| 摘要 |
PROBLEM TO BE SOLVED: To control to move the operator promptly to a target position. SOLUTION: The motion controller 41 generates the position control data Pr(p) for the depth target of the pedal PD based on the performance data obtained from the piano controller 40. The servo controller 42 calculates the target current ru1 to supply to the solenoid coil 28 of the pedal actuators 26 from the feedback signals Py(p), the speed v (p), and the position control data Pr (p) for the position information of the pedal PD. The target correction current ru(temp) is calculated from the equation ru(temp)=ru1+(ru1-u(p)) based on the current u(p) currently supplied and the newly calculated target current ru1. To the solenoid coil 28, this current is supplied for a predetermined time T, then the above target current ru1 is supplied. COPYRIGHT: (C)2005,JPO&NCIPI
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