Abstract: According to the grinding requirements of inner wall spiral weld of super long cylinder section, one kind of high-precision inner wall spiral weld grinding control method is designed. Through multiple means such as speed feedback matching and visual image compensation, a real-time tracking and detection mechanism is established, the problem of asynchronous tracking of spiral weld is solved, and the accurate grinding of weld is realized. The feasibility of this control method is verified by experiments. A full closed-loop software and hardware control system platform is built by using Siemens control system, servo driver, encoder and visual image system, combined with mechanical structure system, including roller frame, compliant grinding tool, motor and walking track. After debugging and verification, through the combination of real-time monitoring of image system and actual grinding effect, the effectiveness of this method applied to inner wall spiral grinding is verified, and accurate tracking grinding is realized.