The principles of magnetic field modulation and axial magnetic gear composite motors are firstly systematically described. Based on thus, an axial magnetic gear composite motor with a spoke-type rotor structure is proposed. And the finite element analysis method is adopted to carry out three-dimensional numerical simulation analysis of the electromagnetic performance of the composite motor, which verifies the reasonableness of the structure of the motor. The influence of each parameter of the spoke-type rotor on the output torque and axial magnetic pulling force of the motor is further analyzed, and it is concluded that the influence of the rotor parameters on the circumferential and axial magnetic pulling force of the two sides of the rotor is similar, which provides a theoretical basis for subsequent experimental research.