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To solve the control problem of stirling cryocooler for space using and detector load in the present of parameter uncertainties and changes, we design an adaptive fuzzy PID method for cryocooler control. Space using stirling cryocooler parameter is changing with time and different environment, detector load is changing with working mode and working hours, the whole cooling system is a multi-variable, nonlinear control system. Traditional control method is designed in certain condition cannot fulfill the accuracy and stability with different environment and load changing. This paper puts forward an adaptive fuzzy PID controller according to the different cold quantity and types of need of refrigeration of the detector load, control parameters is realized by using fuzzy control of self-adjustment. Particle swarm optimization (PSO) algorithm is adopted to determine the optimal parameters for the controller by minimizing the objective function. Finally, the simulation and test results are presented to proof the effectiveness and robustness of the proposed controller.