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Electrical control of tractor electro hydraulic hitch system is an important part of the tractor automated driving system. The electrohydraulic hitch control system included the linear actuator, transmission mechanism and single-chip microcomputer control unit. The control unit ECU received decision-making control command from host machine real-time, controlled the rod lifter motor to drive tractor hydraulic lifter and adjust the implements to the suitable position. PWM motor control method with the slope feedforward and PI feedback control algorithm was adopted as the main program. Slope feedforward control algorithm was used at the starting stage to make motor start smoothly. PI control algorithm was used at the steady stage to minimize the movement time of the motor and improve the position control precision of the motor. Control unit was responsible for receiving the linear actuator feedback information to decide and produce appropriate PWM signal, which adjusted the speed and the location of the hitch control system. The ECU hardware system was developed based on Cygnal C8051F040 micro-processor. The whole control software system was realized by using C language programming and its main functions included CAN communication between host computer and slave ECU, AD conversion of the motor feedback signal, the PID control and serial interface communication, etc. The deadzone threshold was set to 10 (AD), the maximum error range was ±11 (AD), which indicated that the displacement error of linear actuator was less than 0.26 mm. It conforms to the requirements of the motor control design. This system can be added onto traditional tractor to realize the accurate position control of agricultural implements.