In this paper， the lifting process of the HCW-90 full hydraulic automatic catwalk drill pipe bracket is studied， and the influence of the synchronicity of the lifting hydraulic cylinder action on the movement of the drill pipe from the end of the bracket to the limit of the platform pin is analyzed by using the co-simulation method of multi-body dynamics and hydraulic control system. The effect of the synchronicity of the lifting hydraulic cylinder on the position and attitude of the pipe body， the dynamic parameters and the collision process between the pipe body and the stop pin at the end of the movement are discussed. The dynamic process and positioning accuracy of the pipe body tending to stability after being limited are also analyzed. In addition， considering the rapidity， stability and positioning accuracy of pipe transfer， the input signal of the hydraulic control system of the hoisting hydraulic cylinder has been properly adjusted， and under the premise of satisfying the working performance， the scheme of constructing the low-cost hydraulic control system by diverting valve is put forward.