中文摘要：

为了缩短直驱伺服系统设计周期,并保证所设计的系统的性能满足设计指标要求,提出了一种直驱伺服系统机电联合建模方法.以典型的直驱伺服系统为例,叙述了该建模方法的实现过程.建立了直驱伺服系统的动力学理论模型和基于Recurdyn和Matlab的机电联合仿真模型,在不同条件下对机电联合仿真模型进行了时域和频域仿真分析,并对仿真结果与系统实际测试结果进行了对比.结果表明：系统开环时域与频域仿真结果与实验结果基本吻合,幅频匹配度大于83％,相频匹配度大于73％,时域匹配度大于89％.得到的结果验证了提出方法的有效性和正确性,表明利用该方法可在设计过程中对设计方案进行性能预测,提高设计效率.

英文摘要：

To shorten the design schedule of a direct drive servo system and to ensure its performance to meet the indicator demand of the system design, a mechatronic modeling method for the direct drive servo system was proposed. By taking a typical uniaxial direct drive system for an example, the implementation process of the method was described. The dynamics model of direct drive system was established, and the mechatronic co-simulation model based on Matlab and Recurdyn was also build. The time-frequency domain characteristics of the mechatronic co-simulation model was analyzed and simulated in different conditions, then their simulation and experiment results were compared. Cdmparison results show that open-loop time-frequency domain simulation and an pratical experiment results are basically consistent, and its Amplitude-frequency Characteristic Matching Degree （ACMD） is greater than 83%, Phase-frequency Characteristic Matching Degree （PCMD） greater than 73%, and Time-domain Response Matching Degree （TRMD） greater than 89%. It verifies the correctness and effevtiveness of the mechatronic co-designing method. The method is suitable for predicting the system performance in the mechatronic design process, which improves design efficiency.