Large torque pulsation occurs in PMSM vector control systems. The vector control method of PMSM based on fuzzy PID is put forward to realize PID parameter on-line setting. Firstly, establishes the mathematical model of PMSM; Secondly, designs the parameter fuzzy self-tuning PID controller and fuzzifies the parametesr; Lastly, builds the model in Matlab/Simulink and makes simulation. The results show that the fuzzy PID controller has better robustness in PMSM speed control system.