Abstract: In order to achieve the exact tracking of the motor current, decrease the torque's wave motion of the direct motor, the control strategy of the two-dimensional fuzzy controller of phase-lead compensation and fuzzy self-adaptive PID control were proposed. The simulation results showed that the controller reduced the overshoot and shorted the response time. With stable output response and good dynamic performance and steady-state precision, it improved the system of anti-interference ability and robustness.