The invention discloses an oil pumping unit system driven by a linear-rotary double-degree-of-freedom motor and a control method thereof. The oil pumping unit system comprises a main frame, a linear-rotary double-degree-of-freedom motor, a Christmas tree, an oil pump, a sensing device and a motor control box. The motor control box is provided therein with a controller. The motor is controlled according to a control method. The oil pump is driven by a transmission device to lift the underground crude oil to the ground. A mover position control method based on an ADRC is disclosed, including a design angle conversion module and an ADRC module. The oil pumping unit system solves the low efficiency and the poor stability of a conventional walking-beam oil pumping unit driven by a rotary motor caused by complicated mechanical transmission by the linear-rotary double-degree-of-freedom motor, solves the low energy density and the low output of an oil pumping unit driven by a linear motor, and is improved in working efficiency and stability by using the mover position control method based on the ADRC.