In accordance with the structure characteristics and operation principle of permanent magnet toroidal motor, an expression is derived from its structure parameters and motion parameters as affected to the electromagnetic parameters. A mathematical model of permanent magnet toroidal motor is established and the dynamic characteristics are analyzed by using the state space method. According to the periodic fluctuation of electromagnetic torque and output speed of the motor, the increment of structure parameters and motion parameters is obtained by fuzzy control rules in the speed loop to adjust the parameters of the terminal sliding mode controller. In order to improve the response speed of the permanent magnet toroidal motor, a super twisting sliding mode controller is designed in the torque ring and flux ring by using the direct torque control, and the permanent magnet toroidal motor is controlled by combining the space vector modulation. The simulation results show that the control strategy effectively improves the response speed of the permanent magnet toroidal motor, reduces the fluctuation of the output speed and the electromagnetic torque, obtaining a good control effect.