The present disclosure relates to a spherical wheel motor and a control system thereof, and more particularly, the spherical wheel motor and the control system include a spherical rotor and a stator surrounding an upper surface of the rotor. The rotor includes a spherical outer shell part, a first axial magnet extending in a horizontal direction in the outer shell part, a second axial magnet extending in the horizontal direction and facing the first axial magnet, and a rotary magnet belt provided in a form of a belt with the first axial magnet and the second axial magnet as a central axis. The rotary magnet belt includes a plurality of first rotary magnets and a plurality of second rotary magnets arranged alternately.