An electrical control pneumatic clutch manipulating system was designed to realize the automatic control of clutch on heavy-truck. The system was a nonlinear control system by analyzing the dynamic character of the system. In order to solve the problem of the system's nonlinear control, a fuzzy immune PSD control algorithm, which combined the fuzzy immune PID control algorithm with the adaptive PSD control law, has been proposed. Each coefficient of the PID control could be self-tuned by using the principle of the immune control and adaptive PSD control law. So the adaptive character of the control algorithm has been enhanced. Applied this fuzzy immune PSD control algorithm to the electrical control pneumatic clutch manipulating system, the experiments result indicated that the system has excellent control performances.