机电耦合是伺服驱动系统普遍存在的问题，给系统谐振抑制控制带来很大困难。针对传统机电耦合建模过程中机械系统与电气系统融合度不高的问题，深入研究粘弹性宏单元机械动力学模型和Park电气模型的耦合机理，提出一种基于谐波平衡法的机电耦合深度混合建模方法，运用双曲型波动偏微分方程来表征粘弹性宏单元截面扭转运动特性，采用谐波平衡法获得伺服驱动系统转速—电流—磁链—负载多物理量深度融合的解析模型；为解决复杂工况下转速和负载剧烈变化要求快速抑制系统谐振的问题，提出一种基于高阶滑模和加速度反馈相结合的控制方法，结合工况区间自适应控制策略，根据趋近或离开滑模线时系统加速度的变化值估算负载转矩的变化量，从而在不同工况下控制电磁转矩跟随负载变化，依据转速和负载变化因子采取不同的控制方法，以达到对谐振快速抑制和提高系统鲁棒性的目的。本项目研究内容为伺服驱动系统机电耦合建模和谐振抑制控制提供一种有效方法。

The coupling of electromechanical system is a common problem in servo drive system, which brings great difficulties to the resonance suppression control of the system. In order to solve the problem of low fusion degree between mechanical system and electrical system in the process of traditional electromechanical coupling modeling, the coupling mechanism of viscoelastic macro unit mechanical dynamics model and Park electrical model is studied. A hybrid modeling method of electromechanical coupling based on harmonic balance method is proposed. Using hyperbolic wave partial differential equation to characterize the torsional motion characteristics of viscoelastic macro element section. An analytical model of the deep fusion( rotational Speed, current, Flux and load) for servo drive system is obtained by harmonic balance method. In order to solve the problem that the violent change of rotational speed and load in complex working condition requires fast suppression of system resonance, a control method based on high order sliding mode and acceleration feedback is proposed. At the same time, the adaptive control strategy of working condition interval is used. The variation of load torque is estimated according to the change of system acceleration when the sliding mode line is approaching or leaving the sliding mode line, so that the electromagnetic torque is controlled under different working conditions to follow the load change, Different control methods are adopted according to rotational speed and load change factor to achieve the purpose of rapid suppression of resonance and improvement of system robustness.This project provides an effective method for electromechanical coupling modeling and resonance suppression control of servo drive system.