Taking the main beam of the bridge as the research object, the bond graph model of the vehicle-bridge coupling system is established by the bonding graph method, and the system state equation is derived. The state space method is used to solve the problem. The variation law of the frequency of each phase of the coupled system with the relative position of the vehicle on the bridge and the variation of the fundamental frequency of the system with the vehicle speed and acceleration are studied. Research indicates: The bond graph method can quickly establish a mathematical model and can provide a good solution for complex system modeling; The frequency of each phase of the coupled system is not only related to the position of the trolley on the beam, but also related to the quality of the trolley. Under the condition that the beam is constant, the larger the mass of the trolley, the smaller the coupling frequency; The greater the initial velocity of the car, the greater the mid-span displacement of the beam, and the greater the acceleration of the car during the acceleration process, the greater the mid-span displacement of the beam.