Slope protection frame construction vehicle is construction machinery equipment for soil slotting and cement concrete sliding form of highway slope. Aiming at the problem of motion control of rotating arm of slope protection frame construction vehicle in the slope environment, a position feedback control strategy based on fuzzy multi-parameter adaptive PID(proportional integral derivative) was designed. In consideration of the difference between the two chambers of the asymmetric hydraulic cylinder, the linear mathematical model of valve controlled asymmetrical hydraulic cylinder was established using area difference equivalent modeling method. By defining fuzzy subset, selecting membership function and establishing fuzzy rules, position control of asymmetrical hydraulic cylinder of rotating arm was realized using fuzzy multi-parameter adaptive PID control algorithm. Simulation and experiments show that fuzzy multiparameter adaptive PID based on the area difference equivalent mathematical model can effectively enhance position tracking control accuracy of hydraulic cylinder, and the effectiveness of the proposed control algorithm was verified.