Arvehammer Thesis

Master’s thesis Department of Automatic Control Lund Institute of Technology

Object-Oriented Automation System
Maja Arvehammar March 2, 2007

Abstract This master’s thesis is about the implementation and evaluation of a small object-oriented automation system. By using a realtime Java VM from Jamaica, a sheet feeding magazine from the machine Tetra Aptiva Aseptic has been controlled. Theexpectations included to achieve more structured and safer programming, better documentation through UML and to separate application developers from developers of basic functionality. The work has involved to understand the existing control program, to design an object oriented model in Java and to run it on a test rack. The system worked fine, and most expectations were fulfilled. The performancemeasurements indicated that the Java was fast but also had a slightly larger jitter.

Preface
This thesis marks the end of Maja Arvehammar’s Master of Science degree in Engineering Physics at the Lund Institute of Technology in Sweden. The project work was carried out at Tetra Pak D&E in Lund and has taught me plenty. Mostly about managing different software tools and interaction between hardwareand software, but also a little about how large companies work and many other things. I would like to thank my supervisor att Tetra Pak, Mattias Wallinius for support and inspiration and the people at B&R and aicas for helping me through the tricky parts in managing their hardware and software tools. I would also like to thank Karl-Erik ˚rz´n, my examiner at LTH, the co-workers at Tetra A e Pakand family and friends for supporting me during this master thesis.

Contents
1 Introduction 1.1 Background 1.2 Vision . . . 1.3 Project task 1.4 Limitations 8 8 9 11 12

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2 Companies involved 13 2.1 Tetra Pak . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2 2.3 aicas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B&R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 14

3 Theoretical background 15 3.1 IEC 61131-3 . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . 15 3.2 The Java Native Interface . . . . . . . . . . . . . . . . . . . . . . 18 3.3 UML and Design Patterns . . . . . . . . . . . . . . . . . . . . . . 19 4 Software tools 21 4.1 Automation Software . . . . . . . . . . . . . . . . . . . . . . . . . 21 4.2 Realtime Java . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.3 Jamaica VM . .. . . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.4 Eclipse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.5 ArgoUML . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 4.6 Other Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5 The sheet magazine 5.1 5.2 5.3

27 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . 27 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 The Machine Phases . . . . . . . . . . . . . . . . . . . . . . . . . 30

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The Magazine State Machines . . . . . . . . . . . . . . . . . . . .

32 33 33 35 35 35 38

6 Design and Implementation 6.1 Solution overview . . . . . 6.2 JNI Interface . . . . . . . 6.3 State Machines . . . . . . 6.4 PackageOverview . . . . 6.5

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Program Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Performance Testing 43 7.1 Test Program Flow . . . . . ....