Rocket TVC

A thrust vector control prototype for small-scale rocket stabilization experiments. The goal is a TVC stack with real hardware-in-loop validation, not just a simulation that looks good on a laptop.

Build a TVC mechanism that's responsive enough to be useful and mechanically reliable enough to trust in a test stand context.

• Actuator latency must be low enough for meaningful control loop bandwidth
• Mechanical backlash directly corrupts closed-loop stability and has to be designed out
• Power-to-weight tradeoff between motor size and system mass

• Compliant mechanism for gimbal motion. Eliminates the backlash you get from traditional bearing-and-linkage setups.
• ESP32 as controller with dedicated PWM output for servo actuation
• Test harness first: validate the control loop on the bench before any propulsion integration

1. 01

   Controller framework and signal routing validated on bench fixture

2. 02

   Mechanical gimbal prototyped in PLA, backlash characterized before control tuning

3. 03

   Linkage geometry reworked after initial backlash measurements exceeded predictions

• Backlash sensitivity was significantly higher than predicted. Linkage stiffness needs to be a core design parameter from the start, not a detail sorted out later.