针对机电集成超环面传动过程中存在啮合齿对数周期性变化现象，考虑啮合刚度时变特性建立系统参数动力学模型及微分方程，据Floquet理论推导系统稳定性判断因子表达式，给出机电设计参数对系统稳定性影响规律。采用数值积分方法证实系统存在多个共振频率：固有频率共振、啮合频率及组合频率共振，给出各共振情况下频域响应曲线。结果表明，系统发生共振时除外激励频率成分外，亦含各阶固有频率及固有频率与啮合频率的组合频率成分，且啮合频率共振与组合频率共振振幅最大频率发生在系统固有频率处，非外激励频率处。稳定性及强迫响应规律可为系统结构及机电参数设计提供理论依据。

There are periodic changes of meshing teeth in electromechanical integrated toroidal drive. Considering time-varying meshing stiffness, dynamics model and the corresponding differential equation of parametric vibration system are established. According to the theory of Floquet, judgment factor expression of system stability is derived, and the influence laws of system stability to mechanical and electrical design parameters are given. Then, multi-frequency resonances are confirmed by the numerical integral method in parametric vibration system, i.e. natural frequency, meshing frequency and combination frequency resonances, and the corresponding frequency responses are given. The results show that except the excitation frequency, natural frequencies and combination frequencies between natural frequencies and meshing frequency exit in system resonances. The frequencies of the maximum amplitude are located in the natural frequencies, but external excitation frequency. System stabilities and forced responses can provide theoretical basis for designing of structure and mechanical and electrical parameters.