This paper proposes a control method suitable for limited armature voltage and current in a permanent-magnet synchronous motor drive system based on direct torque control (DTC). First, this paper proposes torque-limiting and flux-weakening controls that are suitable for a DTC-based motor drive system. The proposed method utilizes a mathematical model in a rotating reference frame synchronized to the stator flux linkage. Second, this paper proposes an antiwindup scheme for the torque controller of the DTC system. Windup of the controller degrades the performances of torque-limiting (current-limiting) control and of torque control. Applying the antiwindup results improves the performance of the proposed torque-limiting method in the transient state. This paper presents a DTC-based drive system combined with a speed controller. The proposed system can achieve stable control, and its effectiveness is confirmed experimentally.