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Radioactive contaminants membrane laid car is a main equipment of nuclear accident emergency system. In order to realize its reliable operation, special control system is designed. In order to achieve control requirements under different working conditions, the master control panel and auxiliary one and handheld terminal establish communication link through RS232 serial port and CET-5E network and bluetooth respectively. The ARM7 processor as the main controller, adopting the Modbus communication protocol, is advantageous for the system development. The experimental results show that the multiple control terminal control system is free from radiation interference, and it has stable communication, convenient operation, and hign real-time.These reansons make the system suitable for the membrane laid car. The mode of multiple terminal control base on main screen mapping is advantageous to reduce the arbitration pressure and data redundancy of the main controller, and improve aging. For these reasons, the system has wide use in control system for various special vehicles.