Abstract: In direct torque control (DTC), only one operating voltage vector can be given within one cycle, and periodic deviations occur, preventing the control system from providing new control signals in real time, thus resulting in significant torque ripple. This paper proposes a novel DTC method to reduce torque ripple. Based on traditional asynchronous motor DTC, the torque differential equation is derived, the causes of torque ripple are analyzed, and the control time error is pre-judged according to the relationship between speed and torque. By changing the speed setpoint through the change in time error, the torque ripple is reduced. Experimental results show that this method can make the torque converge quickly to the setpoint and effectively reduce torque ripple. Keywords: Direct torque control; Torque ripple; Speed ​​compensation Direct torque control was proposed by Depenbrock et al. in Germany in the 1980s. This control method has the advantage of low dependence on motor model parameters and has become a new hot topic in the field of AC drives. However, it is a Bang-Bang control method based on a single vector, torque, and flux hysteresis, which inevitably leads to low switching frequency, inconsistent frequency, and large torque ripple in the low-speed region, limiting the application of DTC in the low-speed region. To address this problem, a common solution is to use Space Vector Modulation (SVM) technology, which can effectively solve the issue. However, SVM uses more motor parameters, requires high accuracy in parameter measurement, and involves significant computational load, thus losing the simplicity of Direct Torque Control (DTC). Therefore, this paper proposes an online speed setpoint correction method to reduce torque ripple, addressing the causes of torque ripple in DTC. For details, please click: Direct Torque Control of Asynchronous Motors Based on Speed ​​Compensation