Motion control method, device and equipment for propelling boat

The invention relates to the technical field of ship motion control, in particular to a motion control method, device and equipment for propelling a ship, and the method comprises the steps: carrying out the feedback control of various operation parameters during the propelling operation of the ship through a controller in a ship control system, comprising the following steps: acquiring various operation parameter data at different acquisition moments in a ship propulsion operation process; obtaining each time set of the collection time; forming a time interval by a minimum value and a maximum value in each time set, and determining a relative deviation value of each operating parameter in each time interval; determining a deviation degree value of each operating parameter; when it is judged that the average level of the deviation degree values of all the operation parameters meets the preset deviation range, the proportion parameter of the controller to each operation parameter is adjusted, and otherwise, ad