In order to improve the position control accuracy of electro-hydraulic lifting servo system, an adaptive fuzzy PID control strategy based on the improved particle swarm optimization (MPSO) was proposed. According to the principle of hydrodynamics, the mathematical model of the servo valve controlled asymmetric cylinder system was established, and the dynamic characteristics of the system were analyzed. By considering the influence of various uncertain disturbances, an adaptive fuzzy PID (AF-PID) controller was designed, and the quantization factor and proportion factor in the AF-PID controller were optimized iteratively through MPSO algorithm. MATLAB/Simulink and AMESim simulation software were used to build the joint simulation model of the system, and the control performance of the designed controller was verified by simulation. The results show that compared with conventional PID controller and the AF-PID controller, the MPSO-AF-PID controller greatly improves the trajectory tracking performance of the system, which can better meet the requirements of the tripping operation.