| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide the technology for improving performance for driving a key when stepping on a soft pedal of a keyboard instrument playing automatically. <P>SOLUTION: In this key driving device, at least either of a target value rx of an operation position and a target value rv of operation speed of the key is supplied into a feedback loop for performing servo control of an automatically playing piano 100 in synchronization with track reference, and a gain value calculating part 33 sets a gain value by changing it based on at least either of the target value rx and the target value rv. At this time, the gain value calculating part 33 sets the gain value by referring to tables being different depending on a case where the soft pedal is stepped on and a case other than it. Deviation of output of a key sensor 8 from at least either of the target value rx and the target value rv is multiplied by the gain value to drive a solenoid 5 based on the result of multiplication. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
