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A mathematical model of the control system of a mobile crane is presented in the paper. The system controls the slewing motion of the chassis as well as it is applied in the model of the emergency subsystem which changes the jib reach. The latter one is initiated at the moment when the threat of loss of stability occurs. Some results of numerical analysis are presented in this paper. The results are related to different strategies of control of the slewing motion as well as to different types of controllers applied in the main loop of control and emergency subsystem. The results of experimental studies are reported as well. The experiments were performed using custom-built testing setup, which represents a kinematic model of a crane.

The paper presents a model of a control system of the slewing motion of a mobile crane in which the FLC controller was used, and then selected results of the numerical simulations of this model were presented. The influence of this controller’s settings on the precision with which the payload is positioned after it has been transferred to a target point for different angles of rotation of the jib, different lengths of the rope and different input signals of the controller was investigated.

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