A time delay compensation algorithm was proposed to solve the nonlinear time delay problem of the electrohydraulic control system of the truck boom. The original vibration displacement of the boom end was needed to record. According to the historical data,time series method was used to predict the subsequent arm frame vibration attitude.According to the prediction results, nonlinear time delay may existed in the system was compensated dynamically. It provided effective reference trajectory for the system, to ensure that accurate arm valve controlled cylinder position and speed information could be provided for the system in the followup motion.The experimental results show that the method is effective and feasible, and the dynamic compensation effect is good. The research results will be applied to the 13th Five-Year planning projects.