Disclosed is a double-stator linear vernier permanent magnet (DS-LVPM) motor and method to increase the magnetic field modulation effect. The motor contains a primary, and first and second secondaries on both sides of the primary, spaced by an air gap. The motor secondary includes modulation teeth. The primary is bilaterally symmetrical, and permanent magnets (PM) are embedded in the yoke of the primary core elements. The design solves the inherent problem of flux leakage at the end of PMs for conventional VPM motors, so as to improve utilization of PMs, thereby increasing thrust density of the motors. Additionally, the motor secondaries are laminated by silicon steel sheet, which saves PM material and significantly reduces cost for linear long stroke applications. By adjusting PM structure parameters, the design can use finite element method (FEM) to calculate repeatedly to get PM structure parameters corresponding to maximum electromotive force (EMF).