With the development of economy and society,more stringent requirements have been put forward for the position accuracy and energy consumption of demolition robot engineering operations.In order to improve the positioning accuracy and reduce the energy consumption of the system,a PID-based closed-loop control system through feeding back displacement of the cylinder rod was established to improve the position accuracy.Through the dual hydraulic cylinder design of the boom drive cylinder and the balance cylinder,the gravitational potential energy of the boom movement process was recovered into the accumulator and reused in the next lifting process to reduce the output pressure of the load-sensitive pump to achieve energy-saving control.The ADAMS-AMESim co-simulation experimental results show that the cylinder displacement error of the closed-loop system is less than 1 mm,which effectively compensates the error caused by leakage;the output power of the pump in the boom lifting condition is reduced by more than 60%,realizing energy recovery and reusing.