The identification model of electro-hydraulic force servo system was obtained by using the model identification test in the semi physical simulation environment.In order to improve the control performance of the electro-hydraulic force servo system

a hybrid fuzzy PID controller was designed.This controller has combined the advantages of the classical PID controller and the fuzzy controller with self-tuning modifying factor

and added a feed-forward correction.In order to avoid the bad disturbance caused by swiching between the two kinds of control modes

the fuzzy switching method was adopted.The semi physical simulation experiment of the hybrid fuzzy PID controller was carried out on the electro hydraulic servo test bench

and compared with the control experimental curve of the traditional fuzzy controller and PID controller

The feasibility and control performance of the hybrid fuzzy PID controller were verified.At the same time

The semi-physical simulation experiment was carried out when the load stiffness and the mass were change.The experimental results show that

the hybrid fuzzy PID controller not only improves the stability and speed

and has good real-time performance.