Position controller for glass sheet processing system

• US 4,782,449 A
• Filed: 04/17/1986
• Issued: 11/01/1988
• Est. Priority Date: 04/17/1986
• Status: Expired due to Term

• Current Assignee: Glasstech Incorporated
• Original Assignee: Glasstech Incorporated
• Inventors: Klopping, Jeffrey N., Fintel, Eric D., Brinker, Gary D.
• Primary Examiner(s): RUGGIERO, JOSEPH F
• Application Number:
  US06/853,121
• Time in Patent Office: 929 Days
• Field of Search: 364/473, 364/476, 364/132, 364/131, 364/133-136, 65/104, 65/106, 65/107, 65/111, 65/118, 65/160, 65/162, 65/163, 65/268, 65/273, 65/290, 65/291, 65/245, 65/DIG. 13, 65/102
• US Class Current: 700/127
• CPC Class Codes: G05B 19/291 the positional error is used to control continuously the servomotor according to its magnitude
• CPC Class Codes: G05B 19/4141 characterised by a controller or microprocessor per axis
• CPC Class Codes: G05B 2219/33342 Master slave, supervisor, front end and slave processor, hierarchical structure
• CPC Class Codes: G05B 2219/34368 Priority
• CPC Class Codes: G05B 2219/34388 Detect correct moment, position, advanced, delayed, then next command
• CPC Class Codes: G05B 2219/35391 Sort, order entered data hierarchical
• CPC Class Codes: G05B 2219/42179 Normalize velocity profile, calculate real velocity from additional parameters
• CPC Class Codes: G05B 2219/43008 Deceleration and stopping
• CPC Class Codes: G05B 2219/43015 Calculate square root x
• CPC Class Codes: G05B 2219/43048 Step change in reference, soft start, smoothing reference
• CPC Class Codes: G05B 2219/49219 Compensation temperature, thermal displacement
• CPC Class Codes: G05B 2219/50031 Zero setting, go to reference with gauge
• CPC Class Codes: G05B 2219/50043 Near zero detection
• CPC Class Codes: G05B 2219/50048 Jogging
• CPC Class Codes: G05B 2219/50198 Emergency stop

Abstract

A position controller for a glass sheet processing system having a central control system including an operator interface and a master computer, the position controller including a slave computer, a port for two-way communication of multi-character command and data signals between the master computer and the slave computer, a digital to analog converter, a variable speed drive for driving a movable component in the glass processing system, a port for communicating a signal from the slave computer through the digital to analog converter for driving the variable speed drive, and absolute position encoder associated with the movable component in the system, and a port for communicating the digital signal representative of the position of the movable component to the slave computer. The slave computer system includes logic for receiving data and command input from the master computer in the central control system, processing this information as required, generating a signal capable of operating a vehicle speed drive, and reporting an echo back signal to the master computer indicating that the driven component has reached the desired position.

The slave computer also includes logic for transmitting current position and stored end point and velocity profile information back to the master computer for output to the monitor at the operator'"'"'s request.

Claims

1. In a glass sheet processing system, a position controller for positioning a movable component driven by a variable speed drive, the position controller being adapted for use with a central control system which monitors and controls the processing of the glass sheets, the central control system including a master computer having means for providing command signals and data signals relating to preselected end points, the position controller including a position encoder connected to the movable component, and a slave computer, the slave computer comprising:

a first input connected to the master computer for receiving digital signals corresponding to positioning commands, position data and velocity profile data from the master computer;

a second input connected to the position encoder for receiving digital signals corresponding to current position information from the position encoder;

a first output connected to the variable speed drive for providing control signals to the variable speed drive;

a second output connected to the master computer for transmitting digital signals corresponding to command acknowledgement, error, position data, and velocity profile data to the master computer; and

logic means for calculating the distance required to position the movable component from the component'"'"'s current position to a preselected point, calculating the desired current velocity according to position and velocity profile data for that preselected point, and calculating a digital control signal necessary to drive the variable speed drive to move the movable component to the preselected point at the desired current velocity in response to a positioning command received from the master computer, and transmitting an acknowledge signal to the master computer when the movable component has reached the preselected point.

2. The position controller of claim 1 wherein the movable component includes a mold mounted on a shuttle.

3. The position controller of claim 1 wherein the variable speed drive is activated by an analog signal and the position controller further includes a digital to analog converter interconnected between the slave computer and the variable speed drive for receiving the digital control signal from the slave computer and converting it to a corresponding analog signal for driving the variable speed drive.

4. The position controller of claim 1 wherein the slave computer includes random access memory for storing the position data and velocity profile data downloaded from the master computer via the first input before or during operation of the controller.

5. The position controller of claim 4 wherein the velocity profile data includes a set of parameters associated with each preselected end point.

6. The position controller of claim 5 further including:

data stored in the memory of the slave computer corresponding to a normalized velocity profile;

logic means for combining the set of parameters associated with a particular end point with the normalized velocity profile to determine a particular velocity profile for that preselected end point; and

logic means for periodically selecting the appropriate velocity from the particular velocity profile for output to the variable speed drive during a motion from the movable component'"'"'s current position to the preselected end point.

7. The position controller of claim 6 wherein the particular velocity profile generated for a preselected end point includes a first portion, 1₁, wherein velocity is increasing at a generally linear rate as a function of time, a second portion, v_m, wherein velocity is constant and a third portion, 1₂, wherein velocity decreases exponentially as a function of the current distance of the movable component from the preselected end point.

8. The position controller of claim 7 wherein the third portion 1₂, of the particular profile generated for a preselected end point is represented by the equation

9. The position controller of claim 7 wherein the particular velocity profile generated for a preselected endpoint further includes a fourth portion, 1₃, wherein velocity decreases at a generally linear rate at a function of the current distance of the movable component from the preselected endpoint.

10. The position controller of claim 9 further including logic means for calculating a transition velocity, equal to the velocity indicated on the fourth portion 1, 1₃, of the particular velocity profile for a preselected end point at a preselected linear offset, and logic means for shifting the third portion, 1₂, of the particular velocity profile so that the velocity obtained from the fourth portion 1₃, is equal to the velocity obtained from the third portion, 1₂ when the current distance of the movable component from the preselected endpoint is equal to the linear offset.

11. The position controller of claim 10 wherein the parameters associated with each preselected endpoint include:

data corresponding to the slope of the first portion 1₁, data corresponding to the constant velocity v_m, data corresponding to the slope of the fourth portion, 1₃, data corresponding to the linear offset, and data corresponding to the encoder value for the preselected endpoint.

12. The position controller of claim 7 further including logic means for determining when the current position of the movable component remains unchanged for a preselected threshold time period, and, if the current position is unchanged, selecting a velocity from the first portion, 1₁, of the velocity profile with the elapsed time of the motion reset to zero thereby ensuring a smooth start-up of the movable component.

13. The position controller of claim 1 wherein the slave computer includes logic means for sorting the commands and data received from the master computer according to a predefined hierarchy, and processing those commands and data in a preselected order corresponding to the predefined hierarchy.

14. The position controller of claim 13 wherein the predefined hierarchy indicates that position commands have priority, with data corresponding to preselected end points, velocity profile data, or data inquiries being processed only after all position commands have been processed.

15. The position controller of claim 1 further including:

a flag fixed to the movable component;

an interrogator located at a fixed interrogation point in the system and adapted to sense the presence of the flag whenever the flag passes the interrogation point; and

wherein the slave computer further includes

an input connected to the interrogator for receiving a signal indicating whether the flag is currently located at the interrogation point,

memory for storing an original reference position, and

logic means for comparing the value of the current position of the movable component to the original reference position whenever the interrogator indicates that the flag is located at the interrogation point and adjusting the value of the preselected endpoint by the difference between the compared positions, thereby insuring that the movable component reaches the preselected endpoint despite any change in the length of the movable component.

16. The position controller of claim 15 wherein the interrogator is an optical scanner.

17. The position controller of claim 1 wherein the slave computer further includes logic means for determining when an oscillate command has been transmitted from the master computer, and thereafter calculating the distance required to position the movable component from its current position to a first preselected point calculating the desired current velocity according to position and velocity profile data for that preselected point, and calculating a digital control signal necessary to drive the variable speed drive to move the movable component to the first preselected point at the desired current velocity, calculating the distance required to position the movable component from the first preselected point to a second preselected point, calculating the desired current velocity according to position and velocity profile data for that preselected point, and calculating a digital control signal necessary to drive the variable speed drive to move the movable component to the second preselected point at the desired current velocity, calculating the distance required to position the movable component from the second preselected point to a third preselected point, calculating the desired current velocity according to position and velocity profile data for that preselected point, and calculating a digital control signal necessary to drive the variable speed drive to move the movable component to the third preselected point at the desired velocity profile, and transmitting an acknowledge signal to the master computer when the movable component has completed the oscillation.

18. The position controller of claim 17 wherein the oscillation command consists of three motion commands, the first motion command indicating the first preselected point, the second motion command indicating the second preselected point, and the third motion command indicating the third preselected point, and each of the motion commands is transmitted from the master computer without terminator characters between the commands.