Torque drop during winding commutation is one of the main causes of significant torque ripple in switched reluctance motors. Based on an analysis of the causes of torque ripple in conventional switched reluctance motors, this paper studied a torque ripple suppression method that combined structural optimization with direct instantaneous torque control to address this issue. The method added an internal stator and auxiliary windings, forming a circumferentially staggered switched reluctance motor. The auxiliary windings on the internal stator provided supplementary torque to compensate for the torque drop in the main windings on the external stator during commutation. A direct instantaneous torque control strategy was then designed, which switched the operating mode of the power converter based on torque deviation signals and sector signals, offering fast response and precise torque control. Finally, a field-circuit coupling co-simulation environment was constructed for the six-phase winding of the motor. The torque and speed characteristics were comparatively analyzed under three operating conditions: starting, acceleration/deceleration, and load increase/reduction. The simulation results showed that the improved motor exhibited excellent torque ripple suppression and good operational characteristics.