Abstract: This paper is mainly about the control delay of dual-channel spinning missiles with the canard deployment of “+”. The formula of the lag angle of control is derived by the control method built by the control force of the actuator. The formation and transmission of the command are analyzed from the system composition, and two reasons for the formation of the lag are obtained. One is the input command signal delay of the actuator induced by the geomagnetic gyro and the missile-borne computer. The other is the command response signal delay induced by the actuator itself. The delay compensation time of the input command signal and command response signal, which is calculated by the formula of lag angle and the sweptsine method, is a time constant. An algorithm of compensation, which is based on the constant of delay compensation time and roll speed, has been verified by experiment. The results show that this method has a good compensation effect.