Abstract: In order to meet the teaching and research needs of the ability to comprehensively apply control theory to solve complex engineering problems in the context of motor control, a semi-physical simulation experiment system of permanent magnet synchronous motor (PMSM) based on VxWorks is designed. Faced with the issue of coupling between the d and q axis currents in the rotating coordinate system of PMSMs, the control strategy based on complex vector decoupling is adopted to decouple the current loop, meanwhile, a disturbance observer is combined to observe and compensate the parameter uptake and external disturbances during the actual operation of the motor, thereby improving decoupling performance. The results of load experiments show that the d-axis current fluctuation is reduced by about 39.6% and the q-axis current fluctuation is reduced by about 15.4% by the complex vector decoupling control strategy, which still retains a better decoupling effect in the case of mismatch of inductance parameters. Tracking control experiments further demonstrate the favorable dynamic tracking performance of the proposed decoupling control strategy. The experimental system can be flexibly applied to the experiments of various professional courses and the comprehensive course design of automation, laying a foundation for improving students’ professional and technical abilities.