Engineering:Comparison of direct-drive sim racing wheels

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Direct-drive sim racing wheel systems are a method of control for use in racing video games, racing simulators, and driving simulators, that produce force feedback using a direct-drive servo motor that directly transmits forces to the shaft and wheel rim, without any reduction gears or belts.[1][2][3][4] They have been introduced in 2013, as a more high-end alternative to gear- and belt-driven mass market consumer racing wheels. The first commercially broadly available direct-drive sim racing wheel base has been released in 2013 by the UK-based Leo Bodnar Electronics, after having been retailing to racing teams and professional centers since 2008.[5] It was followed in 2015 by the US-based SimXperience AccuForce V1, and by the first DIY open-source hardware "OSW" kits. Issues, quality and performance indicators of direct-drive wheels, and of sim racing wheels in general, include detail and fidelity of force feedback, smooth torque transmission, nearly-zero backlash, rotary encoder resolution, clipping, dynamic range, torque ripple,[2] cogging torque,[6] drivers and digital signal processing with control electronics,[2][7] signal filtering,[8] backdrive friction,[6][9] low inertia,[9] damping,[9] fast response, precise positioning, electromagnetic interference,[10] and latency.

Background

Direct-drive mechanisms for use in industrial arms began to be possible in the 1980s, with the use of rare-earth magnetic materials,[3] of which today the most commonly used are neodymium magnets.[11]

Before the 1980s, servo motors were not powerful enough (did not have enough torque) to be used directly, and therefore reduction gears or mechanical belts were added to the motor to leverage and multiply its power.[3] Higher power motors were not feasible due to the expensive rare-earth materials needed to build them. This problem was surpassed in the 1980s, with the development of less expensive high power magnets.[3]

In 2015, a preliminary comparison of gear-driven and direct drive wheels in the 0–30 Hz frequency range, for a study on hard real-time multibody simulation and high-fidelity steering wheel force feedback, concluded that direct drive wheels are preferable.[8]

Comparison

The Leo Bodnar, OSW kits, Sim-pli.city and VRS systems are based on industrial servo motors (typically MiGE, Lenze, or Kollmorgen motors), while SimXperience's AccuForce, Frex, Simucube (which initially used a MiGE motor), Fanatec, and Simagic use custom-made motors. The types of motors used vary between high-end 3-phase brushless servomotors[12] and lower budget hybrid stepper-servo motors.[1]

Other than the motor, other parts of a complete direct drive wheel base include a rotary encoder (the position sensor), a controller board (that translate the FFB data from the game into steering wheel forces), and a motor driver board (servo drive), which fits into a slot of the controller board, and that controls the position, velocity and torque output of the motor.[13] Examples of encoders are the Biss-C and the SinCos encoders, an examples of controller boards is the Simucube board, and an examples of motor driver boards are the IONI and the Argon ones.

The torque says something about how "powerful" the engine is, and can be specified in two ways:

  1. Continuous torque, the greatest load of which the motor still can perform continuous movement at a continuous speed
  2. Stall torque, the load which will cause the motor to stop so that it can no longer move

The latter always gives a higher number in newton-meters, and is therefore the number that usually is communicated the most by manufacturers to consumers, but is actually a less useful specification since the steering wheel in theory does not perform any work when rotation has stopped. One must therefore be aware of the type of torque specification given when comparing two motors. However, there is often a close correlation between the continuous torque and stall torque figures.[citation needed]

Manufacturer Product Year introduced Peak holding torque / peak constant torque
(Nm) 		Resolution Motor Other notes
Fanatec Podium DD1 2019[14] 20 (?) 16bit 65k cpr (was 8 bit initially)[15][16] Custom-made outrunner[nb 1] servomotor[17][18] 12-bit MHL200 rotaty position hall encoder[19] (Hall-position-sensor)
Fanatec Podium DD2 2019[14] 25 (?) 16bit 65k cpr (was 8 bit initially)[15][16] Custom-made outrunner servomotor[18] 12-bit MHL200 rotaty position hall encoder[19] (Hall-position-sensor)
Fanatec CSL DD (with base 90W power supply) 2021 5 (?) Flux Barrier Rotor, Hall-position-sensor
Fanatec CSL DD (with optional 180W power supply) 2021 8 (?) Flux Barrier Rotor, Hall-position-sensor
Frex SimWheel DD (announced in 2016)[20] 16 (?)
LeoBodnar Sim Steering 2013[5][21] 16[22] 40k cpr / 10k ppr EJ encoder[22][23][24] Kollmorgen AKM52G-ANCNEJ00,[25] Brushless Servomotor 3000 rpm,[22]
LeoBodnar Sim Steering 2 (standard 52 version) 2015[5][22][26] 16[1] (8)[22] 16.7M cpr C resolver ("SFD, Smart Feedback Device")[22] Kollmorgen AKM52G-ANCNC-00,[22][27] Brushless Servomotor 3000 rpm,[22] rated speed 5600 rpm,[28] rotor inertia 4.58 kg-cm2[28]
LeoBodnar Sim Steering 2 (53 version) 2015[5][22][26] 20.5 (?)[29] 16.7M cpr C resolver ("SFD, Smart Feedback Device")[22] Kollmorgen AKM53G, Brushless Servomotor Rated speed 5100 rpm, rotor inertia 6.64 kg-cm2[28]
none (Open-source hardware) "OSW" DIY kit 2015[30] 29 (11.4), 20 (10) or 30 (15) respectively[31] 16k or 10k ppr[31] Lenze MCS12H15L,[1][31] or MiGE 130ST-M10010 ("small MiGE") or MiGE 130ST-M15015 (large MiGE) 1000 rpm (MiGE M10), 1500 rpm (MiGE M15, Lenze); rotor inertia: 19.4 kg cm^2 (M10), 27.7 kg cm^2 (M15), 7.3 kg cm^2 (Lenze)[31]
none (Open-source hardware), through Reimer Motorsports OpenSimwheel Premium[32] 29 (20)[32] 16k cpr[32] Lenze MCS12H15L[32] Granite Devices Argon electronics[32]
none (Open-source hardware), through Reimer Motorsports OpenSimwheel Premium AKM52[12] 24[12] 32k cpr[12] Kollmorgen AKM52 3-phase AC servo[12] Granite Devices Argon electronics[12]
none (Open-source hardware) through simracingbay "OSW" DIY kit 2018[33] 20 (10)[33] 22-bit 4.2M cpr[34] (originally 2.1M cpr)[33] MiGE 130ST-M10010[33] SinCos encoder;[33] driver board: Granite Devices IONI servo drive, IoniProHC 25A;[33][34] 1000 rpm; ; rotor inertia 19.4 kg cm^2[31]
Simagic Alpha Dec 2020 15[1] 18bit[15] 3-phase servo motor[1]
Simagic Dynamic M10 Jan 2020[35][36] 10[37] Servo-Stepper Motor[37] LME2500FE encoder[38]
Simagic Alpha mini 2021 10 16k pulses per revolution[39] Three phase servo motor optimized for sim racing uses[39]
Sim-pli.city SW7C 2018[27] 7[27] Mige 80ST Series Motor,[27] Inrunner[40]
Sim-pli.city SW8C+ 8[37] 8M cpr[41] MiGE 110ST-M06030,[1][41] Inrunner
Sim-pli.city SW20 2017[42] 20[42] 10k ppr encoder[43] MiGE 130ST-M10010 (small MiGE)[43] Controller: Granite Devices IONI Pro and SimuCUBE;[43] 1000 rpm; rotor inertia 19.4 kg cm^2[31]
Sim-pli.city SW20 V3[44] (2019) 20[1] 8M cpr[41] MiGE 130ST-M10010,[1][41] Inrunner 1000 rpm; rotor inertia 19.4 kg cm^2[31]
Simucube Simucube-based pre-assembled OSW kit (before 2018) 20 (10) with small MiGE, or 30 (15) with large MiGE[45] 5k or 10k ppr encoder[45] MiGE 130ST-M10010 ("small MiGE") or MiGE 130ST-M15015 (large MiGE), Inrunner IONI Pro (18A) or IONI Pro HC (25A)[45] controller, SimuCUBE motherboard; 1000 rpm (MiGE M10), 1500 rpm (MiGE M15); rotor inertia: 19.4 kg cm^2 (M10), 27.7 kg cm^2 (M15)[31]
Simucube Simucube-based pre-assembled OSW kit Biss-C (2018 version) 2018[46] 30 2018 version: 4.2M cpr with 22-bit[46] MiGE 130ST-M10010 or MiGE 130ST-M15015,[46] Inrunner Biss-C encoder;[46] 1000 rpm (MiGE M10), 1500 rpm (MiGE M15); rotor inertia: 19.4 kg cm^2 (M10), 27.7 kg cm^2 (M15)[31]
Simucube Simucube 2 Pro 2019[1] 25 4.2M cpr[47] Brushless Servomotor[18]
Simucube Simucube 2 Sport 17 22 bit absolute, 4M cpr [48] Brushless Servomotor
SimXperience AccuForce V1 2015[49] 13[49] 16k PPR encoder[49]
SimXperience AccuForce V2 (announced in 2017) 13 (?) hybrid stepper servo motor[1]
VRS DirectForce Pro 2020[1] 20 (?) 22 bit[15] 4M cpr, Biss encoder[50] MiGE 130ST-M10010, Inrunner 1000 rpm; rotor inertia 19.4 kg cm^2[31]

See also

Notes

  1. ↑ Fanatec argues that outrunner motors "increase the moment arm of the motor" and "give more space for higher quality magnets"[17]

References

  1. ↑ 1.00 1.01 1.02 1.03 1.04 1.05 1.06 1.07 1.08 1.09 1.10 1.11 Jack MacKenzie Buying Guide: 7 of The Best Direct Drive Wheels in 2021, at coachdaveacademy.com, 2021
  2. ↑ 2.0 2.1 2.2 Richard Baxter Direct drive wheels for sim racing: everything you need to know, at simracingcockpit.com, November 17, 2020
  3. ↑ 3.0 3.1 3.2 3.3 Asada, H., & Kanade, T. (1983) Design of direct-drive mechanical arms in Journal of Vibration, Acoustics, Stress, and Reliability in Design, Volume 105, Issue 3, pp.312-316
  4. ↑ Direct Drive vs Belt Drive vs Gear Drive, SimXperience News at simxperience.com (archived on July 5th, 2021)
  5. ↑ 5.0 5.1 5.2 5.3 Leo Bodnar SimSteering2 Read-View at mockracer.com, December 19, 2015
  6. ↑ 6.0 6.1 Barnaby, G., & Roudaut, A. (2019) Mantis: A scalable, lightweight and accessible architecture to build multiform force feedback systems, in Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (pp. 937-948).
  7. ↑ Expectations vs. Reality – How To Build A Direct Drive Racing Wheel?, Alberto from boxthislap.org, July 24, 2021
  8. ↑ 8.0 8.1 Pastorino, R., Desloovere, M., Vanneste, F., Degezelle, P., Desmet, W., & Optidrive, N. V. (2015) Development, implementation and validation of a hard real-time multibody simulation for high-fidelity steering wheel force feedback, in Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain (Vol. 10).
  9. ↑ 9.0 9.1 9.2 Gonzalo Bodnar V2 impressions, at boxthislap.org, October 20, 2016
  10. ↑ Jimmy Broadbent Is A Direct Drive Wheel Worth The Money?, Aug 1, 2018
  11. ↑ "What is a Strong Magnet?". Adams Magnetic Products. October 5, 2012. http://www.adamsmagnetic.com/blogs/2012/what-is-a-strong-magnet/. 
  12. ↑ 12.0 12.1 12.2 12.3 12.4 12.5 OpenSimwheel Premium AKM52 at reimer-motorsports.com, archived on 16.12.2015
  13. ↑ How to build a Direct Drive steering wheel - OSW Simucube, by MODIFY UP, Sep 20, 2020
  14. ↑ 14.0 14.1 Podium series will arrive finally 30th April, by Gonzalo at boxthislap.org, March 13, 2019
  15. ↑ 15.0 15.1 15.2 15.3 What is going on with the encoder resolution of DD wheelbases? at forum.fanatec.com
  16. ↑ 16.0 16.1 Marcel Pfister Fanatec Beta Driver V352/356 [DD Performance Update] for Podium Bases ONLY (all steering wheels), Dec 2019
  17. ↑ 17.0 17.1 Podium Direct Drive Motor Dynamics | FANATEC, Apr 29, 2019
  18. ↑ 18.0 18.1 18.2 The 5 Best Direct Drive Wheel Bases By FLOW RACERS
  19. ↑ 19.0 19.1 FANATEC DD1/DD2 TEARDOWN - How a Fanatec Direct Drive Wheel Base Works (at 41min 47s), BoostedMedia, Feb 2, 2021
  20. ↑ Frex Simwheel DD (Direct Drive), at simrace-blog.com, 23 Jan 2016
  21. ↑ SimSteering Wheel by Leo Bodnar – Released, at virtualr.net, June 5, 2013
  22. ↑ 22.0 22.1 22.2 22.3 22.4 22.5 22.6 22.7 22.8 22.9 Sim Steering FFB System Version 2, review by SimRacingGarage, Feb 13, 2016
  23. ↑ Leo Bodnar SimSteering review video by Sim Racing Garage, at bsimracing.com, 25/03/2014
  24. ↑ "Looking to build an OSW setup with Simucube and Kollmorgen AKM motor, could use some help. - Custom / High End Wheels - InsideSimRacing Forums". https://www.isrtv.com/forums/topic/23904-looking-to-build-an-osw-setup-with-simucube-and-kollmorgen-akm-motor-could-use-some-help/. 
  25. ↑ Leo Bodnar SimSteering Review Part 1 (at 1min 30s), review by SimRacingGarage, Mar 24, 2014
  26. ↑ 26.0 26.1 SS2 reviews, by Gonzalo at boxthislap.org, January 23, 2016
  27. ↑ 27.0 27.1 27.2 27.3 Sim Racing Wheel Buyers’ Guide 2018 at simracingpaddock.com, March 14, 2018
  28. ↑ 28.0 28.1 28.2 AKM2G Servo Motor - Specifications, accessed Sept. 3rd, 2021
  29. ↑ SimSteering V2 Force Feedback System (53) Kit, ay ricmotech.com
  30. ↑ Sim Racing Garage – Direct Drive Open Sim Wheel Review, at bsimracing.com, 08/09/2015
  31. ↑ 31.0 31.1 31.2 31.3 31.4 31.5 31.6 31.7 31.8 31.9 Open Sim Wheel at OpenSimWheel Wiki
  32. ↑ 32.0 32.1 32.2 32.3 32.4 OpenSimwheel Premium at reimer-motorsports.com, archived on 21 Jul 2015
  33. ↑ 33.0 33.1 33.2 33.3 33.4 33.5 Sim Racing Bay OSW Wheel Kit Review, at Sim Racing Garage, Apr 17, 2018
  34. ↑ 34.0 34.1 SimuCUBE based OSW kit Biss-C – with CM110 case at simracingbay
  35. ↑ Laurence Dusoswa Simagic Alpha Review | 15nm Direct Drive Steering Wheel | LONG TERM review | World Exclusive, December 2020
  36. ↑ Laurence Dusoswa Simagic Dynamic M10 Unboxing | Chinese technology has arrived in Sim Racing, Dec 31, 2019
  37. ↑ 37.0 37.1 37.2 William Marsh Sim Racing Wheel Buyer’s Guide – 2020 Edition at simracingpaddock.com, March 20, 2020[
  38. ↑ Simagic M10 GT1 DD FFB Wheel Kit Review, Sim Racing Garage, Oct 31, 2020
  39. ↑ 39.0 39.1 "Simagic Alpha Mini". https://www.simfai-solutions.com/simagic-alpha-mini?currency=EUR. 
  40. ↑ High-end wheel guide at simracer.es
  41. ↑ 41.0 41.1 41.2 41.3 "All – Tagged "MiGE" – Sim-plicity". https://sim-pli.city/collections/all/mige. 
  42. ↑ 42.0 42.1 William Marsh GamerMuscle Reviews SimPliCity SW20 DD Wheel, at simracingpaddock, June 13, 2017
  43. ↑ 43.0 43.1 43.2 SW20 (20Nm Direct Drive Wheel) - (Discontinued), Sim-pli.city official product page
  44. ↑ Richard Baxter Test drive: SimPlicity SW20 V3 DD, at simracingcockpit.com, September 9, 2020
  45. ↑ 45.0 45.1 45.2 "Pre-assembled Direct Drive Wheel Kit (MiGE/SimuCUBE) (Discontinued) – Sim-plicity". https://sim-pli.city/products/pre-assembled-direct-drive-wheel-kit-mige-simucube. 
  46. ↑ 46.0 46.1 46.2 46.3 Sim Cube 30nm Direct Drive Wheel Base Review By The Simpit, at bsimracing.com, 29.6.2018
  47. ↑ Simulator Racing Wheels, at rightstuffracing.com
  48. ↑ Simucube 2 Sport Official product page
  49. ↑ 49.0 49.1 49.2 AccuForce Review, at mockracer.com, January 16, 2015
  50. ↑ VRS DirectForce Pro DD Wheel System Review, Sim Racing Garage, May 25, 2020

Further reading

External links




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