Taking the boom-luffing hydraulic system of a high-altitude charged robot as the research object, the boom structure and the luffing hydraulic control system were introduced. For the vibration and jitter of the boom during the operation of the high-altitude charged robot, the PID controller was used to optimize the hydraulic control system of the boom. The mathematical model of the balance loop was established, the multi-domain simulation software AMESim was used to simulate the dynamic process of the hydraulic cylinder with variable amplitude, and the dynamic characteristics of the hydraulic cylinder before and after optimization were compared. The PID optimization control system was tested by building an experimental platform. The results show that PID optimization control can greatly shorten the speed fluctuation time and the speed fluctuation amplitude of the hydraulic cylinder piston rod, and can effectively improve the vibration and jitter problems that occur in the working process of the boom system, and improve the stability of the boom.