| 摘要 |
<P>PROBLEM TO BE SOLVED: To perform servo control over a key of an automatic playing piano while taking differences of various characteristics, such as weights, current operation positions, etc., of individual playing operators into consideration. <P>SOLUTION: A feedback loop for performing servo control over a key of the automatic playing piano 1 is supplied with at least one of a desired value rx of the operation position of the key and a desired value rv of the operation speed based upon track reference, and a gain value calculation part 33 sets values (Kx, Kv, and u) of a feedback loop gain to different values according to the pitch of the key 1 to be driven based upon key information supplied from a reproduction preprocessing part 10. <P>COPYRIGHT: (C)2006,JPO&NCIPI |
