how can i develop a programme which control lcd?

I think the Nios II includes a driver for the 16207 LCD (the included one). If you include the "Character LCD (16x2, Optrex 16207)" component in SOPC Builder (it is under 'Display') the driver should automatically get built into your system, and you just need to read the source and/or documentation to find out how to use the driver in your software. Even if the driver isn't included, there is definitely one in the Nios I SDK, so you could adapt that into a kernel module.