To address the strong dependence on deterministic models in the control of DTP-PMSM, an OBMFC method is proposed. First, based on the ultra-local model approach, an ultra-local model considering parameter uncertainties is constructed for the DTP-PMSM in the VSD coordinate system. Then, an ESO and an LOB are designed for the current loop and the speed loop, respectively, to estimate the unknown disturbances in the ultra-local model. Finally, the estimated disturbances are compensated into the DCPC of the current loop and the NFTSMC of the speed loop. In this way, the DCPC in the current loop reduces its reliance on the mathematical model, while the speed loop enhances the robustness of speed control. Simulation results demonstrate that, compared with two other model-free control methods—PI control and ADRC in the speed loop combined with MFCPC in the current loop—the proposed method achieves speed control without overshoot and with faster response, stronger disturbance rejection under sudden load and speed changes, and lower current harmonic content. Thus, it significantly improves the robustness, speed response, and dynamic performance of the DTP-PMSM system.