To achieve an agile and accurate motor control performance on coal mine detection robots TUT-CMDR, Fuzzy-PID control and its model building method in the Simulink environment are explored. The transfer function model of the TUT-CMDR motor transmission system is established and M-files used to ascertain the gain of the PID control are compiled. The final value of the step block is configured to a variable and parameterized quantization factors and scaling factors are proposed to solve the problem of different basic universe for different final value. Some improvement is also made on the existing fuzzy control rules. Finally, the designed controller is proved to show a better control performance.