In order to solve the problem of large torque ripple of permanent magnet synchronous motor (PMSM) at low speed, a control method based on double closedloop iterative learning was proposed.The simulation results show that compared with the classical PI control, by using the proposed control strategy, the output torque ripple in the low speed operation of the motor can be effectively suppressed, the smooth operation of the motor can be guaranteed, and the driving performance of the PMSM can be improved under different conditions.