Intelligent immersed tube carrying and mounting integrated ship undocking control method and control system

The invention discloses an intelligent immersed tube carrying and mounting integrated ship undocking control method and control system, and the control method comprises the following steps: after confirming that the connection state of a tube ship meets the design requirement, dismounting an anchoring device, and completing the undocking preparation of the integrated ship; comparing the deviation between the real-time position of the integrated ship and the transverse position of the design course of undocking, if so, controlling to reduce the power of a main thrust driving unit, starting a side thrust driving unit, calculating the anti-transverse-flow side thrust power Pc required by the side thrust driving unit for resisting the transverse water flow force, and controlling the working power of the side thrust driving unit in real time according to the Pc; and calculating the changed deviation correction side thrust power needed for correcting the position deviation, controlling and adjusting the working pow