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The control rod drive mechanism (CRDM) is the actuator of the reactor control and nuclear safety protection system. In order to prevent the occurrence of control rod stuck, sliding rod and driving failure in the reactor and to ensure the safe and economic operation of the reactor, a necessary measure is to effectively monitor the operation status of the CRDM. In this paper, the status discrimination and fault diagnosis model for CRDM is constructed by analyzing the characteristics of the coil current and vibration signals. Furthermore, an adaptive control digital model of control rod drive system, as well as an experimental prototype of the CRDM perception and diagnosis system are built based on the real-time simulation system dSPACE. Through functional verification, the system can perform real-time identification, fault diagnosis and adaptive control of the normal and faulty operating conditions of CRDM based on the current and vibration signals. The recognition accuracy rate for various working conditions reaches more than 99.2%, providing supportive reference for the subsequent nuclear reactor intelligent equipment development.