It is difficult to simultaneously balance the forming accuracy and printing efficiency when filling parts at corner contour locations in fused deposition modelling due to the structural defects such as repeated and missing deposition zones and the influence of parameters such as filling speed and corner angle. In this paper, firstly, the influence of filling speed on the forming accuracy and the printing efficiency of parts at corner contour locations was studied with experimental and mathematical methods. The research results show that the forming accuracy is negatively related to the filling speed, but meanwhile relatively high forming accuracy and high printing efficiency could also be realized under a higher filling speed at corner contour locations in fused deposition modelling. The higher the filling speed, the weaker the effect on the printing efficiency,and the printing time tends to a constant value when the filling speed increases. Then, by setting the weight coefficients for forming accuracy and printing efficiency, a continuous function of the optimal filling speed and the preliminary design idea of adaptive control were proposed.