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In order to further improve the stability and reliability of the gantry crane control system,in advance of the research of traditional crane control system,designed a crane frequency control system which based on PLC fuzzy adaptive PID,combined advanced fuzzy adaptive PID algorithms with PLC control technology to realize intelligent frequency control. The system implemented function operation directly by PLC to replace the conventional look-up table,to improve speed performance,and achieve rapid control of Frequency Control System. At the same time,through the PLC to execute crane non-contact control,improve the accuracy and reliability effectively. Experimental and simulation results show that:adding fuzzy adaptive PID to crane frequency control system is more stable and reliable than traditional frequency control system,its response is fast,and the overshoot is less than 3%.And it can reduce power almost 20% and prolong the crane motor life.