Aiming at the problems of integral saturation and DC drift in traditional flux observer, an improved voltagecurrent hybrid model flux observer was proposed. Through the theoretical analysis of the stator flux observer, the traditional voltage model integration method was improved. Combined with the current model flux observer, a voltagecurrent hybrid model flux observer was proposed, which could observe the accurate stator flux in the full speed range. The flux linkage solved the problems of DC offset, amplitude attenuation and phase shift at different speeds. The hybrid flux observer had phase error at the medium speed. To solve this problem, the compensation link was introduced to compensate the output of the hybrid model, which reduced the error caused by the saturation effect, and the dynamic performance of the flux observer was improved. The feasibility and superiority of the improved hybrid model flux observer in the direct torque control of permanent magnet synchronous motor were verified by simulation.