Cyber-physical systems (CPSs) have emerged as a potential enabling technology to handle the challenges in social and economic sustainable development. Since it was proposed in 2006, intensive research has been conducted, showing that the construction of a CPS is a hard and complex engineering process due to the nature of integrating a large number of heterogeneous subsystems. Among other approaches to dealing with the complex design issues, model-driven design of CPSs has shown its advantages. In this review paper, we present a survey of research on model-driven development of CPSs. We are concerned mainly with the widely used methods, techniques, and tools, and discuss how these are applied to CPSs. We also present comparative analyses on the surveyed techniques and tools from various perspectives, including their modeling languages, functionalities, and the challenges which they address in CPS design. With our understanding of the surveyed methods, we believe that model-driven approaches are an inevitable choice in building CPSs and further research effort is needed in the development of model-driven theories, techniques, and tools. We also argue that a unified modeling platform is needed. Such a platform would benefit research in the academic community and practical development in industry, and improve the collaboration between these two communities.

网络物理系统（CPS）已经成为一种潜在的使技术能够应对社会和经济可持续发展挑战的技术。自从2006年提出以来，已经进行了深入的研究，结果表明，由于集成了大量异构子系统的性质，CPS的构建是一项艰巨而复杂的工程过程。在解决复杂设计问题的其他方法中，CPS的模型驱动设计已显示出其优势。在这篇评论文章中，我们对CPS的模型驱动开发进行了研究调查。我们主要关注广泛使用的方法，技术和工具，并讨论如何将这些方法，技术和工具应用于CPS。我们还将从各种角度对被调查的技术和工具进行比较分析，包括其建模语言，功能，以及它们在CPS设计中解决的挑战。通过对调查方法的理解，我们相信模型驱动方法是构建CPS的必然选择，并且在模型驱动理论，技术和工具的开发中需要进一步的研究工作。我们还认为，需要一个统一的建模平台。这样的平台将有利于学术界的研究和行业的实际发展，并改善这两个社区之间的协作。我们还认为，需要一个统一的建模平台。这样的平台将有利于学术界的研究和行业的实际发展，并改善这两个社区之间的协作。我们还认为，需要一个统一的建模平台。这样的平台将有利于学术界的研究和行业的实际发展，并改善这两个社区之间的协作。