In five-phase permanent magnet synchronous motor (FPMSM) drive system, the nonlinearity of multiphase motor and the dead zone effect of the inverter can produce harmonic current in the harmonic subspace with the traditional single-plane current control. In order to control the harmonic current of FPMSM better, the dual d-q current control of FPMSM is necessary. So the dual vector space SVPWM (DVSVPWM) is particularly important. In order to improve the dual d-q current control of FPMSM, this paper proposes a novel dual-plane space voltage vector modulation method based on space six vector (SV-DVSVPWM). The method of PWM waveform centralization can effectively solve the problem that the asymmetry of the PWM waveform. And a harmonic compensation method is proposed furthermore, which can completely eliminate the harmonic voltage in the harmonic subspace. The SV-DVSVPWM with compensation is used in the dual d-q current control of FPMSM. Finally, the simulation verified the correctness of the proposed modulation method and the validity of harmonic compensation. The experiment with dual d-q current control of FPMSM based on SV-DVSVPWM is verified, and an excellent current control effect is achieved.