Date of Award

May 2022

Degree Type


Degree Name

Master of Science



First Advisor

Wilkistar Otieno

Committee Members

Aderiano da Silva, Ilya Avdeev


Automation, Load Sharing, Multi Motor Synchronization


Load sharing and synchronization techniques are essential for modern automation applications where single motor systems cannot meet the application requirements. Evenly sharing the load between multiple motors can increase the output of processes and reduce maintenance efforts due to uneven wear and tear. Rockwell Automation has developed two load sharing techniques for fast motion control applications. In this Thesis, the two load sharing techniques are experimentally compared regarding their ability to evenly share loads and control synchronized motions in a multi motor setup for fast motion. The techniques are compared using a setup with two motors coupled by a timing belt and performing fast motion with moves times of 50ms, 100ms, and 200ms, with and without disturbance. The first load sharing Method utilizes the leader-follower method, where two drives are connected to two motors. In the second Method, one drive controls two motors. The challenge of load control in the single drive multi motor setup is solved by magnetically aligning the motors.