For the characteristics of forging manipulator control system with 400 kN/800 kN·m, the modeling and simulation on the control system of forging manipulator were gained by MATLAB/Simulink and AMESim co-simulation technology .Simulation results show that the control system by fuzzy self-tuning PID algorithm could adapt to the field environment automatically. Compared with the general PID algorithm,the robustness adaptability of the control system are enhanced by the adjustable parameters of the dynamic output PID control algorithm. The real-time control system is improved with faster response speed ,which makes the machine running steady,and the control accuracy increases by 10% to 20%, and the smaller the load, the higher the precision.