Abstract: In the field of modern mechanical manufacturing, the machining accuracy and stability of CNC machine tools are extremely important. Factors such as inertial disturbances, dynamic coupling, and nonlinearities inherent in CNC machine tool systems cause deviations in the actual trajectory of the worktable, which severely degrade machining accuracy. This paper innovatively designed an adaptive fuzzy PID controller. The motion control of the workbench was achieved through Adams/Matlab co-simulation technology. Firstly, a virtual prototype model of the CNC machine tool worktable system was established within the Adams environment. Material properties, constraint relationships, and contact parameters were defined, and a timing belt pulley drive system was constructed. Secondly, a fuzzy PID controller for the CNC machine tool worktable was designed in Matlab. The relationship between worktable velocity and PID control parameters was analyzed, and fuzzy rules were designed to perform real-time adjustment of the proportional coefficient, integral coefficient, and derivative coefficient. Finally, an Adams/Matlab co-simulation model for the CNC machine tool worktable system was built. The performance of the controller was validated at multiple different operating speeds. The simulation results demonstrated that the designed fuzzy PID controller effectively regulated the worktable operating velocity, providing crucial technical support for high-precision motion control of CNC machine tool worktables.