Although the structure of PI controller is simple, there are some flaws. In order to overcome the contradictions between the rapid response and overshoot for speed, the model of active disturbance rejection control (ADRC) was established in the paper. The transition process for a given speed was got by tracking - differentiator (TD). The sum of internal and external disturbance is estimated by the extended state observer (ESO). The capability of resisting disturbance is improved for the disturbance compensated timely. Permanent magnet synchronous motor (PMSM) direct torque control based on ADRC scheme is realized. The simulation results have shown its availability.