In this paper, new type electro-hydraulic servo equipment is given for testing the working feature on pumping unit. It is the key to get the real simulation of motion and loading of pumping unit. The equipment in paper can be used to repeat all kind of the real force and motion on pumping unit. In order to get better simulation results, the algorithm for self-adaptation control with Kalman filter, which is used for error-free estimate of motion state in order to obtain high accuracy, is applied to solve powerful motion error—surplus force in passive loading system . All algorithms can be used in computer. Last, the test results of pumping unit loading are given. By actual use，the results show that self-adaptation control model with Kalman filter are used for decreasing error by motion of loading system is feasible and the control model can automatically regulate coefficients of regulator.