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In this paper,in order to handle the voltage constraint of the permanent magnet synchronous machine（PMSM） drive,i.e.,the limitation for the square root of the sum of squares of d-q axes voltages,a bounded uncertainty and disturbance estimator（UDE）-based vector control method is proposed.Both the robust regulation of d-q axes current and the fulfillment of the voltage constraint are achieved without integral windup.A control sphere is proposed to guarantee that the voltage inputs always move and remain on this control sphere to satisfy the voltage constraint.An additional time-varying variable is introduced to dynamically tune the gains of the integral behaviors in the UDE design.And a dynamic controller is developed to facilitate both the control sphere and the additional time-varying variable.The effectiveness of the proposed design is validated through simulation studies.