A method for controlling a large-scale engineering manipulator, each of boom segments (21, 22) of the manipulator being provided with a driving mechanism, which is capable of driving the boom segment to rotate in a given angle range, wherein the method comprises: acquiring a current displacement of the driving mechanism, and obtaining a control instruction; calculating a required displacement of the driving mechanism according to the current displacement and the control instruction; and controlling the driving mechanism according to the required displacement to drive a movement of the manipulator, characterized in that: the process of calculating the required displacement of the driving mechanism according to the current displacement and the control instruction comprises: converting the current displacement into a current rotation angle of the boom segment (21,22); extracting from the control instruction coordinate data of a location where the boom segment needs to reach, and calculating, based on the current rotation angle, a required rotation angle of the boom segment (21, 22) corresponding to the coordinate data; and converting the required rotation angle of the boom segment into the required displacement of the driving mechanism; wherein the driving mechanism is a hydraulic cylinder, in which a displacement sensor is provided for acquiring the current displacement of the hydraulic cylinder. acquiring a current displacement of the driving mechanism, and obtaining a control instruction; calculating a required displacement of the driving mechanism according to the current displacement and the control instruction; and controlling the driving mechanism according to the required displacement to drive a movement of the manipulator, characterized in that: the process of calculating the required displacement of the driving mechanism according to the current displacement and the control instruction comprises: converting the current displacement into a current rotation angle of the boom segment (21,22); extracting from the control instruction coordinate data of a location where the boom segment needs to reach, and calculating, based on the current rotation angle, a required rotation angle of the boom segment (21, 22) corresponding to the coordinate data; and converting the required rotation angle of the boom segment into the required displacement of the driving mechanism; wherein the driving mechanism is a hydraulic cylinder, in which a displacement sensor is provided for acquiring the current displacement of the hydraulic cylinder. the process of calculating the required displacement of the driving mechanism according to the current displacement and the control instruction comprises: converting the current displacement into a current rotation angle of the boom segment (21,22); extracting from the control instruction coordinate data of a location where the boom segment needs to reach, and calculating, based on the current rotation angle, a required rotation angle of the boom segment (21, 22) corresponding to the coordinate data; and converting the required rotation angle of the boom segment into the required displacement of the driving mechanism; wherein the driving mechanism is a hydraulic cylinder, in which a displacement sensor is provided for acquiring the current displacement of the hydraulic cylinder. converting the current displacement into a current rotation angle of the boom segment (21,22); extracting from the control instruction coordinate data of a location where the boom segment needs to reach, and calculating, based on the current rotation angle, a required rotation angle of the boom segment (21, 22) corresponding to the coordinate data; and converting the required rotation angle of the boom segment into the required displacement of the driving mechanism; wherein the driving mechanism is a hydraulic cylinder, in which a displacement sensor is provided for acquiring the current displacement of the hydraulic cylinder.