The invention discloses a heliostat tracking control device, which comprises a main controller and a closed-loop tracking sensor. The main controller comprises a DSP control circuit, a RTC real-time clock, digital signal input and output units, an analog signal input unit, a signal amplifying circuit, a human-computer interface device, a display device, a watchdog circuit, an asynchronous motor, a line of serial port communication interface which carries out the communication with a monitoring computer, and a line of serial port communication interface which carries out the communication with an azimuth angle and altitude angle encoder. The invention further discloses a heliostat tracking control method, the method adopts the open-loop and the closed-loop combined control, the open-loop roughly calculates and adjusts the position of a heliostat and the closed-loop corrects and eliminates the accumulated error till the precise tracking. The heliostat tracking control device has the advantages that the heliostat tracking control device can not have the accumulated error or the failure of the tracking system due to the rainy and cloudy weather. The system adopts the combined control algorithm within the control period, thus achieving the precise tracking of the heliostat. The tracking reaction speed, the power consumption and the cost are low, thus forming a modular structure.