Ship hydraulic steering engine follow-up steering control method

The invention relates to the field of ship hydraulic steering engine control, and discloses a ship hydraulic steering engine follow-up steering control method which comprises the following steps: S1, acquiring a rudder angle pulse control range theta R; s2, detecting a rudder angle deviation value delta R of an actual rudder angle Ra and a rudder command Ro, and judging whether the rudder angle deviation value delta R is within a rudder angle pulse control range theta R or not; s3, when delta R is smaller than or equal to theta R, controlling a rudder by adopting interval pulses; and the electromagnetic valve is closed, and the first pulse interval time t0, the first pulse duration time t1, the second pulse interval time t2, the second pulse duration time t3, the third pulse interval time t4, the third pulse duration time t5 and the zero pulse duration time t6 of the electromagnetic valve are sequentially switched off. The problems that the positioning precision is reduced due to the ship hydraulic steering e