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First, The nonlinear dynamic model of three - dimensional bridge crane is established by Newtonian mechanics, then linearization at the equilibrium point, get the system in the X direction and Y direction completely decoupled state space equation. According to the theory of modern control design of the system of linear quadratic optimal regulator (LQR) and SIMULINK simulation, the control algorithm is programmed by C++ language and MATLAB, the real-time control implementation within the multimedia timer interrupt service function, independently set up a set of 3d bridge crane experiment platform. The system successfully realizes the positioning and anti-swing control in the motion range, and the simulation and experimental results show the rationality of the decoupling model of the three-dimension bridge crane and the validity of the control algorithm.