Aiming at the problem of torque ripple caused by large errors of flux linkage and torque observer in direct torque control (DTC) of permanent magnet synchronous motor (PMSM), a flux linkage and torque observer based on spatial analytical model is proposed and applied to DTC based on space vector pulse width modulation (SVPWM). Numerical solutions of the flux linkage and torque are obtained through finite element simulation, with which a flux linkage and torque spatial analytical model considering the space harmonics and magnetic saturation characteristics of the motor is derived. Based on these, a new type of high-precision flux linkage and torque observer is constructed. Simulation and experimental results show that the observers based on the spatial analytical model can effectively suppress torque ripple of SVPWM-DTC caused by observation errors.