Abstract: In order to improve the navigation efficiency and safety of the ships in the lock waterway， the control method of the coordinated stopping of the ship platoon in the lock waterway was studied herein. Based on the model predictive control principle， two methods of ship stopping control were proposed， namely， velocity-time method and velocity-displacement method. Aiming at the demands of the coordinated stopping control of ship platoon， the objective function of the coordinated stopping control of ship formation was designed in combination with the economy and smoothness of the stop. The coordinated stopping control of ship platoon was proposed based on the centralized model predictive control with the constraints of the longitudinal spacing and the input of the ship. The simulation results show that both the single-ship parking controller and the fleet parking controller have good control effectiveness. In contrast， the velocity-time method has obvious advantages in ride comfort， the velocity-displacement law performs better in economy， and has higher control accuracy and stability. 

Key words: ship lock chamber, ship platoon, longitudinal model, stop ship control, model predictive control

摘要： 为提高船舶在闸室水域的航行效率和安全性，开展了船闸水域船舶列队协同停船控制方法的研究。建立了闸室水域船舶列队直航运动模型，基于模型预测控制原理分别提出了速度-时间法和速度-位移法两种船舶停船控制方法。针对船舶列队协同停船控制需求，结合停船经济性和平顺性设计了船舶列队停船控制目标函数，以船舶纵向间距保持、输入为约束，提出了基于集中式模型预测控制的船舶列队协同停船控制器。仿真结果表明，所设计的单船停船控制器和船舶列队停船控制器均具有较好的控制效果。相对而言，速度-时间法在平顺性上具有明显优势，速度-位移法则在经济性上表现更好，且有更高的控制精准度和稳定性。

关键词: 船舶闸室, 船舶列队, 纵向模型, 停船控制, 模型预测控制