Purpose: The 1:1 spin-orbit resonance phenomenon is widely observed in binary asteroid systems. We aim to investigate the intrinsic dynamic mechanism behind the phenomenon under the coupled influence of the secondary's rotation and orbital motion. Methods: The planar sphereellipsoid model is used to approximate the synchronous binary asteroid. To solve this strongly nonlinear problem, a novel algorithm based on the Lindstedt-Poincaré (LP) method is proposed to find the explicit solution of the quasi-periodic motion. Results: Numerical simulations for the Didymos system show that the high-order solution is accurate enough to provide the initial orbital conditions for further dynamic study. With the help of the solution, we compute the stable region for the synchronous state, the contour maps of the Lyapunov characteristic exponent, and the resonance curves of the basic frequencies in the parameter space. Conclusion: The stable synchronous state requires a small eccentricity e of the mutual orbit but permits a large libration angle θ of the secondary. The anti-correlation of θ and e is confirmed. The sable region for a very elongated secondary is small, which explains the lack of such secondaries in observations (see table 1 in Pravec et al ( 2016)). In addition, the findings of this research Article Title provide insights into chaos and the resonances of basic frequencies, which may play an important role in the evolution of a binary asteroid.