In order to improve the effectiveness of the speed control of the working shaft driven by hydraulic motor,a fuzzy self-tuning method for the speed control of the working shaft driven by hydraulic motor was proposed.Based on the analysis of the structure of the speed control system of the working shaft driven by the hydraulic motor,the mathematical model of the speed control was established.By using the angle of the working shaft,the torque equation of the working shaft was established;through the belt pulling force on different sides of the pulley,the torque equation of the hydraulic motor rotor was obtained;by using the displacement of the motor rotor,the flow through the hydraulic motor was calculated,and then the state equation of the speed control system was obtained.Based on neural network,the speed error and error change rate of the system were taken as the input signal of the neural network,the fuzzy rules of the membership function layer of the neural network were designed,the output signal of the node of the membership function layer was obtained,and then the fuzzy self-tuning control of the speed of the working shaft driven by the hydraulic motor was realized.The proposed method and PID method were used to track the target speed.The test results show that the tracking accuracy of the proposed method is 912% higher than that of PID method,and the proposed method is effective for the speed control of the working shaft driven by hydraulic motor.