在正常施工时，盾壳与土体之间的摩擦力对地面变形的影响远大于正面附加推力。
During normal construction process, the friction force between shield and soil exhibited greater influence on surface deformation compared with bulkhead additive thrust.
文中先给出在正常情况下水下机器人的解耦控制器及推力分配，然后给出了在推力器出现故障时的容错控制策略。
A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given.
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