In view of the heave motion of Trailing Suction Hopper Dredger (TSHD) under wave action, Proportional-Integral-Derivative (PID) controller was designed and implemented to improve the heave compensator. It was co-simulated in both ADAMS and MATLAB software to study dynamic characters of TSHD under wave action. Simulation results show that the PID controller can effectively improve the stability of the drag head.