Aiming at the the problem of designing and adjusting the weight factors of model predictive torque control (MPTC) for permanent magnet synchronous motor (PMSM), the parallel MPTC is used to intersect voltage vector sets for single-object cost function instead of weighted summing of multi-object cost function, thus eliminating the weight factors. The parallel MPTC for PMSM is built, and the effects of the number of voltage vectors in flux control voltage vector sets and torque control voltage vector sets on the system control performance are studied. The parallel MPTC with the switching times control is further established, and the fuzzy controller is used to dynamically adjust the switching times to control the number of voltage vectors in voltage vector sets. The simulation results show parallel MPTC for PMSM does not require weight factors design and adjustment. The fuzzy parallel MPTC can dynamically adjust the number of voltage vectors in control object sets according to the realtime operation state of the system, so as to optimize the system control performances.