针对船用起重机在进行起升、变幅动作及受到外部扰动时，船用起重机多绳系统的减摇索之间无法实现同步运动的问题。首先建立了船用起重机多绳系统的运动学和动力学模型，接着提出了模糊PID（proportional, integral, derivative）控制策略，最后采用MATLAB/Simulink软件进行仿真分析。结果表明：在模糊PID控制策略下，多绳系统期望绳长与实际绳长的误差逐渐趋向于零，期望绳长速度与实际绳长速度的误差逐渐趋向于零，相比于传统的PID控制效果，模糊PID控制策略具有更高的鲁棒性。

In response to the problem of synchronous motion between the anti-sway cables of the multi-cable system of a ship-mounted crane during lifting, luffing and external disturbances, it is difficult to achieve synchronous motion. Firstly, the kinematics and dynamics models of the multi-cable system of the ship-mounted crane were established, and then the fuzzy PID control strategy was proposed. Finally, the simulation analysis was carried out using MATLAB/Simulink software. The results show that under the fuzzy PID control strategy, the error between the desired length of the cable and the actual length of the cable of the multi-cable system gradually approaches zero, and the error between the desired speed of the cable and the actual speed of the cable gradually approaches zero. Compared to traditional PID control, the fuzzy PID control strategy has higher robustness.