I. Introduction
The axial flux permanent magnet synchronous motors have features of short axial length, high energy density and great torque, it is suitable for cases that the installation space is special (the axial space is limited) and high torque is required. The axial flux permanent magnet synchronous motors have been applied to computer peripherals, electric vehicles in-wheel drive, flywheel energy storage devices [1]–[4] and so on. In these applications, operation smoothness is important, so the air-gap magnetic field of axial flux permanent magnet motors should be designed sinusoidally.