Fuzzy-PID self-adaptive control method was used in tractor’s electro-hydraulic hitch system. Firstly, the fuzzy-PID self-adaptive controller was designed, and the model of the system was built. Secondly, the performance of draft control and position control was simulated and analyzed compared with PID control. At last, a field-test bed of electro hydraulic hitch system was built. The test result showed that fuzzy-PID adaptive control had a better performance than PID control in electro-hydraulic hitch system. When the preset position stepped from 0.1 m to 0.3 m, the response time was 4 s, and overshoot was 0. When preset draft stepped from 3 kN to 7 kN, the system’s response time was 5 s, and the overshoot was 25%.