Flexible braking control method for free hook falling of crane based on speed compensation

The invention discloses a crane free hook falling flexible braking control method based on speed compensation. The method comprises the steps that the maximum value and the minimum value of the pedal angle of an electric control pedal in a crane hydraulic system are obtained according to the crane free hook falling working condition; according to the pedal angle range, the pedal angle is divided into three sections; brake gears are divided according to the load under the free hook falling working condition of the crane, and a three-section pedal angle control electric proportional pressure reducing valve output pressure change curve and a pedal angle and drum rotating speed corresponding relation curve are planned under the brake gears; load on a free hook of the crane is measured through a force limiter and divided to corresponding braking gears, an operator controls pedal angle change of an electric control pedal, output pressure of an electric proportional pressure reducing valve is controlled according to