| 摘要 |
PROBLEM TO BE SOLVED: To realize an automatic playing piano which is inexpensive and has high performance by using a sensor for playing information recording even for servo control over key driving. SOLUTION: A target value generation part 201 generates a position target value rx according to track reference. Further, a position signal yxd outputted from a key position sensor 27 etc., is normalized at a normalization part 216 and a position signal yx is outputted. A subtractor 203 outputs position deviation ex which is the difference between rx and yx. An amplification part 204 multiplies the position deviation ex by a gain kx and a solenoid 10 is driven according to a position control signal ux as the multiplication result. COPYRIGHT: (C)2005,JPO&NCIPI
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