Aiming at the swing problems occurred during the working of hydraulic crane, in order to ensure the operation safety and improve the operation stability, a payload anti-swing control system was proposed.The differential equation of payload dynamics was derived by Lagrange method, and the control parameters were determined. Combined with D-H matrix, the spatial dynamics of support arm (main arm and steering arm) inclination was analyzed, and the equation between support arm and payload control parameters was established. The spatial dynamics of the cylinder driving the support arm was analyzed, and the equation between the speed of the hydraulic cylinder and the inclination angle of the support arm was established. The hydraulic system of oil cylinder was modeled. Finally, the anti-swing control system including feedback controller, feedforward controller and anti-swing controller, was designed. The simulation results show that the proposed control system can effectively suppress the swing of crane payload.