Abstract: To the problem of which traditional stervo control mode and control algorithm are not suitable to stervo controller of loitering munition, the paper brings forward one stervo controller to control three stervos model, and adopts three-loop control algorithm of position loop, velocity loop and current loop to realize stervo position control function. For the key position loop, it adopts fuzzy PID parameter self-adjusting algorithm. Through online simulation in Matlab fuzzy tool software, it can quickly work out the accurate values of K_p, K_i and K_d parameters, and solve the difficult problem to adjust stervo controller parameters.