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In dredging project, the PID controller is generally used to control the mud concentration. When the condition of the river bed and the flow rate of the river is changed, it is difficult to achieve satisfactory results. Based on the characteristics of the controlled object, a scheme combining fuzzy self-tuning PID and fuzzy feedforward is proposed. It can dynamically adjust the PID parameters according to the working condition, and provide feed-forward compensation according to the distance of tap suction and the river bottom. The simulation results show that, compared with the traditional PID control, the proposed scheme show a lower overshoot, faster response speed, and stronger anti-interference ability and stability.