The invention provides a fuzzy PID (proportion integration differentiation) control method for a swing angle of a drill boom of a variable frequency pump controlled hydraulic drilling rig, and belongsto the technical field of variable frequency pump control. A variable frequency pump controlled hydraulic drilling rig drill boom rotating system is constructed, and a frequency converter converts 380V/50Hz power-frequency AC (alternating current) into a voltage signal with specific frequency to drive an asynchronous motor; the asynchronous motor drives a constant delivery pump to rotate, and a certain flow of high-pressure oil is output; the high-pressure oil passes through a filter, a one-way valve and a reversing valve to drive a two-way hydraulic motor to rotate; then the drill boom is driven by a worm gear/worm reducing mechanism to deflect; low-pressure oil at an oil outlet of the hydraulic motor passes through the reversing valve and flows back to an oil tank. The variable frequency pump controlled hydraulic drilling rig drill boom rotating system is constructed on the basis of the control requirement of the swing angle of the drill boom of the variable frequency pump controlled hydraulic drilling rig; a mathematic model of the novel drilling rig drill boom rotating system is established; the method is suitable for accurate position control of an anchor rod/anchor rope in acomprehensive mechanized mining roadway support, has better control performance when applied to the variable frequency pump controlled hydraulic drilling rig drill boom control system, and verifies correctness and effectiveness of the variable frequency pump controlled drill boom rotating system model.