Taking the elevating conveyer of automatic loading system in the large caliber artillery as object, ADAMS was used to design the model, which motivity is supplied by hydraulic system. PD closed-loop control was designed by control box in ADAMS to solve the vibration question in the working process of load which is big inertia. The results show that the elevating conveyer can execute the major action under the driving of hydraulic cylinder and PD control , it works reliably and smoothly.