为了解决船用起重机在执行吊装转运作业时，货物出现摆动降低工作效率且极易造成安全事故的问题，将磁流变技术引入船用起重机防摆领域，设计了一种机械式防摆装置。推导了船-起重机-吊点-防摆装置-吊重的三维动力学模型。对装置的防摆效果进行分析，结果表明，当输入给磁流变防摆装置恒定电流时，随着电流增大，防摆效果愈加明显，在设定工作背景下，当给定电流2 A时，对面内角及面外角的抑制分别为75%、82%。为了优化控制策略，降低能耗，提高防摆的鲁棒性，设计了变论域模糊PID（variable universe fuzzy PID, VUFPID）控制器。采用VUFPID控制器时，防摆装置对吊重摆动的面内角及面外角的抑制分别为85%和83%，能耗约为113 J；采用A组恒定电流时，防摆装置对吊重摆动的面内角及面外角的抑制分别为60%和68%，能耗约为140 J；采用B组恒定电流时，防摆装置对吊重摆动的面内角及面外角的抑制分别为50%和58%，能耗约为110 J。可见采用VUFPID后，能实现低能耗、效果明显的防摆作用。最后搭建实物样机，验证了磁流变防摆装置的有效性。

In order to solve the problem of cargo swinging during the lifting and transportation operation of marine cranes, which reduced work efficiency and easily causes safety accidents. A mechanical anti sway device was designed by introducing magnetorheological technology into the field of anti-swing for marine cranes. A three-dimensional dynamic model of ship-crane-lifting point-anti-swing device-lifting weight was derived. The analysis of the anti-swing effect of the device shows that when a constant current is input to the magnetorheological anti-swing device, the anti-swing effect becomes more obvious as the current increases. Under the set working background, when a current of 2 A is given, the suppression of the in-plane and out-plane angles of the lifting weight is 75% and 82%, respectively. In order to optimize the control strategy, reduce energy consumption, and improve the robustness of anti-swing, a variable universe fuzzy PID (VUFPID) controller was designed. When using the VUFPID controller, the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 85% and 83%, respectively, with an energy consumption of approximately 113 J. When using group A constant current, the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 60% and 68%, respectively, and the energy consumption is about 140 J. When using group B constant current, the anti-swing device suppresses the in-plane and out-plane angles of the lifting weight by 50% and 58%, respectively, and the energy consumption is about 110 J. It can be seen that using VUFPID can achieve low energy consumption and significant anti swing effect. Finally, a physical prototype was built to verify the effectiveness of the magnetorheological anti swing device.