The magnetic coupling phenomenon widely exists in the type of double rotor motor, which is difficult to be eliminated completely due to the interactions between two layers of air-gap magnetic fields in a compact geometry structure. This article studies magnetic coupling in the perspective of air-gap harmonic groups, where the novelty is to propose the concept of positive coupling harmonics and the negative one. And, a double rotor flux-switching PM machine is chosen as the research subject. Then, the article begins with the analytical investigation of the modulation principle considering magnetic coupling, where the coupling harmonic group factor is defined. According to this factor, the coupling harmonics are analyzed and selected, and the positive and negative coupling harmonic groups are further determined. Next, the influence of coupling harmonic group on the machine performance is investigated in detail, including the back-EMF, torque performances, overload capability, and so on. The results show that the raise of positive coupling harmonic group factor brings the improvement of machine performances. In addition, a prototype machine is manufactured for experimental testing. Overall, theoretical analysis, simulation and test results verify the validation of the whole investigation to a large extent.