This paper concerns the development of a new type of force sensor called Gyroscopic Force Measuring System, (simply called GFMS) for measuring a force vectorialy. The GFMS realized a highly accurate measurement using an estimator for the unknown angles of incidence of a force vector. The estimator, however, assumed an exact knowledge on the dynamical equations in the steady-state. This caused much degradation in the measurement accuracy unless the steady-state of the GFMS could be attained. The estimation errors of the angles of incidence directly affect the accurate measuring of the force. We can get the better performance by choosing the adequate damping coefficient of gyroscope (for nutation mode). From the error analysis, some essential information for designing the GFMS is highlighted.
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