The invention discloses a fault detection, judgment and compensation type triple-redundancy servo control method. Intelligent identification for a D/A output fault, a fault of a power amplifier related circuit and a circuit break fault of a coil of a 1-way or 2-way valve can be realized, and abnormal current caused by the above mentioned faults can be compensated in real time; the test for the performance of a servo system shows that in case of the above mentioned faults, the position characteristic and the frequency characteristic are basically retained at the fault-free state level, so that the system reliability can be improved favorably, but when the existing control method is applied to the system, the abnormal current cannot be compensated under a fault state.