In the case of operating steam generators for long periods in nuclear power plants, sludge is accumulated inside the steam generator. This phenomenon could adversely affect the operation of the steam generator. This paper is about the design of a sludge washing apparatus which can remove the sludge efficiently and the control methods of the apparatus. In this paper, to design the sludge washing apparatus, firstly, we design nozzles for spraying high-pressure water through applying mathematical models and lab tests. Secondly, we establish the mathematical theory for performance parameters required to drive the sludge washing apparatus. Thirdly, we design physical structures of the apparatus based on the established performance parameters. Finally, we present the control methods of the apparatus. The sludge washing apparatus presented in this paper moves along the walls of the steam generator according to cracks in the tube array, and spray the high pressure water to remove the sludge. By this way, a relatively large amount of sludge formed in the inner surfaces can be washed very effectively.