Abstract: With the development of the operation and management technology in the nuclear power plant, people pay more attention to the maintenance of SG second-side. The SG cleaning device developed in this paper is a high-precise motion control system composed of PLC controller and AC servomotor. The human-machine interface incorporates the on-site operator station and the remote touch-sensitive screen, which reduces the total radiation for the operators. Moreover, this control system also has such functions as the emergency shutdown under fault condition, sludge collection and video monitor for operation status. Finally, this paper puts forward an artificial nerve network model, which compensates the nonlinear effects of the control system caused by the static friction resulted from the deflection of the mechanical armand system motion. It can further improve the control precision. The operation of the control system is stable and simple.