The invention provides a lifting hook hovering control method, a lifting hook hovering control device and a frequency converter. The method comprises the following steps: detecting whether a lifting motor is stopped in operation or not when the frequency converter stops outputting driving signals to the lifting motor; and if not, outputting a backward torque to the lifting motor to inhibit rotation of the lifting motor and control a lifting hook to hover. According to the mode, the lifting hook can be controlled to hover under the circumference of brake failure of a mechanical brake of a towercrane, so that the safety and reliability of the tower crane are improved.