Abstract: To address the speed synchronization problem caused by variations in winding radius and traction speed as well as servo actuator lag in the winding and unwinding system of cable wrapping equipment, a speed synchronization control method combining dancer-roller displacement feedback with traction-speed and winding-radius feedforward is proposed. A winding and unwinding speed synchronization model is established. Based on conventional PID control, fuzzy PID is introduced to adjust the control parameters online according to the displacement error and its rate of change, while traction speed and winding radius are incorporated into the feedforward control. Comparative simulations of three control methods under winding and unwinding conditions are carried out in MATLAB/Simulink. The results show that the feedforward fuzzy PID controller reduces the maximum overshoot by 46.3% during the winding start-up stage and the maximum undershoot by 85.2% during the traction-speed step change in the unwinding stage. The proposed method can improve the dynamic response and recovery process under varying operating conditions and enhance the speed synchronization performance of the winding and unwinding system.