Ares — Subsystem
Five iterations of two-axis gimbal mounts driven by dual servo actuators, providing real-time attitude correction during powered ascent. Each revision improved stiffness, reduced mechanical play, and increased servo authority to meet tighter stabilization targets.
Iteration
First Ares gimbal design. Established the two-axis servo layout and basic linkage geometry. Identified early issues with mechanical slop and servo overload under motor thrust.
Iteration
Redesigned linkage arms to reduce slop and improve commanded angle fidelity. Adjusted servo horn geometry to better match the required deflection range for attitude correction.
Iteration
Stiffened the gimbal frame and adjusted pivot geometry to reduce flex under motor load. Improved moment arm consistency across the deflection range.
Iteration
Refined servo mounting and gimbal geometry to minimize oscillation at the controller's bandwidth limits. Pre-flight PD gain sweeps showed improved stability margins over A3.
Final Ares TVC iteration. Achieved best controlled ascent across flight tests. Static fire confirmed reliable servo authority under full motor thrust. Burnout transition analysis showed phase lag requiring higher-order control for post-thrust flight.
