TRAJECTORY PLANNING SYSTEM FOR THE MOVEMENT OF A DELTA ROBOT FOR AGRICULTURAL PURPOSES

The lightning strike (LS) to launch vehicle (LV) is accompanied by direct impact on the airframeand electromagnetic (EM) fields occurring inside the airframe. The EM fields influence the extended powerlines (PL) and induce currents and voltages in them. In this case, pyrotechnic circuits of LV might beactuated and thus damage critically the operation of airborne equipment and the vehicle itself. Their offnominalignition may lead to a catastrophe. The amplitude-time parameters of induced EM fields reachhundreds of kV/m and kA/m for electric and magnetic fields respectively. Constructing a simulation facilitythat is capable to produce EM fields with similar properties and size comparative to that of the LV becomesa tough technical challenge. The purpose of the research was to substantiate an acceptable, practically feasible method of full-scale modeling of induced currents. The research objectives were to evaluatethe possibility of generating an electromagnetic field of specified parameters, to estimate the currents andvoltages induced by lightning discharges in the PH cable lines, and to design a circuit solution for theinstallation under development. The electromagnetic processes occurring in cable lines when exposed tolightning discharge currents were calculated based on solutions to Maxwell's equations. The cable lineswere modeled by equivalent substitution schemes. In this regard, it is considered reasonable to use a combinedmethod of evaluation of LV tolerance to the impact of EM fields caused by lightning strikes; themethod is meant to combine both calculation and experimental techniques. At the first stage, the expectedresponse of extended power lines to EM fields is calculated, and the second stage implies loading thepower line consumers with estimated current (voltage) pulses provided by high voltage test bench forlightning strike simulation. The use of this approach makes it possible to significantly simplify the requirementsfor test equipment for generating electromagnetic fields, which will ultimately ensure the safeuse of pyrotechnic devices on board a launch vehicle in conditions of lightning activity.