There are 2 options that I know of:
1. Insulate between the rafters. In this case the depth of the rafters will determine the thickness of the insulation. The performance of the roof will be determined by the depth and type of insulation used. I would recommend 200mm rafters with e.g. rockwool. You won't have the rafters exposed, but could if you wished put on additional rafters below the ceiling for cosmetic purposes (I wouldn't be a fan of this).
2. Insulate above the rafters, in this case you would have to build a deck above the rafters (e.g. could be plasterboard then OSB, or could be exposed T&G timber depending on how rustic you want it to look). In this case the thickness of insulation is not limited by the thickness of the rafters. The insulation should then be foil back rigid insultation. I think this is the better solution if you want exposed beams, the one downside of this is you end up with a very thick roof build up overall which may affect your ridge height, eaves detailing etc.
As outlined by Nutty Nut above you will have to be careful with your vapour barrier to avoid condensation. Also with both options it is hard (but not impossible) to put in downlighters, so maybe you should take that into consideration.
J2K