Abstract: This paper is on the foundation of analyzing the relation between the performance specifications and parameters of 3PE of pipe, achieves the goal of obliterating the variable couple by rationally matching of the variable and simplifying. The system selects the combing control scheme, which has constant value control of temperature and speed, additional feedforward control of speed and initial temperature change of the steel tube, and carries on the data analysis online and to revise to the change of system model that caused by the abrasion of the rubber wheel timely. The system carries on optimization of speed coordination at the quick entering section, the constant speed section, the quick going-out section of the stream, and makes the advance impulse of steel tube at the quick entering section and the quick going-out section smaller than the impulse of the constant speed section respectively. It has realized to catch up and join without impact and to cut apart and send off the steel tube. The system also realizes to online measurement of the steel tube axial speed by the use of PLC, and adopts the method of keeping the time at the same interval. Finally, the supervisory computer control system of the 3PE of pipe is developed, regarding Kingview 6. 01 as the developing platform, and using the configuration of the software and hardware.