A simulation model for the seabed tracked mining vehicle’s hydraulic system is constructed based on advanced modeling environment for simulation engineering (AMEsim).A PID controller is designed to build up a closed-loop control system for angular velocity of hydraulic motor. Then the control system’s response characteristic for track speed and motor pressure is studied through simulation and experiment.The comparison study verifies the correctness of the modeling of the walking hydraulic system and shows that the walking hydraulic system built can meet the demands of the seabed tracked mining vehicle.