Milos Bozic, Sanja Antić, Vojislav Vujičić, Miroslav Bjekić, Goran Đorđević

DOI Number
First page
Last page


This paper describes the implementation of electronic gearing of two DC motor shafts. DC motors are drives for a mobile robot with wheels in the form of wheel - leg (Wheg) configuration. A single wheel consists of two Whegs (dWheg). The first DC motor drives one Wheg, while the second one drives another independent Wheg. One motor serves as the master drive motor, while the other represents the slave drive motor. As the motors are independent, it is necessary to synchronize the speed and adjust the angle between shafts. The main contribution of this paper is the implementation of control structure that enables the slave to follow the master drive, without mechanical coupling. Based on encoder measurements, the slave effectively follows the master drive for the given references of speed and angle. Speed and positioning loops are implemented on real time controller - sbRIO. The laboratory setup was created and comparison of realized and required angles and speeds was made.


Electronic gearing, Master, Slave, Wheg, DC motor, sbRIO

Full Text:



V. Mhase, K.R. Sudarshan, O. Pardeshi, P.V. Suryawanshi, "Integrated Speed – Position Tracking with Trajectory Generation and Synchronization for 2 – Axis DC Motion Control", International Journal of Engineering Research and Development, vol. 1, Issue 6, pp. 61-66, 2012.

F.J. Pkrez-Pinal, C. Ngez, R. Alvarez, I. Cervantes, "Comparison of Multi-motor Synchronization Techniques", Industrial Electronics Society IEEE, pp. 1670-1675, 2004.

Y.H. Chang, W.H. Chieng, C.S. Liao, S.L. Jeng, "A novel master switching method for electronic cam control with special reference to multi-axis coordinated trajectory following", Control Engineering Practice, vol. 14, pp. 107-120, 2006.

C.S. Liao, S.L. Jeng, W.H. Chieng, "Electronic cam motion generation with special reference to constrained velocity, acceleration, and jerk", ISA Transactions, pp. 427-443, 2004.

P. Ciáurriz, I. Díaz, J.J. Gil, "Bimanual drive-by-wire system with haptic feedback", In Proceedings of the IEEE International Symposium on Haptic Audio Visual Environments and Games (HAVE), 2013, pp. 18-23.

O. Sename, "Hα control of a Teleoperation Drive-by-Wire System with Communication Time-Delay", In Proceedings of the 14th Mediterranean Conference on Control and Automation, 2006, pp. 1-6.

A.M. Sharma, S. Kumar, A. Kumar, "Implementation of force feedback (haptic) in master slave robotic configuration", Communication, Control and Intelligent Systems (CCIS), pp. 267 – 271, 2015.

R. Antonello, R. Oboe, "Force controller tuning for a master-slave system with proximity based haptic feedback", In Proceedings of 40th Annual Conferfence IECON 2014, IEEE Industrial Electronics Society, 2014, pp. 2774-2779.

M. Fremerey, S. Köhring, O. Nassar, M. Schöne, K. Weinmeister, F. Becker, G.S. ĐorĊević, H. Witte, "A Phase-Shifting Double-Wheg-Module for Realization of Wheg-Driven Robots", In Proceedings of the Third International Conference, Living Machines, Milan, Italy, 2014, pp. 97-107.

M. Fremerey, G. Djordjevic, H. Witte, "WARMOR: Whegs Adaptation and Reconfiguration of MOdular Robot with Tunable Compliance", In Proceedings of the First International Conference, Living Machines, Barcelona, Spain, 2012, vol. 7375, pp. 345-346.

M. Bjekic, S. Antic, A. Milovanovic, "Permanent Magnet DC Motor Friction Measurement and Analysis of Friction’s Impact", Int. Rev. Electr. Eng., vol. 6, no. 5, pp. 2261-2269, 2011

M.J. Stojĉić, "Design of a Digital Positioning System with Sinusoidal Change of the Jerk", Appl. Mech. Mater., vol. 474, pp. 255–260, Jan. 2014

N. S. Nise, Control Systems Engineering, 6th Edition International Student Version, Wiley, 2011, ISBN : 978-0-470-64612-0

K. Ogata, Modern Control Engineering, Fifth edition, Pearson, 2010.

M. Stojić, Digitalni sistemi upravljanja. Nauĉna knjiga, Beograd, 1989.

Y. Koren, "Cross-coupled biaxial computer control for manufacturing systems", Journal of the Dynamic Systems, Measurement and Control, vol. 102, pp. 265-272, 1980.

M.B. Naumović, and M.R. Stojić, "Two Distant Cross-Coupled Positioning Servo Drives: Theory And Experiment", Electronics, University of Banja Luka, vol. 13, no. 2, pp. 25-29, December 2009.

L. Feng, Y. Koren, J. Borenstein, Cross-coupling motion controller for mobile robots, IEEE Control Systems, pp. 35-43, December 1993.

Electronic gearing of two dc motors, Video file part 2, Laboratory for electrical machines and drives, Facultyof technical sciences Ĉaĉak, University of Kragujevac, accessed 02.2017


Electronic gearing of two dc motors, Video file part 1, Laboratory for electrical machines and drives, Faculty of technical sciences Ĉaĉak, University of Kragujevac, accessed 02.2017



  • There are currently no refbacks.

ISSN: 0353-3670 (Print)

ISSN: 2217-5997 (Online)

COBISS.SR-ID 12826626