In order to positioning accurately and moving smoothly for the boom tip of concrete pump truck,a new boom control system was proposed.By adopting close-loop control mode,using displacement sensors to measure extension length for the hydraulic cylinder and calculating joint angle between two adjacent booms according to the geometric relationship between the connecting rods, the location coordinates for the boom tip were obtained.A Proportional-Integration-Differential (PID) control strategy with feed for-ward compensation was used to improve characteristics of following and response for the motion of boom system.Experimental results show that application of this new boom control system can improve positioning accuracy for the boom tip obviously,and the booms move smoothly and have high-quality of following characteristics.%为实现混凝土泵车臂架末端的准确定位以及运动过程的平顺控制，提出了一种新型臂架控制系统。采用闭环的控制模式，通过位移传感器测量液压缸的伸出长度，根据连杆的几何关系解算出臂架间的夹角，求得臂架末端的位置。采用基于前馈补偿的PID控制策略，提高臂架系统运动的跟随特性和响应特性。实验表明，应用了新型臂架控制系统之后，臂架运动平稳，具有较好的跟随特性，末端定位精度明显提高。
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