Self-tuning internal model control can effectively overcome the problem that the take-up tension is not stable, and effectively restrain the error caused by model mismatch. PID control method based on internal model control algorithm was proposed, which combined the internal model control algorithm with the traditional PID control method, and the internal model algorithm was used to adjust the PID control parameters. The simulation results showed that the PID control method based on internal model algorithm has excellent control quality, with advantages such as fast dynamic response and strong anti-jamming capability.