Propeller control management method and system for autonomous submersible

The invention belongs to the field of underwater robots, and particularly relates to a propeller control management method for an autonomous submersible, which comprises the following steps: a low-power-consumption main controller receives a sent instruction and initializes the instruction; when a power-on instruction of the propulsion system is received, a plurality of motor drivers managed by the system are initialized and started in sequence; firstly, a low-power-consumption main controller selects a working mode and issues a control instruction to a control motor according to the working mode; when the low-power-consumption main controller receives a rotating speed instruction issued by the automatic driving unit, a CAN packet is analyzed, and one packet of CAN data is analyzed into a rotating speed instruction of a corresponding independent motor; according to the positive and negative rotation directions of the motor, the PVM mode is used for sequentially issuing to a motor driver; meanwhile, the low-po