| 摘要 |
An automatic player piano has a feedback control loop (64) for each of the black/ white keys (72/ 74); the controller (100) firstly determines a reference trajectory, i.e., a target key position (rx) varied with time for each key (72/74) to be moved in the playback, and calculates a target key velocity (rv), and compares a true key position (yx) reported from a key sensor (27) and a true key velocity (yv) calculated from the true key position with the target key position (rx) and target key velocity (rv) for optimizing the duty ratio of the driving signal; the positional difference (ex) and the velocity difference (ev) are independently multiplied by a positional gain (kx) and a velocity gain (kv) so as to determine the optimum duty ratio; since the ratio of the velocity gain (kv) to the positional gain (kx) is 1 to 3, the key travels along the reference trajectory without oscillation and overshoot. |
