Aiming at the disadvantage that the angle error of motor rotation will increase with time because of the deviation between actual speed and expect speed in the speed feedback motor control system, a control structure combining phase with speed was proposed. A phase loop was added to the speed loop. By inputting a square wave signal to the motor system with steady frequency, the motor speed was controlled by the combinatorial loop circuit to reach the expect speed. The angle of rotation was also controlled to synchronize the phase of the reference square wave signal, so the angle error of motor rotation would not increase with time any more. The combination principle of the scheme was introduced in detail,and an actual motor control system was built for verification. Under the circumstance of 100 Hz square wave signal input, the actual motor control system achieved the following characteristics: stabilization time ≤2 s, speed accuracy in steady state was 6 000±10 r/m, and phase error ≤±50 μs.