本文首先概述了控制系统故障诊断的概念,分析了国内外对于这一领域的研究水平和发展状况,并且分基于和不依赖于控制系统数学模型两大类介绍了一些主要的故障诊断方法。此外,本文针对当前应用较多的一种动态系统——混合系统,提出了一种基于键合图模型的故障诊断方法。介绍了混合键合图基本原理,通过混合键合图对混合动态系统建模,为进一步进行MBD故障检测和追踪直至故障隔离和鉴别提供基础模型。 This paper first outlines the concept of control system fault diagnosis, analyzes the research level and development status in this field at home and abroad, and introduces some major fault diagnosis methods based on two major categories of control system mathematical model. In addition, this paper presents a new fault diagnosis method based on the bond graph model for a dynamic system-hybrid system with more applications. The basic principle of hybrid bond graph is introduced. The hybrid dynamical system is modeled by mixed bond graph, which provides the basic model for further MBD fault detection and tracking until fault isolation and identification.