Aiming at the tension control requirements of automatic fiber placement equipments and the problems of traditional tension control system, the hammer tension control system is designed. The hammer is used as a buffer unit in the system, and the tension can be indirectly controlled by the position of the hammer. The system adopts the motion controller as the core element of the system, the AC servo motor as the actuator and the laser position sensor as the detector. The fuzzy PID control algorithm is used for the position control of hammer, which can avoid tension fluctuation by full consideration of the acceleration of the hammer. Prototype experimental results show that this system can avoid the problems of disconnection and relaxation of fiber, meanwhile, the static difference ratio and fluctuation ratio can meet the requirements of engineering practice.