Reducing the load swing angle is very important for a crane system, and an input shaping technique and PID algorithm are used to design a composite control scheme for the crane. Through simulations, the zero vibration derivative shaper is selected from three ones to design an open-loop swing angle suppression system. Then, a double PID feedback control structure is design based on the displacement and the swing angle. Finally, the composite control is designed by combining the shaper system with the feedback control system. In terms of the angle swing suppression, the designed composite control framework is better than the shaper control or double PID control algorithms, its advantages and effectiveness is verified by simulations.