To meet the teaching and research requirements related to the comprehensive application of control theory to complex engineering problems in the context of motor control, a semi-physical simulation experiment system for permanent magnet synchronous motors (PMSM) based on VxWorks has been designed. To address 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 for parameter variations and external disturbances during the actual operation of the motor, thereby improving decoupling performance. The load experiment results indicate that the complex vector decoupling control strategy reduces the d-axis current fluctuation by approximately 39.6% and the q-axis current fluctuation by approximately 15.4%, maintaining a better decoupling effect even 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.