JP2006235203A - Keyboard musical instrument and operator reaction optimization system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize reaction force imparting faithful to basic information for force control. <P>SOLUTION: A basic table group T0 is set in a control table group TA; while a key is is driven by an actuator for measurement under a driving condition J to be pressed and released, the key is reaction-driven by an actuator based upon the control table group TA to be energized in a key releasing direction and the actual reaction force that the actuator for measurement receives from the key at this time is detected to find a actual reaction force pattern tB(J). Then F values corresponding to F values ätA(J)} of a target reaction force pattern tA(J) are individually corrected based upon respective tables in the control table group TA so that differences between corresponding F values ät0} and F values ätB(J)} of the target reaction force pattern t0 and actual reaction force pattern tB(J) become small, thereby correcting the control table group TA. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a keyboard instrument and an operating element reaction force optimization system for controlling a reaction force to be applied to an operation of an operating element such as a key or a pedal based on information for force sense control.

  Conventionally, as shown in Patent Document 1 below, in a keyboard instrument such as an electronic piano, a reaction force is applied to an operation element such as a key using a solenoid or the like separately from a spring or the like, and the reaction force is controlled. Thus, there is known a haptic control device that aims to reproduce the complex haptics of an acoustic piano key or the like.

  In this apparatus, a drive actuator for driving the key and applying a reaction force to the operation in the pressing and releasing key operation is provided at a position where the key can be driven in the key releasing direction, for example. Also, a force sense table storing the reaction force to be generated by the drive actuator is acquired in advance as basic information for force sense control for determining the force sense to be applied. Then, the position, speed, and acceleration of the key when the player presses and releases the key are obtained by detection or conversion, and the force sense table is referred to, and the reaction to be applied to the key from the obtained position, speed, and acceleration information. An appropriate force sense is given by determining the force and controlling the drive actuator in accordance with the key position based on the reaction force.

The force table is sensuously created by trial and error, for example, by individually changing related parameters (key position, speed, acceleration, drive signal value given to the key, etc.).
JP-A-10-177378

  However, when creating the haptic table, it is usually up to error factors of reaction force (friction of the key rotation shaft, error due to the thrust characteristics of the solenoid of the drive actuator, etc.) due to the individual resistance of the keyboard instrument used. Since this is not taken into consideration, the target reaction force defined by the haptic table does not always match the actual reaction force applied to the finger with respect to the operation of the operator of the keyboard instrument. For this reason, there has been a problem that it is difficult to reproduce the target reaction force defined by the haptic table in a keyboard instrument that actually uses the haptic table.

  The present invention has been made to solve the above-described problems of the prior art, and its purpose is to optimize the keyboard instrument and the operating element reaction force that can provide reaction force faithful to the basic information for force control. To provide a system.

  In order to achieve the above object, a keyboard instrument according to claim 1 of the present invention comprises an operating element (3) and first driving means (20) for generating a reaction force against the operation of the operating element by driving the operating element. ), Storage means (26) for storing haptic control information (TA) to be used for haptic control based on basic haptic control information (T0), and the operating element is operated In this case, by controlling the first driving unit based on the force control information stored in the storage unit, the reaction force generated by the first driving unit with respect to the operation of the operation element is set as a target reaction. The first control means (41) for controlling the force and the first drive means are provided separately, the second drive means (30) for driving the operation element, and the second drive means for a predetermined condition (J And the second control means (42) controlled by When the second driving unit is driven by the second driving unit according to the control and is driven by the first driving unit according to the control of the first control unit, the second driving unit detects an actual reaction force received from the operator. When the force detection means (37) and the operating element are driven by the second drive means according to the control of the second control means and driven by the first drive means according to the control of the first control means Correction means for correcting the haptic control information stored in the storage means so that the difference between the target reaction force of the first control means and the actual reaction force detected by the reaction force detection means becomes small. 43).

  According to this configuration, by correcting the force sense control information, the error factor of the reaction force with respect to the operation of the keyboard instrument operator is absorbed, and the actual reaction force by the first drive means is converted to the original force sense control information (force It is possible to approach the target reaction force defined in the basic information for haptic control. Therefore, it is possible to realize the reaction force application faithful to the basic information for force control.

  Preferably, the correction unit determines whether the target reaction force of the first control unit and the actual reaction force detected by the reaction force detection unit match or does not match, and the force control until the match is determined. The correction of the business information is repeated (claim 2). According to this configuration, the actual reaction force can be made as close as possible to the target reaction force defined by the basic information for force sense control, and a more faithful reaction force can be applied.

  In order to achieve the above object, an operating element reaction force optimization system according to a third aspect of the present invention includes an operating element (101) and a driving force that generates a reaction force against the operation of the operating element by driving the operating element. 1 driving means (120); storage means for storing haptic control information (TA) for use in haptic control based on basic haptic control information (T0); In this case, the reaction force generated by the first drive unit with respect to the operation of the operator is controlled by controlling the first drive unit based on the force control information stored in the storage unit. An operating element reaction force optimization system used in a keyboard instrument with haptic control (100) having first control means (141) for controlling to a target reaction force, the reaction force measuring device (140), and a reaction force Correction device (143), the reaction force measuring device, The second driving means (130) for driving the operating element, the second control means (142) for controlling the second driving means under a predetermined condition (J), and the operating element for controlling the second controlling means. The reaction force for detecting the actual reaction force received from the operator by the second drive means when being driven by the second drive means according to the above and driven by the first drive means according to the control of the first control means Detecting means (131), wherein the operating force is driven by the second drive means according to the control of the second control means and the first control means according to the control of the first control means. Force sense stored in the storage means so that the difference between the target reaction force of the first control means and the actual reaction force detected by the reaction force detection means when driven by the drive means is small. Supplementary control information Characterized in that it.

  In addition, the code | symbol in the said parenthesis is an illustration.

  According to claim 1 of the present invention, it is possible to realize reaction force application faithful to the basic information for force sense control.

  According to the third aspect of the present invention, in a keyboard instrument that uses the basic information for haptic control, it is possible to provide reaction force faithful to the basic information for haptic control. In addition, even for keyboard instruments that do not have a function for correcting haptic control information, the correction of haptic control information can be applied, and a reaction force that is faithful to the basic information for haptic control can be applied to more general-purpose keyboard instruments. can do.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a cross-sectional view showing the configuration of a keyboard device according to the first embodiment of the present invention, paying attention to a certain key. The keyboard device 1 is an electronic keyboard instrument having a plurality of seesaw-type keys 3 that rotate about a rotation axis 2. Hereinafter, the player side of the key 3 (right side of the figure) is referred to as “front”.

  The keyboard apparatus 1 includes one control unit 40 and reaction force actuators 20 and measurement actuators 30 provided for each key 3. The reaction force actuator 20 is for generating a reaction force against an operation of the key 3 by a finger or the like by driving the corresponding key 3 so as to urge it in the key releasing direction. Note that the keyboard device 1 is not provided with an action mechanism as in an acoustic piano, and an appropriate pressing / releasing key reaction force can be obtained exclusively by the reaction force actuator 20.

  On the other hand, the measurement actuator 30 is provided separately from the reaction force actuator 20, and corresponds to the key release key reaction force applied to itself by driving the corresponding key 3 so as to urge it in the key depression direction. This is for detecting the reaction force through the movement of the key 3. The reaction force actuator 20 and the measurement actuator 30 have the same configuration for each of the black key and the white key, and therefore, one configuration will be described as a representative.

  The reaction force actuator 20 is disposed below the front end portion of the corresponding key 3. The reaction force actuator 20 has a plunger 22 that is movable in the vertical direction. A solenoid coil 21 for driving is wound around the plunger 22. A driving member 23 is fixed to the upper end portion of the plunger 22 to push up the front end portion lower surface 3 a of the key 3. A coil spring 25 is provided below the plunger 22, and the plunger 22 is always urged upward. Thereby, the driving member 23 always abuts against the lower surface 3a of the front end portion of the key 3 at the time of pressing and releasing the key. The reaction force actuator 20 is also provided with a key position sensor 24 for detecting the position of the plunger 22 and thus the position of the key 3.

  The measurement actuator 30 is disposed below the rear end portion of the corresponding key 3. The measuring actuator 30 has a plunger 32 that is movable in the vertical direction. A driving member 33 that pushes up and drives the rear end lower surface 3 b of the key 3 is fixed to the upper end of the plunger 32, and the lower end of the plunger 32. A magnet bar 35 is fixed to the base plate. A solenoid coil 31 for driving is wound around the plunger 32, and a solenoid coil 36 for speed detection is wound around the magnet bar 35. The measuring actuator 30 is also provided with a key position sensor 34 for detecting the position of the plunger 32 and thus the position of the key 3.

  The control unit 40 includes a reaction force control unit 41, a reaction force measurement unit 42, and a reaction force correction unit 43. Although details will be described later, the reaction force control unit 41 stores a later-described basic table group T0 (see FIG. 3) as basic information for force control, and information for force control based on the basic table group T0. The reaction force actuator 20 is driven and controlled using the control table group TA. Further, the reaction force measuring unit 42 drives and controls the measurement actuator 30 under the driving condition J while changing the driving condition J as needed.

  The reaction force control unit 41 generates position control data corresponding to the position of the key 3 at each time according to the control table group TA, and generates a current instruction value uA (t) as an excitation current according to the position control data. And supplied to the reaction force actuator 20. The reaction force measurement unit 42 generates position control data corresponding to the position of the key 3 at each time based on the driving condition J, generates a current instruction value uB (t) as an excitation current according to the position control data, Supplied to the measurement actuator 30. These current instruction values uA (t) and uB (t) are actually pulsed so as to have a duty ratio corresponding to the target value of the average current to be passed through the solenoid coils 21 and 31 of the actuators 20 and 30, respectively. This is a PWM signal subjected to width modulation.

  Signals detected by the key position sensors 24 and 34 are reaction force control units 41 and reaction forces as position signals xA and xB (mm) indicating the current position of the key 3 (also corresponding to the stroke positions of the plungers 22 and 32). Each is supplied to the measurement unit 42. In the measuring actuator 30, the magnet rod 35 moves up and down together with the plunger 32, so that the current of the solenoid coil 36 changes, and this change in current indicates a speed signal indicating the moving speed of the key 3 at the current position of the key 3. It is supplied to the reaction force measurement unit 42 as vB (mm / sec).

  Further, the keyboard device 1 is provided with a supply current sensor 37 composed of a Hall element or the like. When the key 3 is driven by the measurement actuator 30, the supply current sensor 37 determines the current value supplied to the solenoid coil 31 from the reaction force measurement unit 42 in order to position the key 3 at the current position. It is detected as a required input current value iB (A; ampere) at the position. As will be described later, the necessary input current value iB corresponds to the thrust required to drive the key 3 to the plunger 32 to the current position. This value is equivalent to the reaction force when pressing and releasing the key. This required input current value iB is used after being converted into a reaction force F (g) by the correction unit 43 in a table group correction process (FIG. 5) described later. Here, the reaction force F can be directly measured by the load cell. However, since the reaction force F is obtained from the necessary input current value iB supplied to the solenoid coil 31, there is a problem of loss of the load cell. It has been eliminated and the detection accuracy is improved.

  The reaction force control unit 41 and the reaction force measurement unit 42 compare the position control data based on the control table group TA and the driving condition J with the position signals xA and xB, and indicate the current so that they match each other. Servo control is performed by updating and outputting values uA (t) and uB (t) as needed.

In reaction force generation control by the reaction force control unit 41, that is, force sense control, when the key 3 is operated with a finger, the reaction force control unit 41 sequentially detects the position signal xA and speeds by differentiation of the position signal xA. The signal vA and the acceleration signal aA (mm / s ² ) are sequentially calculated by differentiating the speed signal vA. In parallel with this, the reaction force control unit 41 refers to the control table group TA and determines the reaction force F as a reaction force to be applied to the key based on each detection value. In the control table group TA, for the intermediate values that are discrete and do not exist, appropriate values are obtained by interpolation processing. Then, a drive signal corresponding to the determined reaction force F is supplied to the solenoid coil 21 of the reaction force actuator 20 so as to generate the determined reaction force F. Then, the plunger 22 rises and the driving member 23 pushes up the front end 3a of the corresponding key 3. As a result, the key 3 is controlled with the reaction force F (hereinafter referred to as “target reaction force”) sequentially defined by the control table group TA at each time as the target value of the reaction force to be generated at that time. .

  The reaction force control unit 41 normally performs force control for a performance operation with a finger as described above, but in this embodiment, the measurement actuator 30 replaces the key 3 with the driving condition J instead of the finger. The reaction force actuator 20 performs force sense control when driven, and the reaction force actually received by the reaction force actuator 20 is estimated by measuring the reaction force received by the measurement actuator 30 at that time. Further, the control table group TA is corrected. Details thereof will be described later.

  FIG. 2 is a block diagram showing the configuration of the control mechanism of the keyboard device 1.

  The control mechanism of the keyboard device 1 is connected to the CPU 11 through the bus 15 in addition to the reaction force actuator 20, the measurement actuator 30, the key position sensors 24 and 34, the supply current sensor 37, the keyboard part KB, ROM 12, RAM 13, MIDI (Musical Instrument Digital Interface) interface (MIDII / F) 14, timer 16, display unit 17, external storage device 18, operation unit 19, sound source circuit 27, effect circuit 28, communication interface (communication I / F) 9 and hard disk A drive (HDD) 26 is connected. A sound system 29 is connected to the sound source circuit 27 via an effect circuit 28.

  The CPU 11 controls the entire keyboard device 1. The ROM 12 stores various data such as a control program executed by the CPU 11 and table data. The RAM 13 temporarily stores various input information such as performance data and text data, various flags, buffer data, and calculation results. The MIDII / F 14 inputs performance data from a MIDI device (not shown) as a MIDI signal. The timer 16 measures the interrupt time and various times in the timer interrupt process. The display unit 17 includes, for example, an LCD, and displays various information such as a score. The external storage device 18 is configured to be accessible to a portable storage medium (not shown) such as a flexible disk and a flash memory, and can read and write data such as performance data on the portable storage medium. The operation unit 19 includes various operators (not shown), and gives instructions for starting / stopping automatic performance, instructions for selecting a song, various settings, and the like. The HDD 26 stores various application programs including the control program and various data such as performance data. The keyboard part KB includes the key 3.

  The tone generator circuit 27 converts the performance data into a musical sound signal. The effect circuit 28 gives various effects to the musical sound signal input from the sound source circuit 27, and a sound system 29 including a DAC (Digital-to-Analog Converter), an amplifier, a speaker, and the like is input from the effect circuit 28. Converts musical sound signals etc. to sound. The communication I / F 9 transmits / receives data to / from a server computer (not shown) via a communication network.

  The function of the control unit 40 is actually realized by the cooperative action of the CPU 11, the timer 16, the ROM 12, the RAM 13, the HDD 26, the external storage device 18, the communication I / F 9, and the like.

  FIG. 3 is a diagram showing the concept of the basic table group T0. As the basic table group T0, as shown in the above-mentioned Patent Document 1 (Japanese Patent Laid-Open No. 10-177378) and the like, a table generated by actual measurement or the like is acquired in advance and stored in the HDD 26, for example. There is no limitation on the method of obtaining the base table group T0. As shown in the figure, the basic table group T0 is configured for each key 3, and includes a first basic table group 63, a second basic table group 64, and a third basic table group 65.

The first basic table group 63 is a table that defines the reaction force F to be generated using the position signal xA and the velocity signal vA as parameters. That is, the first basic table group 63 is two-dimensional data in which the horizontal axis X-axis is the position signal xA and the vertical axis Y-axis is the reaction force F, and the velocity signal vA is stepwise (for example, , 128 steps), and a plurality (n; for example, 128) of the changed ones are arranged in the Z-axis direction which is an axis in the depth direction (63 (1) to 63 (n)). Similarly, the second basic table group 64 is two-dimensional data in which the position signal vA is the X-axis and the reaction force F is the Y-axis, and the position signal xA is changed in stages in the Z-axis direction. They are arranged in an array (64 (1) to 64 (n)). Similarly, in the third basic table group 65 (65 (1) to 65 (n)), the X axis is an acceleration signal aA (mm / s ² ), the Y axis is a reaction force F, and the Z axis direction is a position signal xA. It has become.

  FIG. 4 is a diagram illustrating an iB-F conversion table. This table is generated by actually measuring in advance assuming that the measurement actuator 30 is attached to the keyboard device 1. That is, in the measurement actuator 30, it is necessary to supply the position signal xB (mm) indicating the position of the plunger 32 and the solenoid coil 31 when the plunger 32 is driven with a certain thrust by the drive signal. The relationship with the required input current value iB (A), which is a current value, is obtained by actual measurement. The position signal xB is actually measured by the key position sensor 34, and the necessary input current value iB is actually measured by the supply current sensor 37.

  In the actual measurement, the detection interval during the stroke was set to 1 mm, for example, and the driving thrust was divided into a plurality of stages from 50 g to 4000 g. The actual measurement of the thrust was performed using a load cell (not shown). This iB-F conversion table needs to be created in advance, and is stored in the HDD 26, for example. In a table group correction process (FIG. 5) to be described later, when a position signal xB and a necessary input current value iB are detected, a reaction force F (g) is determined with reference to the iB-F conversion table. . For values not on the line in the figure, the reaction force F (g) is determined by interpolation processing.

  FIG. 5 is a flowchart of the table group correction process executed by the control unit 40.

  First, the counter value N is reset to 0 (step S501), and the basic table group T0 is set in the control table group TA (step S502). Here, the control table group TA can be updated for each loop of this process, and is stored in the RAM 13, for example, and is initially the same as the basic table group T0.

  Next, under the driving condition J, the measuring actuator 30 drives the key 3 so as to urge the key 3 in the key pressing direction (at the same time the key is pressed / released), and at the same time, the reaction force pattern based on the control table group TA The actuator 20 is driven (reaction force drive) so as to urge the key 3 in the key release direction (step S503). Since this reaction force pattern indicates a theoretical target reaction force corresponding to the driving condition J, it is referred to as “target reaction force pattern tA (J)”. First, that is, when the control table group TA is the same as the basic table group T0, in particular, the target reaction force pattern tA (J) is referred to as a “target reaction force pattern t0”.

  Here, the measuring actuator 30 cannot urge the key 3 in the key release direction, but substantially reduces the key 3 by weakening the urging force in the key pressing direction while maintaining the contact with the key 3. There is also a drive mode that displaces in the key release direction. Therefore, the “pressing and releasing key driving” includes driving in which the key 3 is displaced not only in the key pressing direction but also in the key releasing direction. Further, since the reaction force actuator 20 generates a reaction force corresponding to not only when the key is depressed but also when the key is released, the key 3 is not only pressed in the key pressing direction but also in the key releasing direction. Such a drive is included.

  Next, an actual reaction force pattern tB (J) is obtained (step S504). That is, the actual reaction force received from the key 3 by the measuring actuator 30 when the key release drive and the reaction force drive are performed in step S503 is detected. This actual reaction force is a group of 128 reaction force values obtained by referring to the iB-F conversion table based on the required input current value iB detected from the supply current sensor 37 at the position x in 128 stages. Then, an actual reaction force pattern tB (J) is obtained from the obtained reaction force value group. The relationship between the target reaction force pattern t0 and the actual reaction force pattern tB (J) will be described with reference to FIG.

  FIG. 6A shows an example of a mode in which the first and second basic table groups 63 and 64 in the control table group TA are corrected based on the difference between the target reaction force pattern t0 and the actual reaction force pattern tB (J). FIG. FIG. 5B is a diagram showing an example of a mode in which the third basic table group 65 in the control table group TA is corrected based on the difference between the target reaction force pattern t0 and the actual reaction force pattern tB (J). .

  The driving condition J is changed every time step S511 in FIG. 5 is executed. First, as an example, it is assumed that the driving condition J is a constant speed v. In this case, as shown in FIG. 6A, the target reaction force pattern t0 defines a target reaction force (F value) for the position x in 128 stages when the key 3 is driven at a constant speed v. Among the first basic table groups 63 (1) to 63 (n) shown in FIG. 3, it is substantially the same as one table corresponding to the speed v (for example, the table 63 (1)). .

  On the other hand, if the driving condition J is a constant acceleration a, as shown in FIG. 6B, the target reaction force pattern t0 is a 128-position position x when the key 3 is driven at a constant acceleration a. It defines the reaction force F value for. In this case, as the target reaction force pattern t0, n (128) F values corresponding to the constant acceleration a are extracted from the third basic table groups 65 (1) to 65 (n) shown in FIG. Is plotted with the position x on the horizontal axis and the target reaction force (F value) on the vertical axis.

  The actual reaction force pattern tB (J) shown in FIG. 6A is composed of 128 reaction force value groups, and the actual reaction force pattern tB (J) shown in FIG. 6B is n (128). It consists of a group of reaction force values. Here, ideally, the actual reaction force pattern tB (J) that is the actually measured reaction force value group must match the target reaction force pattern t0 that is the target reaction force value group. However, the two may not match due to various error factors such as friction and solenoid characteristics. Moreover, the difference is also different between the corresponding 128 reaction force values. Therefore, in the present embodiment, the processing in steps S505 to S511 in FIG. 5 is performed so that the difference between the target reaction force pattern t0 and the actual reaction force pattern tB (J) is reduced. The first to third basic table groups 63 to 65 are corrected.

Returning to FIG. 5, in step S505, the F value {t0}, which is all of the target reaction force value group (128) in the target reaction force pattern t0, and the actually measured reaction force value group in the actual reaction force pattern tB (J) ( The F values {tB (J)} that are all 128) are compared with corresponding ones. Then, the F value {tA (J)} which is all of the target reaction force value group (128 pieces) in the target reaction force pattern tA (J) is corrected by the following formula 1, and the corrected F value {tA next time (J)} is corrected so that the control table group TA is corrected (step S506). α is a predetermined coefficient.
[Equation 1]
F value {tA (J)} ← F value {tA (J)} + α [F value {t0} −F value {tB (J)}]
Specifically, in each table in the control table group TA, the F value corresponding to the F value {tA (J)} is individually corrected. For example, in the example of the driving condition J = constant speed v shown in FIG. 6A, one table (for example, the table 63 (1) corresponding to the constant speed v in the first basic table group 63 shown in FIG. )), The F value corresponding to each xA value is individually corrected. In parallel with the correction of the first basic table group 63, in the second basic table groups 64 (1) to 64 (n), n (128) F values corresponding to the constant speed v are also obtained. It is corrected individually.

  In the example of the driving condition J = constant acceleration a shown in FIG. 6B, in the third basic table group 65 (1) to 65 (n) shown in FIG. F values) are individually corrected. The corrected control table group TA is stored in place of the original control table group TA (used immediately before).

  Next, in step S520, the target reaction force pattern t0, the actual reaction force pattern tB (J), and s are matched / mismatched. This step S520 comprises steps S507 to S509. First, in step S507, it is determined whether or not all 128 F values match, that is, whether or not the F value {t0} matches the F value {tB (J)}. If there is one, the counter value N is incremented by “1” (step S508), and it is determined whether or not N ≧ 10 (step S509). As a result of the determination, if N <10, the process returns to step S503.

  On the other hand, if the F value {t0} matches the F value {tB (J)} as a result of the determination in step S507, the process proceeds to step S510. Also, if N ≧ 10 in step S509, the process proceeds to step S510. Therefore, in step S520, not only when the F value {t0} and the F value {tB (J)} completely match, but also when the processing of steps S503 to S509 is repeated 10 times, both match. It is determined to be a thing. This is because it is not realistic to repeat the above processing until the two match completely, but if it is repeated 10 times, it is almost approximate. Therefore, if the number of repetitions is 9 or less, it is determined that the two do not match, and the processes in steps S503 to S509 are repeated. Note that the number of repetitions for determining a match is not limited to ten.

  In step S510, it is determined whether or not the key release key driving according to all driving conditions is completed. If the key pressing key driving according to all driving conditions is not completed, the driving condition J is changed (step S511). The process returns to step S503. For example, if this time is a constant speed v1, the next time is a constant speed v2. Alternatively, if the pressing / releasing key driving at a constant speed is completed at this time, the constant acceleration a1 is changed next time, and then the constant acceleration a2 is changed every time. In the present embodiment, as the driving condition J, various constant speeds and various constant accelerations are employed, but are not limited thereto.

  In this way, in the next loop, in step S503, the pressed / released key drive is performed under the changed drive condition J, and the corresponding reaction force drive is also performed. As a result, in the next loop, the F value {tB (J)} becomes closer to the F value {t0}.

  On the other hand, if the result of the determination in Step S510 is that the key release driving under all driving conditions has been completed, the current control table group TA is stored in the HDD 26 as the final control table group T00 (Step S512). ), This process is terminated. Instead of coexisting the original basic table group T0 and the control table group T00, the current control table group TA is replaced with the original basic table group T0 and stored as a new basic table group T0. It may be.

  According to the present embodiment, simultaneously with the key 3 being driven and released under the driving condition J, the reaction force is driven with the target reaction force pattern tA (J) based on the control table group TA, and the target reaction force pattern t0. The control table group TA is corrected so that the difference between the corresponding F value {t0} in the actual reaction force pattern tB (J) and the corresponding F value {tB (J)} becomes small. A typical control table group T00 is obtained. Thereby, the error factor of the reaction force with respect to the key operation of the keyboard device 1 can be absorbed, and the reaction force actually generated by the reaction force actuator 20 is close to the target reaction force defined by the first basic table group T0. Can be. Therefore, it is possible to realize reaction force application (or haptic control) that is faithful to the basic table group T0.

  Further, since the correction of the control table group TA is repeated until it is determined in step S520 that the F value {t0} and the F value {tB (J)} match, the actual reaction by the reaction force actuator 20 is repeated. The force can be made as close as possible to the target reaction force, and the reaction force can be applied more faithfully to the basic table group T0.

(Second Embodiment)
In the first embodiment, the keyboard device 1 includes the control unit 40, the reaction force actuator 20, and the measurement actuator 30, and the control unit 40 includes the reaction force control unit 41, the reaction force measurement unit 42, and the reaction force. A correction unit 43 is provided. However, in the second embodiment of the present invention, those corresponding to the measurement actuator 30, the reaction force measurement unit 42, and the reaction force correction unit 43 are separated from the keyboard device and can be attached externally. Configure as a force optimization system.

  FIG. 7 is a block diagram showing an operating element reaction force optimization system and a keyboard device to which the operating element reaction force optimization system according to the second embodiment of the present invention is applied.

  As shown in the figure, the keyboard device 100 includes a key 101 corresponding to the key 3, a reaction force actuator 120 corresponding to the reaction force actuator 20, a key position sensor 124 corresponding to the key position sensor 24, and a reaction force. It is a keyboard instrument with force sense control including a reaction force control unit 141 corresponding to the force control unit 41. The base table group T0 is stored in the reaction force control unit 141. On the other hand, a reaction force measuring device 140 and a reaction force correcting device 143 are provided separately from the keyboard device 100. The reaction force measurement device 140 and the reaction force correction device 143 constitute the operating element reaction force optimization system of the present embodiment. The reaction force measuring device 140 includes a measurement actuator 130 corresponding to the measurement actuator 30, a sensor group 131 including those corresponding to the supply current sensor 37 and the key position sensor 34, and a reaction force corresponding to the reaction force measurement unit 42. A measurement unit 142 is provided.

  Other configurations are the same as those of the first embodiment, and the table group correction process (FIG. 5) is controlled by the reaction force correction device 143. That is, when executing the table group correction process, the reaction force correction device 143 is electrically connected to the reaction force measurement unit 142 of the reaction force measurement device 140 and the reaction force control unit 141 of the keyboard device 100. Then, the pressing / releasing key driving by the reaction force measuring unit 142 and the reaction force driving by the reaction force control unit 141 are performed according to an instruction from the reaction force correcting device 143, and the control table TA that is corrected as needed is the reaction force control unit 141. Is stored in a storage means (not shown).

  According to the present embodiment, not only the same effects as those of the first embodiment can be obtained, but the operating element reaction force optimization system can be externally attached separately from the keyboard device 100. The present invention can be applied not only to a keyboard device but also to a keyboard device that does not have a table correction function, and is highly versatile. Therefore, in a more general-purpose keyboard instrument, it is possible to realize a reaction force faithful to the basic table group T0.

  The operating element reaction force optimization system may be configured such that the reaction force correction device 143 and the reaction force measurement device 140 are integrated.

  In the first and second embodiments, the key of the keyboard instrument is exemplified as the operation target to be subjected to the reaction force control. However, the present invention is not limited to this, and can be applied to various operations such as a pedal. It is.

It is sectional drawing which showed the structure of the keyboard apparatus which concerns on the 1st Embodiment of this invention paying attention to one certain key. It is a block diagram which shows the structure of the control mechanism of a keyboard apparatus. It is a figure which shows the concept of a basic table group. It is a figure which shows an iB-F conversion table. It is a flowchart of the table group correction | amendment process performed with a control unit. The figure (a figure (a)) which shows an example which corrects the 1st and 2nd basic table group in a control table group based on the difference of a target reaction force pattern and an actual reaction force pattern, and target reaction force pattern It is a figure which shows an example of the aspect which correct | amends the 3rd basic table group in the table group for control based on the difference with an actual reaction force pattern. It is a block diagram which shows the operating element reaction force optimization system which concerns on the 2nd Embodiment of this invention, and the keyboard apparatus with which it is applied.

Explanation of symbols

  3, 101 key (operator), 20, 120 reaction force actuator (first drive means), 26 HDD (storage means), 30, 130 measurement actuator (second drive means), 37 supply current sensor (reaction force) Detection means), 40 control unit, 41, 141 reaction force control section (first control means), 42, 142 reaction force measurement section (second control means), 43 reaction force correction section (correction means), 100 keyboard device ( Keyboard instrument with force control), 131 sensor group (reaction force detection means), 140 reaction force measuring device, 143 reaction force correction device, TA control table group (force control information), T0 basic table group (force sense) Basic information for control), J Drive conditions (predetermined conditions)

Claims (3)

An operator,
First driving means for generating a reaction force against the operation of the operating element by driving the operating element;
Storage means for storing haptic control information for use in haptic control based on basic information for haptic control;
When the operating element is operated, the first driving means is controlled with respect to the operation of the operating element by controlling the first driving means based on the force sense control information stored in the storage means. First control means for controlling a reaction force to be generated to a target reaction force;
A second drive unit that is provided separately from the first drive unit and drives the operation element;
Second control means for controlling the second driving means under a predetermined condition;
When the operating element is driven by the second driving means according to the control of the second control means and driven by the first driving means according to the control of the first control means, the second driving means is Reaction force detection means for detecting the actual reaction force received from the operator;
The target of the first control means when the operator is driven by the second drive means according to the control of the second control means and driven by the first drive means according to the control of the first control means A keyboard having correction means for correcting haptic control information stored in the storage means so that a difference between a reaction force and an actual reaction force detected by the reaction force detection means is reduced. Musical instrument.   The correcting means determines whether or not the target reaction force of the first control means matches the actual reaction force detected by the reaction force detecting means, and the force control information 2. The keyboard instrument according to claim 1, wherein the correction is repeated. An operating element, first driving means for generating a reaction force against the operation of the operating element by driving the operating element, and haptic control basic information for use in haptic control Storage means for storing the information based on the control means, and when the operation element is operated, by controlling the first drive means based on the force control information stored in the storage means, An operating element reaction force optimization system used for a keyboard instrument with force control, the first control means for controlling a reaction force generated by the first driving means to a target reaction force with respect to an operation,
A reaction force measuring device;
A reaction force correction device,
The reaction force measuring device is
Second driving means for driving the operating element;
Second control means for controlling the second driving means under a predetermined condition;
When the operating element is driven by the second driving means according to the control of the second control means and driven by the first driving means according to the control of the first control means, the second driving means is Reaction force detection means for detecting the actual reaction force received from the operator,
The reaction force correction device includes:
The target of the first control means when the operator is driven by the second drive means according to the control of the second control means and driven by the first drive means according to the control of the first control means Manipulator reaction force optimization characterized in that the force control information stored in the storage means is corrected so that the difference between the reaction force and the actual reaction force detected by the reaction force detection means is reduced. system.

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