The invention discloses a permanent magnet motor cycle lag compensation and three-phase electrification six-beat control device and a permanent magnet motor cycle lag compensation and three-phase electrification six-beat control method. The device comprises an IGBT inverter bridge, a current sensor, a permanent manet synchronous motor, a controller, a power battery pack and an anti-shake motor Hall position sensor. The anti-shake Hall position sensor in the device combines two groups of Hall position sensors with six paths of Schmidt trigger inverters, and thus, reliability of the sensors is improved. In the control method, firstly, the conventional vector modulation method is improved, a new vector modulation method is obtained, and computation burden of a microcontroller is reduced; secondly, motor stator current prediction compensation control is used, a problem of lagging of current in the motor control is solved, and finally, in combination with the anti-shake Hall position sensors, a six-beat control strategy is provided, thus, a bridge arm of each phase is electrified in each cycle, loading capacity of the motor is increased, and relative to vector control, switching loss ofa power device is reduced.