The invention discloses a crane self-adaptation PID closed-loop anti-rocking control method. The crane self-adaptation PID closed-loop anti-rocking control method comprises the following steps: (S1) an initial acceleration of a crane is input under a k-meter rope length; a swing angle of the crane is output; an acceleration is corrected according to initial control parameters of a PID controller;the corrected acceleration is input; the corrected swing angle of the crane is output; and according to a NCD adjusting method, the corrected swing angle is limited, and control parameters of the PIDcontroller are optimized to obtain optimal control parameters of the PID controller corresponding to different rope lengths; and (S2) all the optimal control parameters of the PID controller are fitted to obtain a relation between the control parameters of the PID controller and the rope lengths. The method realizes effective anti-rocking of the crane under different rope lengths, is simple in control mode and easy to industrially apply, and can prominently improve the crane operation safety and the working efficiency.