Based on Stewart parallel mechanism, a 6-DOF ship motion simulation platform was designed, and the inverse solution algorithm of the expansion and contraction of the driving branch chain of the platform under the given motion position and posture was derived. Taking the ship heave pitch coupling motion as an example, the ship motion simulation model was constructed by combining MATLAB/Simulink and SimMechanics, and the driving model based on PID control algorithm was established. In order to effectively improve the motion accuracy of the simulation platform, based on fuzzy PID control algorithm, the fuzzy rules and reasoning method were used to adjust the PID parameters online, and the corresponding fuzzy controller was designed.The results show that the calculated displacement error of the driving branch chain can reach the stable value quickly by using the Fuzzy PID control, and the error value after stabilization is obviously reduced compared with the traditional PID control algorithm.