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Dynamic tracking is demanded for primary bolt ultrasonic inspection in nuclear power plant. It is featured by rapid variation of transducer height, unpredictable modelling parameters and so on. The paper discusses dynamic characteristics of level during nuclear power plant primary bolt ultrasonic inspection, with variation of modeling parameters and transducer height. To improve control stability and dynamic response, fuzzy control is combined with PID control, which is applied to level control of bolt ultrasonic inspection. MATLAB is utilized to simulate the control system, and simulations for corresponding step response, variation of modeling parameters, actual operation and electrical noise are also implemented. Result reveals that rapid stable tracking can be obtained with fuzzy PID control algorithm even with parameters fluctuation and rapid variation of transducer height. Implemented control scheme behaves better robustness and self-adaptable ability.