Driving method of performance operator, driving apparatus of the performance operator, program and automatic playing piano

摘要

PROBLEM TO BE SOLVED: To accurately drive a key of an automatic playing piano according to a reference trajectory.;SOLUTION: A target value generation part 202 generates a position target value rx and a speed target value rv according to a reference trajectory. Further, a position signal yx and a speed signal yv are generated according to the detection signal of a key position sensor 27 and a position deviation ex and a speed deviation ev are outputted through a subtractors 203 and 206. Amplification parts 204 and 208 multiply them by gains kx and kv and a key 70 is driven according to a control signal (u) which is the total of those multiplication results. Here, when the unit of the position deviation ex is set to "millimeter" and the unit of the speed deviation ev is set to "millimeter per second", the key is accurately driven on condition that the speed gain kv is set at "1 to 3 times" as large as the position gain kx.;COPYRIGHT: (C)2005,JPO&NCIPI