Modeling of the DC Motor Maxon RE 15

Abstract

The increasing demand for lightweight, efficient, and accurate actuators in automation and educational platforms highlights the need for validated mathematical models of DC motors. The Maxon RE 15 a brushed DC motor offers high efficiency and compactness, making it widely applicable in mechatronics, robotics, and marine instrumentation systems. Despite its popularity, comprehensive dynamic models incorporating both electrical and mechanical dynamics for this motor are not widely documented in literature. This study presents a structured approach to modeling and simulating the Maxon RE 15 DC motor using transfer function and state-space representations based on Kirchhoff’s and Newton’s laws. Parameters such as resistance, inductance, back-EMF constant, and rotor inertia were derived from datasheet analysis and validated through experimental testing. MATLAB/Simulink was used for model implementation, and both open loop and PID controlled closed-loop simulations were conducted. Results indicate that the closed-loop model achieved a rise time of 0.18 seconds and reduced overshoot to 3.1%, with model accuracy validated against hardware measurements showing less than 5% deviation. This model supports control algorithm development and serves as a reference for embedded system design and electrical engineering education.