Currently, the rapid development of permanent magnet synchronous motors (PMSMs) for robotic propulsion has brought unavoidable noise challenges, with motor harmonics being a critical contributor to noise generation. This paper initiates with the design of a counter-rotating permanent magnet synchronous motor (CRPMSM), aiming to reduce harmonics by exploring various structural parameters and validating the design rationality through simulation verification. Subsequently, a vector control strategy tailored for the CRPMSM is proposed, accompanied by a current-torque harmonic suppression scheme. Finally, the feasibility and effectiveness of the control strategy are demonstrated using the MATLAB/Simulink platform.