Control device for crane, controller, crane and storage medium

The invention discloses a control method for a crane, a controller, the crane and a storage medium, the crane comprises an arm head of a suspension arm and a lifting hook connected with the arm head, and the control method comprises the steps that the first vertical distance between the arm head and the lifting hook and the second vertical distance between the arm head and the ground are determined in real time; acquiring equipment parameters of the crane; determining a target ratio of the first vertical distance to the second vertical distance according to the equipment parameters; a first target vertical distance, corresponding to the second vertical distance, between the arm head and the lifting hook is determined according to the target ratio; and the lifting hook is controlled based on the first target vertical distance, so that the difference value between the ratio of the adjusted first vertical distance to the adjusted second vertical distance and the target ratio is smaller than a preset error value.