Aiming at the difficulties in the field test and poor repeatability of the electro-hydraulic hitch control system for hilly and mountainous tractors, the research on the electro-hydraulic hitch control system was carried out based on the semi-physical simulation technology. Firstly, through the force analysis of the test tractor and the suspension operation device, the dynamic model of the whole hilly and mountainous tractor, the soil resistance model of the plough body and the dynamic model of the tractor suspension device were established. The system principles of lateral profiling control, position control, force control and force-position integrated control of the electro-hydraulic suspension system for hilly and mountainous tractors were analyzed, and then a fuzzy PID controller for the electro-hydraulic suspension of hilly and mountainous tractors was designed. Afterwards the electro-hydraulic suspension control system was developed, experiments such as terrain imitation control, force control, position control and force-position integrated control of electro-hydraulic suspension system were carried out, and the performances of fuzzy PID control and classical PID control method were compared and analyzed. Finally, the test results showed that the fuzzy PID control performance was better: in the position control mode, the fuzzy PID control had no overshoot, and the control system response time was 0.6s, which was about 33.3% higher than the classical PID control; the steady-state error of the tillage control system was about 0.05cm, which was about 50% lower than that of the classical PID control; in the force control mode, the maximum value of the tillage depth following error of the fuzzy PID control was 0.38cm, and the standard deviation was 0.17cm, which were respectively 64.5% and 39.3% lower than that of the classical PID control, which verified the effectiveness of the developed electro-hydraulic suspension control system.