Aiming at the control problem of the dynamic stability of the power station loaded climbing robot, this paper summarized the possible motion modes of the robot according to the characteristics of the climbing building, and constructed the mathematical model of the controlled object by the relationship between geometry and kinematics. According to the relationship among the distance error between the gravity center of the power station climbing robot and the expected distance, the error change rate and the telescopic speed of the electric push rod, a controller of the dynamic stability control system, T1FLC, was designed. In order to solve the problem that the fuzzy rule parameters were difficult to determine, QPSO was used to optimize the membership function parameters. Then this paper compared the QPSO optimized T1FLC with the PSO optimized T1FLC, the unoptimized T1FLC, and the PID control method, and further considered the external interference influence. Finally, the simulation results verify the accuracy of the model and the effectiveness of the control optimization method.