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In order to improve motor torque density and efficiency, the configuration and operation principle of Radial-Flux Anti-Rotary PMSM (RFAR PMSM) are introduced. After the mathematic model being deduced, simulation model of RFAR PMSM is established using Matlab/Simulink software. A new direct torque control system for RFAR PMSM is designed, and the speed following strategy of two rotors on disturbance condition is proposed to maintain the equal speed of two rotors. The simulation result, which well matches the theory analysis verified that direct torque control is competent for speed regulating of RFAR PMSM with advantages of high mechanical robustness and quick torque response.