For nonlinearity and uncertainty of bridge crane model, this paper designs a fuzzy selftuning PID antiswing controller based on the mathematical model. In the controller, fuzzy controller in the angle loop and fuzzy PID controller in the position loop are used, which can effectively control hoist swing and trolley position, to improve working efficiency of the crane. The MATLAB/SIMULINK simulation shows that the method is feasible. Compared with the conventional PID control, this method has fast response, high steadystate accuracy. and has better robustness for different hoist rope length and mass.