Swing-free stop control of the slewing motion of a mobile crane

A method of controlling the slewing motion of mobile cranes is presented in the paper. The method allows for transportation of the payload to a selected point and ensures minimisation of its swings when the motion is finished. To achieve this goal a mathematical model of the control system of the displacement of the payload has been constructed, comprising the mathematical model of a crane, the model of its hydraulically controlled drive system and controller. A theory of control which ensures swing-free stop of the payload is presented. Selected results of numerical simulations are shown. Experimental verification of numerical calculations has been performed on the specially built physical model of a crane. Experimental results in comparison to calculations are presented. Suggestions for using this method for control of real cranes are presented.