There are big ripples in PMSM on torque and speed when using traditional DTC which gets the combination of the basic space voltage vector through the preset switch. This paper firstly presents the basic principles of PMSM SVM-DTC, ensuring the stability of the inverter switching frequency and effective compensation of stator flux bias by getting optimal voltage vector through SVM. In order to further improve PMSM torque and speed pulsation, on the basis of the SVM technology, it constructs iterative learning controller by ILC algorithm to compensate the system speed error online, and acts on PMSM DTC system. Through simulation and experiment, the results show the improved method has a good effect on improving the stability of torque and speed, enhancing the robustness of the system and verifying the feasibility of the ILC algorithm in improving torque and speed ripple for PMSM. This work is supported by International S & T Cooperation Program of China (ISTCP) (No. 2011DFA62890) and National Natural Science Foundation of China (No. 51477046).