The single-vector model predictive current control of permanent magnet synchronous motors has the problem such as large current fluctuations, poor steady-state performance, and insufficient anti-interference. The two-vector model predictive current control method can improve the accuracy of current control by selecting two voltage vectors in each control cycle and optimizing the vector action time. To further enhance the robustness of the motor model predictive control, an improved sliding mode speed controller with approaching law is used in the speed control closed-loop. A sliding mode disturbance observer is designed to account for internal system parameter disturbances and external load disturbances. By improving the variable exponential approaching law and utilizing an integral sliding mode surface, the conflict between approaching speed and system oscillation in the traditional exponential approaching law is resolved. This enhancement improves the system’s response and reduces vibration. Through simulations and experimental studies, it is verified that the improved two-vector model predictive current control method enhances the response speed and control accuracy of the permanent magnet synchronous motors system and improves its robustness.