To enhance the tracking performance of multi-motor speed cooperative control, this paper transforms the speed coordination problem of multiple permanent magnet synchronous motor (PMSM) speed regulation systems into a first-order multi-agent consensus problem and proposes a novel speed tracking control method for multi-PMSM systems. Based on an undirected communication topology, a smooth fixed-time consensus protocol is designed through local information interaction among multi-agents. The Lyapunov stability analysis rigorously proves that the proposed protocol guarantees consensus achievement within a fixed settling time. A fixed-time extended state observer (FTESO) is introduced to estimate unknown disturbances, with the estimated values incorporated into the consensus protocol via feedforward compensation. This approach effectively derives the required q-axis current and significantly enhances the disturbance rejection capability of the multi-motor speed regulation system. Finally, comparative experimental verification is conducted on the PMSM speed regulation test platform against the deviation-coupling control algorithm to validate the proposed approach. The experimental results demonstrate that the proposed control method effectively eliminates overshoot problems, significantly reduces chattering phenomena, and improves both tracking performance and synchronization accuracy in multi-motor speed cooperative control.