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In order to improve the anti-disturbance performance of engine-load and the effect on speed control for the diesel engine, the paper presents the fuzzy-PID speed control strategy in the architecture of torque-based control. The engine-load estimation algorithm is designed based on the mean-value-model and crankshaft dynamics model, and the estimation precision is validated by engine test in both steady and dynamic conditions. Through the experiment verification of the diesel engine, the fuzzy-PID control strategy based on load estimation can significantly improve the anti-disturbance performance of engine-load in the speed control.