The invention designs and develops a tangential and radial combined permanent magnet and electromagnetic hybrid excitation driving motor. A permanent magnet rotor comprises a permanent magnet rotor iron core, a shaft, first magnets, second magnets and magnetic isolation air gaps, the second magnets are arranged close to the inner side of the middle of every two adjacent first magnets of the radialstructure, the magnetic isolation air gaps are formed between the inner ends of the first magnets and the second magnets, the space distribution structure of the second magnets attracts the magneticfield generated by the first magnets to be gathered at the center of each pole, the magnetic isolation air gap under each magnetic pole is of an inverted V structure, so that on one aspect, magnetic leakage is avoided, on the other aspect, the magnetic field of each pole can be better guided to be concentrated to the center of the magnetic pole to the maximum extent, the second magnets and the magnetic isolation air gaps have the double-layer magnetic gathering effect, the magnetic field gathering capacity is high, and the weight of the motor is low.