| 摘要 |
<P>PROBLEM TO BE SOLVED: To realize a player piano which is inexpensive and is high in performance and is capable of recording playing information by a sensor for recording the playing information during servo control of key driving. <P>SOLUTION: The orbit reference of each key 70 is generated based on the playing information read into a CPU 50 from an FDD 40. A target value generation section 201 generates a position target value rx in accordance with the orbit reference. Also, the position signal yxd outputted from a key position sensor 27, etc., is normalized in a normalization section 216, and a position signal yx is outputted. In a subtractor 203, a position deviation ex which is the difference of rx, yx is outputted. In an amplifier section 204, the position deviation ex is multiplied by the gain kx and a solenoid 10 is driven based on the position control signal ux which is the multiplication result. <P>COPYRIGHT: (C)2008,JPO&INPIT |
