To solve the problems of chattering and phase delay of a surface permanent magnet synchronous motor (SPMSM) direct torque control system based on traditional PI control, a new approach law is designed in the speed link, and the fuzzy adaptive method is adopted to realize the dynamic adjustment of the approach law parameters. The Lyapunov method is utilized to prove its stability. The super-twisting sliding mode strategy is utilized to control reference voltage vector, the hybrid sliding mode controller is designed, and a sliding mode observer based on the arctangent function is established and the rotor position is reasonably compensated. The simulation experiments show that compared with PI control, and the sliding mode controller based on the exponential reaching law, the proposed controller can effectively improve the system response and significantly reduce the chattering and the phase delay, when the motor is started without the load or with the external disturbance. And the proposed observer can effectively reduce the phase delay and improve the rotor position identification result compared with other model reference adaptive observer.