In order to solve the problems of dead zone nonlinear and hydraulic cylinder leakage in the electro-hydraulic proportional valve-controlled cylinder system, an electro-hydraulic proportional valve-controlled cylinder system model was built based on AMESim and Simulink co-simulation, and the main factors affecting the dynamic characteristics of the valve-controlled cylinder system with and without condering leakage were co-simulated and analyzed. Aiming at the problems existing in the valve-controlled cylinder system, the fuzzy PID controller was designed. The relationship between the piston displacement and leakage of the hydraulic cylinder and the influence law on the system performance were obtained, and then compared with the traditional PID controller. The results show that the fuzzy PID controller has good effect in solving the problems of system nonlinear and hydraulic cylinder leakage, its control response speed is more ideal, and the system has no overshoot, no oscillation and strong robustness.