The invention discloses an axial permanent magnet auxiliary reluctance motor and a control method thereof, and belongs to the technical field of direct current motors. The motor comprises two groups of stators, two groups of rotors and a permanent magnet, wherein the permanent magnet is fixed in the center of a revolving shaft; both sides of the permanent magnet are provided with wedged grooves wrapping the revolving shaft; the two groups of rotors are fixed on the wedged grooves; the two groups of stators are arranged outside the two groups of rotors respectively; a shell is fixed outside the two groups of stators; each group of stators is provided with nine salient poles; each group of rotors is provided with six salient poles; and the two groups of stators are divided into a phase A, a phase B and a phase C. The method comprises the following steps: keeping a difference of 22.5 degrees between a stator tooth center line and a rotor tooth center line of the phase A stator, and starting the motor; and powering on a phase A winding, powering off the phase A winding when one rotor rotates by 20 degrees, powering on a phase B winding, powering off the phase B winding when one rotor rotates by 20 degrees, powering on a phase C winding, and performing the steps circularly in sequence. Through adoption of the axial permanent magnet auxiliary reluctance motor, torque pulsation is reduced. The permanent magnet is arranged, so that the stability of the motor is enhanced, and the performance of the motor is enhanced. The magnetic conduction performance of the motor is improved, and the rotational inertia is reduced.