The estimation error of the clamping state of the cleaning device is relatively large, therefore, an active adaptive compensation technology for the clamping size error of the pillar insulator cleaning device has been designed. Based on the actual situation of the cleaning device, obtain the quantified results of the clamping state, perform smoothing and standardization calculations, perceive the quantified results of the clamping state, analyze the time series of the quantified results of the clamping state, construct a relationship function and distribution function, analyze the relationship between size error and the quantified results of the clamping state, estimate the clamping state of the cleaning device, calculate the corresponding adaptive compensation value, and adjust the active trend parameter to achieve active adaptive compensation of clamping size error. The experimental results show that after the application of this technology, the vibration of the clamping components of the cleaning device remains within a certain range, with strong stability, low power, and little power change. The average clamping size error is only 0.09mm. The active adaptive compensation effect of clamping size error is good.