Permanent magnet synchronous motor (PMSM) direct torque control (DTC) system using fuzzy control was proposed which used fuzzy controllers to replace the hysteresis comparators for stator flux and torque and the switching table. Simulation results show that the proposed fuzzy control system can work properly and realize fourquadrant operation. Compared with the conventional switching table, fuzzy controller could decrease torque ripple and average switching frequency. The effects of universe of torque error and use of zero voltage vector on fuzzy control system were analyzed. Based on the effects of torque angle on voltage vector, a novel fuzzy control PMSM DTC system which took torque angle as the input parameter was proposed. Simulation results show that under large torque angles, the novel fuzzy control system can decrease the ripple of stator flux and torque and improve the control performance compared with conventional fuzzy control.