Based on the advantages of PID control and fuzzy control, fuzzy control and PID control were combined in this paper, meanwhile, the method of variable universe was adopted. In this paper, variable-universe and self-adaptive fuzzy PID controller was designed and utilized in a DC motor model to achieve the speed control of the DC motor. This paper used the tool of Matlab to complete this system's feasibility study and took the simulation results comparing with the PID control simulation results. The results showed that the control performance of the variable-universe and self-adaptive fuzzy PID controller is obviously better than PID control.