This paper proposes an analytical model of modular spoke-type permanent magnet (MSTPM) machines based on air-gap field modulation (AFM) theory. Firstly, a fundamental AFM model of open-circuit MSTPM machines is introduced. The open-circuit air-gap field of MSTPM machines is determined by three fundamental elements including the primitive magnetizing magnetomotive force (MMF) produced by permanent magnet (PM), and two modulators which consist of stator and rotor permeance. The analytical MMF excited by PM (PM-MMF) can be calculated by using magnetic circuit method, while the stator and rotor permeance models are developed based on relative permeance (RP) method. Thereafter, a general model is proposed to calculate the open-circuit back electromotive force (EMF) of MSTPM machines. Further, the winding inductance model is established on the basis of equivalent magnetic circuit method and RP model. Finally, the machine performance is predicted by the analytical model, and verified by both finite element analysis (FEA) and experimental results. Index Terms-Air-gap field modulation, AC machines, spoke-type PM machines, in-wheel traction. NOMENCLATURE θ Air-gap position μ0 Permeability of vacuum ωRotor mechanical speed (rad/s)Relative rotor permeance at (position θ, moment t) Λr0Average relative rotor permeance Λ s0Average relative stator permeance Λr1 Amplitude of fundamental relative rotor permeance Λs(θ, t) Relative stator permeance at (position θ, moment t) Br(θ, t) Radial air-gap flux density at (position θ, moment t) B ho The h o th harmonic of air-gap flux density ec(t) Back-EMF of a single coil at moment t e kThe k th phase back-EMFThe harmonic of the k th phase back-EMF induced by the ho th harmonic of flux density