Cable-driven parallel cleaning robots can effectively replace manual cleaning of facades,but because they are subject to more external interference and all robot movements are linked to ensure that the cables are in tension,it is more challenging to study the motion control problems of cable-driven parallel cleaning robots than traditional parallel robots.Considering the external forces disturbances of the system during actual use process, a system dynamics model containing cable elasticity was established through Newton-Euler method and Lagrange equation.Combining PD feedforward control and traditional PID,a control law containing cable tension optimization algorithm was designed,and the stability of the control algorithm was proved through Lyapunov stability theory;the theoretical tracking performance of the cable-driven parallel cleaning robot was verified when disturbed by external forces through numerical analysis,and the effectiveness of the control algorithm was proved.