In order to improve the speed cooperative control accuracy of multiple permanent magnet synchronous motors (PMSM), a new finite-time consensus control method for the speed cooperative control of multi-PMSM agent systems with disturbances is proposed in this paper. First, the PMSM speed control system is regarded as a multi-agent system, and the problem of motor speed cooperative control is transformed into the consensus problem of the multi-agent system. An integral sliding mode finite-time consensus protocol is designed based on the mathematical model of the multi-PMSM agent system. Then, a finite-time distributed state observer is designed to observe the comprehensive disturbance compensation and feed it forward to the consensus protocol to improve the robustness of the system. Based on the Lyapunov stability theory, the finite-time convergence of the multi-agent system subject to disturbances is analyzed. Finally, through the tests on the experimental platform of a three-PMSM speed control system, compared with the deviation coupling control method, the effectiveness and practicability of the proposed method are verified.