The invention discloses a double-permanent magnet inner-rotor permanent magnet biased spherical radial magnetic bearing which comprises two parts, namely a stator system and a rotor system, wherein the stator system mainly comprises a stator upper spherical iron core, a stator lower spherical iron core, an exciting coil, a stator magnetic-insulating ring, a stator upper magnetic-conductive ring, a stator lower magnetic-conductive ring, a stator permanent magnet, a stator sleeve and a stator locking ring; the rotor system mainly comprises a rotor upper spherical iron core, a rotor lower spherical iron core, a rotor magnetic-insulating ring, a rotor upper magnetic-conductive ring, a rotor lower magnetic-conductive ring, a rotor permanent magnet, a rotor sleeve and a rotor locking ring; the stator upper spherical iron core forms four magnetic poles, the stator lower spherical iron core forms four magnetic poles, the stator upper spherical iron core and the stator lower spherical iron core form eight magnetic poles of the upper end and lower end of the magnetic bearing, the magnetic poles respectively form spherical magnetic poles in positive and negative directions of an X axis and a Y axis, and the exciting coil is wound on each stator magnetic pole. The double-permanent magnet inner-rotor permanent magnet biased spherical radial magnetic bearing disclosed by the invention prevents the disturbance of radial translation control on radial twisting control, can be used for reducing the magnetic interference of self residual magnetism on the outside, can be taken as the non-contact support of rotary parts, namely a magnetic suspension universal momentum wheel and the like, for space, and can be used for enhancing the accuracy of the control moment of the momentum wheel.