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介绍了机械系统完全动力学问题的键合图法，推导出系统状态方程的统一公式。为克服微分因果关系给系统状态方程建立所带来的代数困难，将约束反力视做未知势源加在系统键合图相应的０－结处。最后，通过实例来说明本文方法的有效性及通用性。
The bond graph method of complete dynamic problem of mechanical system is introduced, and the unified formula of system state equation is deduced. In order to overcome the algebraic difficulty caused by the differential causation to the system state equation establishment, the confinement reaction force is regarded as unknown potential source added to the corresponding 0-node of the system bond graph. Finally, an example is given to illustrate the effectiveness and generality of the proposed method.