| 摘要 |
PROBLEM TO BE SOLVED: To improve the follow-up property of actual operation (control variable) of a key for a target value during serve control over keys of an automatic playing piano. SOLUTION: A feedback loop performing the servo control over a key 1 of the automatic playing piano is supplied with at least one of a target value rx of an operation position of the key and a target value rv of an oprating speed, and a gain value calculating part 33 varies and sets a gain value, based on at lest one of the target value rx and target value rv. The deviation between the output of a key sensor 7 and at least one of the target value rx and target value rv is multiplied by the gain value, and a solenoid 6 is driven based on the multiplication result. COPYRIGHT: (C)2006,JPO&NCIPI
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