In this paper, the quasi-linear model of switched reluctance motor brought forward by Miller is analyzed in detail. On the basis of it, the small-signal dynamic model of switched reluctance motor is built based on matlab/simulink environment. PID control is applied commonly in the fields of industrial automation, but its robustness is very weak. In this paper, the parameters of PID controller is optimized firstly by NCD toolbox, on the basis of it, a fuzzy parameters self-tuning PID control method is introduced, it can tune the PID parameters dynamically. The simulation results indicate that this control method not only can improve the dynamic and static performances of the system, but also has better robustness.