To: Nancy Myers 

From: Jacob Powers and Taylor Jones 

Date: 06 June 2020 
Subject: APLED 121 - Presentation outline 
 
 
Rocket Engine Gimbal 

Introduction: JAKE 
● Introduce team members 
● Define gimbal / thrust vector control 
What is gimbal? : TAYLOR 
● Why is gimbal useful/needed? 
○ To point the vehicle in the direction you want it to travel 
(three-dimensional steering) 
○ Provides stability and control 
● Used in newer space crafts 
● Allows movement of exhaust nozzles 
● Thrust direction changes in relation to center of gravity 
● Gimbaling can be done using hydraulic cylinders 
How does gimbal work? (basic) : JAKE 
● Gimbal works by pushing and pulling on an engine that is mounted 
in a way that allows it to pivot in all directions. This is 
usually a ball and socket mount called a gimbal bearing. 
● What kinds of actuators are used? 
○ Linear servo actuators 
■ Basically a double acting cylinder that allows for 
extremely precise control of its position. 
● The two actuators are located 90-degrees apart from each other. 
● Each actuator controls the engine's angle on one axis. 
● The resting position of the actuator is in the middle of the 
stroke, so extension of the cylinder tilts the nozzle in one 
direction and retraction of the cylinder tilts it in the opposite 
direction. The combination of the positions of the two actuators 
are what determines the overall orientation of the nozzle. 
Video of gimbaling engine : 
What kind of fluid power system is used? : TAYLOR  
● Smaller engines can use an accumulator charged with nitrogen in a 
simple pneumatic circuit.  
● Many larger engines will use a single-pass hydraulic system where 
rocket fuel is used instead of hydraulic fluid and flow out is 
returned to the fuel delivery system instead of to a reservoir. 
● This uses the preburner as the prime mover and the turbopump as 
the hydraulic pump 
● This is not a closed loop or open loop system 
● Fluid is used once and then discarded (like in pneumatics) 
 
Alternative methods of attitude control : JAKE 
● Vernier thrusters 
● Reaction control thrusters 
Advantages : JAKE 
● Simple 
○ Does not require hydraulic-specific fluid lines, pumps, or 
relief valves 
○ Does not require extra plumbing for vernier thrusters 
● Energy Efficient 
○ Negligible effect on output thrust 
○ Minor weight increase 
● Allows for major and minor heading adjustments 
Disadvantages and limitations : TAYLOR 
● Only allows for attitude control while the main engines are 
running 
● Does not provide roll control with single-nozzle designs 
● Requires flexible fluid lines or flexible joints 
● Does not help with acceleration and deceleration 
Conclusion : JAKE 
● Summarize 
○ This is how (most) rockets steer 
● Thanks 
● Questions 
● Bow 
● Thunderous applause 
● Sigh of relief 

 
 

How can a full range of motion be achieved with just two actuators? 

The two actuators are located 90-degrees apart from each other. One 
actuator controls one axis and one actuator controls the other axis. 
The resting position of the actuator is in the middle of the stroke, 
so extension of the cylinder tilts the nozzle in one direction and 
retraction of the cylinder tilts it in the opposite direction. The 
combination of the status of the two actuators is what determines the 
orientation of the nozzle. 

Which actuators and control methods are used? 

Electro-hydraulic servo actuators. The blind end is mounted to 

something solid that cannot move relative to the vehicle body. The end 
of the rod is attached to the engine. Both mounts can pivot. 

What kind of fluid power system is used? 

It depends on the size of the engine that the system is trying to 
move. Smaller engines can use an accumulator charged with nitrogen in 
a simple pneumatic circuit. Many larger engines will use a single pass 
hydraulic system where rocket fuel is used instead of hydraulic fluid 
and flow out is returned to the fuel delivery system instead of to a 
reservoir. 

What kind of hydraulic fluid is used? 

Uses RP- (kerosene) fuel. Called a fueldraulic system and uses about 
2000 PSI during flight. The fuel returns back to the system instead of 
back to a hydraulic reservoir. 

Links 

https://en.wikipedia.org/wiki/Thrust_vectoring 
https://en.wikipedia.org/wiki/Attitude_control
https://www.grc.nasa.gov/www/k-12/rocket/gimbaled.html 
https://medium.com/@raj.arjit/how-rockets-change-direction-in-space-16
84172f62d0
https://blogs.nasa.gov/J2X/tag/gimbal-bearing/
https://www.hydraulicspneumatics.com/technologies/hydraulic-fluids/art
icle/21887406/the-saturn-v-fueldraulic-gimbal-system 
https://www.hydraulicspneumatics.com/technologies/hydraulic-filters/ar
ticle/21887407/hydraulic-controls-for-gimbaling-saturn-v-engines