prediction time domain and control order. The ANMPC method behaves well in speed tracking behavior, and the system has strong anti-interference ability.