Adaptive control method and device of outboard motor, electronic equipment and storage medium

Abstract

The application provides an adaptive control method and device of an outboard motor, electronic equipment and a storage medium, relates to the technical field of outboard motor control, and comprises the following steps: obtaining a resistance compensation component, a gravity compensation component and a hydraulic support torque according to outboard motor sensor data; inputting the resistance compensation component, the gravity compensation component and the hydraulic support torque into a dynamic torque balance equation to obtain an original propeller thrust; performing state estimation on the original propeller thrust based on a Kalman filtering algorithm to obtain a target propeller thrust; and performing adaptive adjustment on the target propeller thrust based on an adaptive lifting algorithm to obtain a hydraulic pump driving instruction. The application realizes the reduction of cost and the improvement of the control precision of the outboard motor.

Description

Technical Field

[0001] This invention relates to the field of outboard motor control technology, and more specifically, to an adaptive control method, device, electronic equipment, and storage medium for an outboard motor. Background Technology

[0002] Outboard motors are propulsion devices typically located at the stern of small civilian vessels, used to lift the outboard motor's fuselage via a lifting mechanism. Propeller thrust is a core parameter determining the power output and transmission efficiency of the outboard motor's lifting mechanism. Currently, most existing thrust monitoring solutions employ contact measurement, integrating strain gauges into the thrust bearing or using external underwater force gauges. However, in practical applications, strain gauges or underwater force gauges are expensive, and the high-frequency vibrations of the engine and random loads caused by waves introduce significant noise interference to the measurement data, resulting in a substantial decrease in the accuracy of the outboard motor during dynamic navigation. Summary of the Invention

[0003] The problem addressed by this invention is how to improve the control accuracy of outboard motors while reducing costs.

[0004] To address the aforementioned problems, this invention provides a model reasoning method, apparatus, electronic device, and storage medium.

[0005] In a first aspect, the present invention provides an adaptive control method for an outboard motor, comprising: The drag compensation component, gravity compensation component, and hydraulic support torque are obtained based on the outboard motor sensor data. The original propeller thrust is obtained by inputting the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation. Based on the Kalman filter algorithm, the original propeller thrust is estimated to obtain the target propeller thrust. Based on the adaptive tilting algorithm, the hydraulic pump drive command is obtained by adaptively adjusting the thrust of the target propeller.

[0006] Optionally, the outboard motor sensor data includes the pressure in the working chamber of the tilting hydraulic cylinder, the outboard motor tilt angle, and the speed, wherein the outboard motor tilt angle includes the level gauge attitude angle and the encoder angle. Optionally, obtaining the drag compensation component, gravity compensation component, and hydraulic support torque based on outboard motor sensor data includes: The underwater unit resistance is obtained based on the aforementioned speed. The resistance compensation component is obtained through the resistance of the underwater unit. The gravity compensation component is obtained based on the attitude angle of the level and the angle of the encoder. The hydraulic support torque is obtained based on the pressure in the working chamber of the lifting hydraulic cylinder.

[0007] Optionally, the underwater unit resistance includes: , in, The resistance of the underwater unit, The drag coefficient, Let A be the density of water, A be the projected area, and v be the speed of the ship.

[0008] Optionally, the step of inputting the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation to obtain the original propeller thrust includes: Establish the dynamic torque balance equation about the rotation axis of the tilting motion; The drag compensation component, the gravity compensation component, and the hydraulic support torque are input into the dynamic torque balance equation to solve for thrust, thereby obtaining the original propeller thrust. The dynamic torque balance equations include: , Where T is the original propeller thrust. This is the resistance compensation component. This refers to the gravity compensation component. The hydraulic support torque is... For the real-time lever arm of the propeller thrust, It is a hydraulic real-time lever arm. The attitude angle of the level instrument. This is the encoder angle.

[0009] Optionally, the step of adaptively adjusting the target propeller thrust to obtain the hydraulic pump drive command includes: The tilt angle disturbance and the propeller thrust after the disturbance are obtained through hydraulic pump control commands. The thrust change rate is obtained by using the outboard motor tilt angle, the target propeller thrust, the tilt angle disturbance amount, and the propeller thrust after the disturbance. The thrust change rate includes: , Wherein, Gradient is the rate of change of thrust. The thrust of the propeller after the disturbance. The thrust of the target propeller. The tilt angle disturbance amount. The outboard tilt angle is... For the change in thrust, This represents the change in tilt angle; Based on the gradient ascent algorithm, the thrust change rate is adaptively adjusted to obtain the hydraulic pump drive command.

[0010] Optionally, the step of performing state estimation on the original propeller thrust to obtain the target propeller thrust includes: Based on the original propeller thrust, construct the Kalman filter state transition equation and the Kalman filter observation equation; The original propeller thrust is filtered according to the Kalman filter state transition equation and the Kalman filter observation equation to obtain the target propeller thrust, wherein the target propeller thrust is used to represent the original propeller thrust after noise reduction.

[0011] In a second aspect, the present invention provides an adaptive control device for an outboard motor, comprising: a compensation component acquisition module, used to obtain a drag compensation component, a gravity compensation component, and a hydraulic support torque based on outboard motor sensor data; The dynamic torque balance equation module is used to input the resistance compensation component, the gravity compensation component and the hydraulic support torque into the dynamic torque balance equation to obtain the original propeller thrust. The Kalman filter algorithm module is used to perform state estimation on the original propeller thrust based on the Kalman filter algorithm to obtain the target propeller thrust; The adaptive tilting algorithm module is used to obtain hydraulic pump drive commands by adaptively adjusting the thrust of the target propeller based on the adaptive tilting algorithm.

[0012] Thirdly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the adaptive control method for the outboard motor as described in the first aspect when executing the computer program.

[0013] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the adaptive control method for an outboard motor as described in the first aspect.

[0014] The beneficial effects of the adaptive control method, device, electronic equipment, and storage medium for the outboard motor of this invention are as follows: By collecting easily accessible sensor data from the outboard motor body, drag compensation components, gravity compensation components, and hydraulic support torque are obtained, avoiding the need for additional expensive force gauges or strain gauges. The original propeller thrust is indirectly calculated using the dynamic torque balance equation, significantly improving the outboard motor control accuracy. To address the severe fluctuations in measurement data caused by high-frequency engine vibration and random wave loads, a Kalman filter algorithm is used to perform optimal state estimation of the original propeller thrust. This effectively filters out high-frequency interference signals while preserving the dynamic characteristics of thrust change. Based on an adaptive tilting algorithm, the hydraulic pump drive command is obtained by adaptively adjusting the target propeller thrust, thereby improving the outboard motor control accuracy. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating an adaptive control method for an outboard motor according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the structure of an adaptive control device for an outboard motor according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0016] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0017] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0018] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0019] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0020] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0021] In related technologies, the outboard motor integrates a fuel tank, internal combustion engine, and control levers at the top; the lower part houses the propeller assembly. The entire unit is mounted overboard at the stern and is rotatably connected to the hull via a pivot structure. Control commands are used to adjust the outboard motor's angle via a motor. This allows for raising the outboard motor to any angle and adjusting its angle while the propeller is running, thus achieving the optimal propeller travel angle.

[0022] To address the problems existing in the aforementioned related technologies, this embodiment provides an adaptive control method, device, electronic equipment, and storage medium for an outboard motor.

[0023] like Figure 1 As shown in the figure, an adaptive control method for an outboard motor provided in this embodiment of the invention includes: Step 110: Obtain the drag compensation component, gravity compensation component, and hydraulic support torque based on the outboard motor sensor data.

[0024] Specifically, sensor data from the outboard motor is collected through sensing and monitoring equipment, which includes a pressure sensor installed in the hydraulic circuit of the lifting cylinder, an absolute encoder installed on the lifting rotation shaft, a six-axis inertial measurement unit (IMU / level) installed on the fuselage, and a speed sensor.

[0025] Step 120: Input the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation to obtain the original propeller thrust.

[0026] Specifically, a dynamic torque balance equation is constructed using the outboard motor's pivot point as the fulcrum. The sum of all external torques acting on this pivot point at any given moment should satisfy dynamic equilibrium to obtain the original propeller thrust.

[0027] Step 130: Based on the Kalman filter algorithm, perform state estimation on the original propeller thrust to obtain the target propeller thrust.

[0028] In some more specific embodiments, a two-stage filtering architecture is adopted, including physical layer denoising and state layer estimation. Physical layer denoising uses an adaptive low-pass filter to filter out mechanical vibration noise generated by the reciprocating motion of the engine piston. State layer estimation uses an extended Kalman filter algorithm, treating thrust as a state variable and hydraulic cylinder pressure as an observation variable, to achieve smooth output of thrust signal under complex dynamic water conditions.

[0029] Specifically, the Kalman filter algorithm is a mathematical algorithm used to estimate the state of a system and filter data. It can predict the state based on the dynamic model and measurement data of the system and is widely used in fields such as ship dynamic positioning, autonomous vehicles, robot navigation, and signal processing to improve the performance and robustness of the system.

[0030] Step 140: Based on the adaptive tilting algorithm, the hydraulic pump drive command is obtained by adaptively adjusting the thrust of the target propeller.

[0031] Specifically, by combining an adaptive tilting algorithm to adaptively adjust the target propeller thrust, the system can calculate the optimal outboard motor tilt angle under the current operating conditions in real time and directly generate hydraulic pump drive commands. This enables the outboard motor to automatically find the sailing attitude with the least resistance and highest propulsion efficiency (Auto-Trim) without manual intervention. This not only improves the ship's acceleration performance and top speed but also significantly reduces fuel consumption and extends the cruising range. In addition, when abnormal thrust surges are detected, the system can quickly adjust hydraulic commands to lift the hull, providing more proactive safety protection.

[0032] In this embodiment, drag compensation components, gravity compensation components, and hydraulic support torque are obtained by acquiring readily available sensor data from the outboard motor itself, avoiding the need for additional, expensive force gauges or strain gauges. The original propeller thrust is indirectly calculated using the dynamic torque balance equation, significantly improving the outboard motor control accuracy. To address the severe fluctuations in measurement data caused by high-frequency engine vibration and random wave loads, a Kalman filter algorithm is used to perform optimal state estimation of the original propeller thrust. This effectively filters out high-frequency interference signals while preserving the dynamic characteristics of thrust changes. Based on an adaptive tilting algorithm, the hydraulic pump drive command is obtained by adaptively adjusting the target propeller thrust, thereby improving the outboard motor control accuracy.

[0033] Optionally, the outboard motor sensor data includes the working chamber pressure of the tilting hydraulic cylinder, the outboard motor tilt angle, and the speed, wherein the outboard motor tilt angle includes the level attitude angle and the encoder angle.

[0034] Specifically, the pressure in the working chamber of the hydraulic cylinder is the core variable used to reverse the hydrodynamic load. The outboard motor tilt angle includes the level gauge attitude angle and the encoder angle, acquired by the tilt sensor and encoder respectively, determining the lever arm and torque direction. The vessel's speed is collected via GPS or a current meter. Outboard motor sensor data also includes pitch angular velocity acquired by the IMU (Inertial Measurement Unit), reflecting dynamic disturbances and used to compensate for inertial torque.

[0035] In this optional embodiment, the limitations of single-sensor measurements are overcome by fusing data from multiple sensors for subsequent calculation of the raw propeller thrust. This multi-dimensional fusion mechanism constructs a complete closed-loop observation system for outboard motor dynamics, significantly improving the accuracy of propeller thrust calculation.

[0036] Optionally, obtaining the drag compensation component, gravity compensation component, and hydraulic support torque based on outboard motor sensor data includes: The underwater unit resistance is obtained based on the aforementioned speed; The resistance compensation component is obtained through the resistance of the underwater unit. The gravity compensation component is obtained based on the attitude angle of the level and the angle of the encoder. The hydraulic support torque is obtained based on the pressure in the working chamber of the lifting hydraulic cylinder.

[0037] Optionally, the underwater unit resistance includes: , in, The resistance of the underwater unit, The drag coefficient, Let A be the density of water, A be the projected area, and v be the speed of the ship.

[0038] In some more specific embodiments, a drag coefficient table for the outboard motor's underwater unit at different speeds (v) is established through CFD simulation or towing pool testing. This table is stored in the data processing unit for real-time torque correction during navigation.

[0039] Specifically, using the speed *v* and the classic square drag law, the underwater unit drag acting on the underwater components (including the propeller, gearbox, and support structure) is calculated in real time. *A* represents the projected area, a dynamic parameter that varies with the outboard motor's tilt angle. When the nose is tilted up, the frontal area decreases, and the algorithm needs to look up a table or calculate the effective projected area in real time based on the encoder angle. The drag coefficient is a non-linear coefficient, also varying with the attitude angle and Reynolds number, and is obtained in real time through a pre-calibrated mapping curve. Water density is dynamically corrected based on the water type (freshwater / seawater) and temperature sensor data.

[0040] In this optional embodiment, traditional methods often assume a linear relationship between drag and speed or use fixed values. While this may be acceptable at low speeds, the error amplifies exponentially at high speeds. This solution, by capturing physical laws, can accurately capture the rapidly increasing hydrodynamic loads during high-speed navigation, significantly improving the thrust calculation accuracy across all operating conditions.

[0041] Optionally, the step of inputting the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation to obtain the original propeller thrust includes: Establish the dynamic torque balance equation about the rotation axis of the tilting motion; The drag compensation component, the gravity compensation component, and the hydraulic support torque are input into the dynamic torque balance equation to solve for thrust, and the original propeller thrust is obtained. The dynamic torque balance equations include: , Where T is the original propeller thrust. This is the resistance compensation component. This refers to the gravity compensation component. The hydraulic support torque is... For the real-time lever arm of the propeller thrust, It is a hydraulic real-time lever arm. The attitude angle of the level instrument. This is the encoder angle.

[0042] Specifically, the gravity compensation component is used to locate the center of gravity by combining the level's attitude angle and the encoder's angle, eliminating the interference of the ship's pitching motion on the measurement values. The hydraulic support torque is used to obtain the pressure in the working chamber of the lifting hydraulic cylinder through a pressure sensor, and the real-time hydraulic lever arm is corrected using a geometric model.

[0043] Optionally, the step of adaptively adjusting the target propeller thrust to obtain the hydraulic pump drive command includes: The tilt angle disturbance and the propeller thrust after the disturbance are obtained through hydraulic pump control commands. The thrust change rate is obtained by using the outboard motor tilt angle, the target propeller thrust, the tilt angle disturbance amount, and the propeller thrust after the disturbance. The thrust change rate includes: , Wherein, Gradient is the rate of change of thrust. The thrust of the propeller after the disturbance. The thrust of the target propeller. Let be the tilt angle disturbance amount. The outboard tilt angle is... For the change in thrust, This represents the change in tilt angle; Based on the gradient ascent algorithm, the thrust change rate is adaptively adjusted to obtain the hydraulic pump drive command.

[0044] Specifically, if the gradient is greater than a preset threshold, it indicates that the thrust increases with the angle, the current angle is too small, and the inclination angle should be increased further; if the gradient is less than the preset threshold, it indicates that the thrust decreases with the angle, the current angle is too large, and the inclination angle should be decreased. The target inclination angle is updated using the gradient ascent method, which includes: , in, The target tilt angle for the next moment. The actual tilt angle at the current moment. For learning rate, The thrust change rate is given. When the system detects a significant thrust change (far from the optimal value), A larger value allows the outboard motor to quickly and significantly adjust its angle, rapidly approaching the optimal region. When the system approaches its peak value... Automatic reduction. The system continuously repeats the "perturbation-observation-adjustment" cycle until the thrust change rate approaches the preset threshold.

[0045] In this optional embodiment, adaptive control of the hydraulic pump is achieved through active perturbation combined with a gradient ascent algorithm. Regardless of changes in ship load or the complexity of the water flow environment, the system can find the optimal thrust tilt angle in real time and output the optimal tilt angle and target propeller thrust as the hydraulic pump drive command.

[0046] Optionally, the step of performing state estimation on the original propeller thrust to obtain the target propeller thrust includes: Based on the original propeller thrust, construct the Kalman filter state transition equation and the Kalman filter observation equation; The original propeller thrust is filtered according to the Kalman filter state transition equation and the Kalman filter observation equation to obtain the target propeller thrust, wherein the target propeller thrust is used to represent the original propeller thrust after noise reduction.

[0047] Specifically, the Kalman filter state transition equation is based on physical laws, utilizing k... Given the thrust state at time 1, predict the thrust at time k. The Kalman filter observation equation establishes the relationship between the internal state and external sensor measurements; the original propeller thrust equals the actual thrust plus measurement noise. Using the Kalman filter state transition equation, based on the optimal estimate from the previous time step, calculate the prior estimate for the current time step, and simultaneously predict the error covariance of the current estimate. Obtain the current original propeller thrust (observation value), and calculate the Kalman gain K, which is a weighting coefficient. Target propeller thrust = prior estimate + K × (original propeller thrust) (Prior estimate).

[0048] In this optional embodiment, while traditional low-pass filters can reduce noise, they introduce phase hysteresis. Kalman filters, on the other hand, can minimize phase hysteresis while filtering out high-frequency noise, ensuring that the control system can respond in real time to actual thrust changes. In calm waters, where sensors are relatively stable, the algorithm automatically increases its confidence in the measured values. In cases of severe turbulence or sensor interference, the algorithm automatically relies more heavily on the predictions of the physical model.

[0049] like Figure 2 As shown in the figure, an adaptive control device for an outboard motor provided in an embodiment of the present invention includes: The compensation component acquisition module 10 is used to obtain the drag compensation component, gravity compensation component and hydraulic support torque based on the outboard motor sensor data; The dynamic torque balance equation module 20 is used to input the resistance compensation component, the gravity compensation component and the hydraulic support torque into the dynamic torque balance equation to obtain the original propeller thrust. Kalman filter algorithm module 30 is used to perform state estimation on the original propeller thrust based on the Kalman filter algorithm to obtain the target propeller thrust; The adaptive tilting algorithm module 40 is used to obtain hydraulic pump drive commands by adaptively adjusting the thrust of the target propeller based on the adaptive tilting algorithm.

[0050] The adaptive control device for the outboard motor in this embodiment is used to implement the adaptive control method for the outboard motor as described above. Its advantages over the prior art are the same as the advantages of the adaptive control method for the outboard motor over the prior art, and will not be repeated here.

[0051] like Figure 3 As shown, an electronic device 300 provided in this embodiment of the invention includes a memory 310 and a processor 320; the memory 310 is used to store a computer program; the processor 320 is used to implement the adaptive control method for an outboard motor as described above when the computer program is executed.

[0052] Alternatively, an electronic device 300 includes a memory 310 and a processor 320 coupled to the memory 310; the memory 310 is configured to store a computer program; and the processor 320 is configured to perform the following operations when the computer program is executed: The drag compensation component, gravity compensation component, and hydraulic support torque are obtained based on the outboard motor sensor data. The original propeller thrust is obtained by inputting the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation. Based on the Kalman filter algorithm, the original propeller thrust is estimated to obtain the target propeller thrust. Based on the adaptive tilting algorithm, the hydraulic pump drive command is obtained by adaptively adjusting the thrust of the target propeller.

[0053] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the adaptive control method for an outboard motor as described above.

[0054] Alternatively, a non-volatile computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the following operations: The drag compensation component, gravity compensation component, and hydraulic support torque are obtained based on the outboard motor sensor data. The original propeller thrust is obtained by inputting the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation. Based on the Kalman filter algorithm, the original propeller thrust is estimated to obtain the target propeller thrust. Based on the adaptive tilting algorithm, the hydraulic pump drive command is obtained by adaptively adjusting the thrust of the target propeller.

[0055] The present invention will now be described an electronic device 300 that can serve as a server or client of the present invention, which is an example of a hardware device that can be applied to various aspects of the present invention. Electronic device 300 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 300 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0056] Electronic device 300 includes a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or a computer program loaded from a storage unit into random access memory (RAM). The RAM may also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0057] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0058] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An adaptive control method for an outboard motor, characterized in that, include: The drag compensation component, gravity compensation component, and hydraulic support torque are obtained based on the outboard motor sensor data. The original propeller thrust is obtained by inputting the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation. Based on the Kalman filter algorithm, the original propeller thrust is estimated to obtain the target propeller thrust. Based on the adaptive tilting algorithm, the hydraulic pump drive command is obtained by adaptively adjusting the thrust of the target propeller.

2. The adaptive control method for an outboard motor according to claim 1, characterized in that, The outboard motor sensor data includes the pressure in the working chamber of the tilting hydraulic cylinder, the outboard motor tilt angle, and the speed. The outboard motor tilt angle includes the level attitude angle and the encoder angle.

3. The adaptive control method for an outboard motor according to claim 2, characterized in that, The process of obtaining the drag compensation component, gravity compensation component, and hydraulic support torque based on outboard motor sensor data includes: The underwater unit resistance is obtained based on the aforementioned speed. The resistance compensation component is obtained through the resistance of the underwater unit. The gravity compensation component is obtained based on the attitude angle of the level and the angle of the encoder. The hydraulic support torque is obtained based on the pressure in the working chamber of the lifting hydraulic cylinder.

4. The adaptive control method for an outboard motor according to claim 3, characterized in that, The underwater unit resistance includes: ， in, The resistance of the underwater unit, The drag coefficient, Let A be the density of water, A be the projected area, and v be the speed of the ship.

5. The adaptive control method for an outboard motor according to claim 4, characterized in that, The step of inputting the drag compensation component, the gravity compensation component, and the hydraulic support torque into the dynamic torque balance equation to obtain the original propeller thrust includes: Establish the dynamic torque balance equation about the rotation axis of the tilting motion; The drag compensation component, the gravity compensation component, and the hydraulic support torque are input into the dynamic torque balance equation to solve for thrust, thereby obtaining the original propeller thrust. The dynamic torque balance equations include: ， Where T is the original propeller thrust. This is the resistance compensation component. This refers to the gravity compensation component. The hydraulic support torque is... For the real-time lever arm of the propeller thrust, It is a hydraulic real-time lever arm. The attitude angle of the level instrument. This is the encoder angle.

6. The adaptive control method for an outboard motor according to claim 2, characterized in that, The step of adaptively adjusting the thrust of the target propeller to obtain the hydraulic pump drive command includes: The tilt angle disturbance and the propeller thrust after the disturbance are obtained through hydraulic pump control commands. The thrust change rate is obtained by using the outboard motor tilt angle, the target propeller thrust, the tilt angle disturbance amount, and the propeller thrust after the disturbance. The thrust change rate includes: ， Wherein, Gradient is the rate of change of thrust. The thrust of the propeller after the disturbance. The thrust of the target propeller. The tilt angle disturbance amount. The outboard tilt angle is... For the change in thrust, This represents the change in tilt angle; Based on the gradient ascent algorithm, the thrust change rate is adaptively adjusted to obtain the hydraulic pump drive command.

7. The adaptive control method for an outboard motor according to claim 1, characterized in that, The process of estimating the state of the original propeller thrust to obtain the target propeller thrust includes: Based on the original propeller thrust, construct the Kalman filter state transition equation and the Kalman filter observation equation; The original propeller thrust is filtered according to the Kalman filter state transition equation and the Kalman filter observation equation to obtain the target propeller thrust, wherein the target propeller thrust is used to represent the original propeller thrust after noise reduction.

8. An adaptive control device for an outboard motor, characterized in that, include: The compensation component acquisition module is used to obtain the drag compensation component, gravity compensation component, and hydraulic support torque based on the outboard motor sensor data; The dynamic torque balance equation module is used to input the resistance compensation component, the gravity compensation component and the hydraulic support torque into the dynamic torque balance equation to obtain the original propeller thrust. The Kalman filter algorithm module is used to perform state estimation on the original propeller thrust based on the Kalman filter algorithm to obtain the target propeller thrust; The adaptive tilting algorithm module is used to obtain hydraulic pump drive commands by adaptively adjusting the thrust of the target propeller based on the adaptive tilting algorithm.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the adaptive control method for the outboard motor as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the adaptive control method for the outboard motor as described in any one of claims 1 to 7.

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