JP4815774B2 - Driving device and method for performance controller of automatic musical instrument - Google Patents

Description

  The present invention relates to a driving device for driving a performance operator and a method for driving the performance operator in an automatic musical instrument such as an automatic performance piano.

  As an example of a conventionally known automatic performance piano, an electromagnetic solenoid for electrically driving a key and a plunger sensor for detecting the movement of the plunger of the solenoid in a continuous amount, and a performance to be reproduced in a control system A trajectory reference representing a displacement of the key according to the passage of time based on information is generated, and a detection signal of the plunger sensor is fed back as a feedback signal, and a solenoid based on the generated trajectory reference and the detection signal of the plunger sensor In some cases, the key behavior is reproduced in accordance with the performance information by performing servo control of driving (see, for example, Patent Document 1 below). In Patent Document 1, it is disclosed that either position servo control or speed servo control can be applied as the contents of servo control.

  Further, the above-mentioned Patent Document 1 describes that the speed at a predetermined stroke position of the key and the hammering speed of the hammer show an important correspondence with respect to the relationship between the driving speed of the key and the hammering speed of the hammer. In addition, it is disclosed that the stringing speed of the hammer can be faithfully reproduced by appropriately controlling the speed of the key at the predetermined stroke position. The predetermined stroke position is generally a position that is depressed 9.0 to 9.5 mm from the rest position, although there are some fluctuations due to individual differences among pianos. In the present specification, the predetermined stroke position is referred to as a “reference position” of the key.

Further, in an automatic performance piano, as a technique for automatically driving performance operators other than keys, there is one that automatically drives a pedal (see, for example, Patent Document 2). In Patent Document 2, a configuration is disclosed in which both position control and speed control are applied to pedal drive control, and pedal position information detected by a sensor is fed back. Note that Patent Document 2 also shows that individual differences according to individual automatic performance pianos can be absorbed by performing a normalization process.
JP-A-7-175472 Japanese Patent Laid-Open No. 2-27591

By the way, what is important in the drive control of the key is to control the operation speed (key press speed) of the key in order to faithfully reproduce the string striking speed represented by the performance information. In the key driving control disclosed in Patent Document 1, the key driving speed is controlled in accordance with the deviation between the operation position or operation speed of the plunger input by feedback and the trajectory reference. With this alone, the followability of the actual key pressing speed (servo control amount) with respect to the key pressing speed (servo control target value) represented by the trajectory reference is insufficient. In particular, at the start of a key pressing operation, the key-pressing speed is less likely to follow, and this has the disadvantage that the tracking performance when repeatedly hitting keys is impaired. On the other hand, when the servo gain coefficient is increased over the entire key pressing stroke in order to improve the key speed followability, there is a problem that the key behavior is disturbed due to excessive key pressing speed (so-called “double strike”, etc.). There was a fear. From this, the coefficient value (gain value) of the servo gain coefficient is set to a moderate value so as to avoid both the followability of the key pressing speed and the excessive key pressing speed. Was not actively used to improve the reproducibility of the key trajectory.
In addition, it is conceivable to apply the technique disclosed in Patent Document 2 to a key and perform drive control by both position control and speed control. The focus of control was on the reproduction of " Therefore, the key is driven faithfully with respect to the trajectory reference by simply applying the technique of Patent Document 2 to the key driving where the main focus of control is to reproduce the “key pressing speed”. It was difficult.

  The present invention has been made in view of the above points. For example, in the drive control of a performance operator of an automatic musical instrument, such as servo control of a key of an automatic performance piano, a target value of the operation of the performance operator to be realized. The object is to improve the follow-up of the actual operation (control amount) of the performance operator with respect to (orbit reference).

The present invention relates to a performance operator that is displaceable within a movement range from a rest position to an end position, an action mechanism for transmitting movement of the performance operator to a hammer, and a performance operator transmitted by the action mechanism. A driving device for driving the performance operator in a sound generation mechanism provided with a hammer for striking a sounding body in accordance with movement, and having a mover in contact with the performance operator, and displacing the mover a driving means for driving said performance operators, a detecting means for detecting a physical quantity corresponding to the movement of the performance operator, the target value and the target value of the operating speed of the performance operator of the operating position of the performance operator A target value generating means to be generated; a deviation between the physical value detected by the detecting means and the target value generated by the target value generating means is multiplied by a gain value; and the driving based on the multiplication result And control means for servo-controlling the movement of the performance operator by controlling the stage, on the basis of the target value and the target value of the operating speed of the operating position, as the gain value in said control means, operation of the performance operator Gain value setting means for variably setting at least one of a position gain value with respect to a deviation with respect to a position and a speed gain value with respect to a deviation with respect to an operation speed , wherein the setting of the position gain value further includes a target value of the operation position A performance operator drive device comprising: gain value setting means for setting a position gain value that is relatively larger than when the value is equal to or greater than the predetermined value .

The present invention also relates to a performance operator that can be displaced within a movement range from a rest position to an end position, an action mechanism for transmitting movement of the performance operator to a hammer, and a performance operation transmitted by the action mechanism. A driving means for driving the performance operator in a sound generation mechanism provided with a hammer that strikes a sounding body in accordance with the movement of the child by a driving means, the driving means comprising a movable element that contacts the performance operator a is used to drive the performance operators by displacing the mover, the method comprising the steps of detecting a physical quantity corresponding to the movement of the performance operator, the operation position of the performance operator a step of generating a target value and the target value of the operating speed of the performance operator, by multiplying the certain gain value to the deviation between the target value and the detected physical quantity, the driving means on the basis of the multiplication result A step of servo controlling the movement of the performance operator by controlling, based on the target value and the target value of the operating speed of the operating position, the position gain value for the deviation for the operating position of the performance operator as the gain value and at least one of speed gain values for deviations for operating speed a procedure of variably setting, the setting of the position gain value further when the target value of the operating position is less than a predetermined value, the predetermined A performance operator driving method characterized by including a procedure for setting a relatively large gain value as compared with a case where the value is greater than or equal to the value.

According to the drive device of the present invention, it becomes possible to set the gain value of servo control more precisely based on both the position and speed of the performance operator indicated by the target value, and the position target value is not more than a predetermined value. In this case, by setting the position gain value to be relatively large at this time, it is possible to improve the position followability of the performance operator with respect to the position target value at the part where the performance operator starts to move (start of motion). As the position of the performance operator indicated by the position target value is appropriately reproduced, speed followability with respect to the speed target value can be improved. Accordingly, it is possible to reproduce the movement faithful to the position target value and the speed target value over the entire movement range from the rest position to the end position of the performance operator, and it is particularly suitable for the drive control of the key of the automatic performance piano.

  Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. In this embodiment, an example in which the drive device for a performance operator according to the present invention is applied to an acoustic piano having an automatic performance function (automatic performance piano) is shown.

FIG. 1 is a schematic configuration diagram of an automatic performance piano according to this embodiment, in which main parts of functional blocks related to an electric control system are extracted and shown together with main parts of a mechanical sounding mechanism. As shown in FIG. 1, the automatic performance piano has a plurality of (for example, 88) keys 1 as a mechanical sounding mechanism, an action mechanism 2 for transmitting the movement of the key 1 to the hammer, and a corresponding key. A hammer 3 that strikes the string in conjunction with the movement of 1, a string 4 that is hit by the hammer 3 , and a damper 5 that stops vibration of the string 4 are included. The key 1 is supported so that it can swing up and down with the position penetrated by the balance pin P as a general fulcrum. When the key is not pressed (when no external force is applied), the rest position (stroke) shown in FIG. 0 mm position). Then, in accordance with a performance operation (key depression and key release), a stroke is made up and down between the rest position and the end position. The end position is, for example, a stroke position pushed down 10 mm from the rest position, and this is indicated by a two-dot chain line in the figure. On the lower surface of the rear end of the key 1, an electromagnetic solenoid 6 is provided as a key driving device (actuator) for driving the key 1. These configurations are almost the same as those of a general automatic performance piano.

  As is well known, the solenoid 6 has a coil disposed in the yoke and a rod-like plunger 9 inserted so as to be linearly movable bidirectionally in the coil axis. The portion is in contact with the lower surface of the rear end of the key 1. When the solenoid 6 is driven by applying an exciting current to the solenoid 6, the plunger 9 is displaced upward and pushes up the lower surface of the rear end of the corresponding key 1. As the plunger 9 is pushed up, the corresponding key 1 is driven (key pressing drive). That is, in the automatic performance piano, the stringing motion of the hammer 3 as the final control target is realized through the mechanically independent operation systems of the solenoid 6 and the key 1.

A key sensor 7 for detecting the operation of the key 1 is disposed on the lower surface side of each key 1 of the automatic performance piano. The key sensor 7 is constituted by, for example, an optical position sensor capable of outputting continuous position information for all steps of the operation stroke of the key 1, and can output data representing the stroke position of the key 1 as an analog signal. As is well known, it is possible to obtain speed information by differentially calculating the output (position information) of the position sensor in terms of time. The output of the key sensor 7 is supplied to both a recording control unit 12 and a motion control unit 11 which will be described later, and is used for performance information generation / recording processing during performance recording and servo control during performance information reproduction. In addition, as a specific configuration example of the optical position sensor applicable as the key sensor 7, a conventionally known appropriate sensor configuration such as the configuration described in Patent Document 1 may be employed, and an optical type sensor may be used. The present invention is not limited to this, and other appropriate position sensors may be used.
Corresponding to each hammer 3, a hammer sensor 8 for detecting the stringing speed and the stringing timing by the hammer 3 is provided. Each hammer sensor 8 may be configured by, for example, an appropriate optical sensor that can output information on a physical quantity (position, velocity, acceleration, or the like) related to the movement of the hammer 3. In this example, the output of the hammer sensor 8 is supplied to a recording control unit 12 which will be described later, and is used when performing performance information generation processing during performance recording. A specific configuration example of various sensors that can be applied as a hammer sensor of an automatic performance piano is described in detail in, for example, Japanese Patent Application Laid-Open No. 2001-175262.

  Here, the electrical hardware configuration of the automatic performance piano will be briefly described with reference to FIG. 2. As shown in FIG. 2, the automatic performance piano includes a CPU 20, a ROM 21, a RAM 22, and a storage device 23. The devices are connected via a data and address bus 20B.

  The CPU 20 controls the overall operation of the automatic performance piano and executes various signal processing such as performance information reproduction processing and performance information recording (performance recording) processing according to key operations. Control programs for various processes executed by the CPU 20 may be stored in the ROM 21, for example. Various data and various parameters generated during the execution of the various processes are stored in an appropriate memory such as the RAM 22. The ROM 21 or RAM 22 stores a table for calculating a feedback gain value, which will be described in detail later.

  The storage device 23 is used for writing performance information generated by the performance recording process and for storing performance information used when reproducing the performance information. The storage device 23 is a hard disk, flexible disk, or floppy (registered trademark). You may comprise with suitable storage media, such as a disk, a compact disk (CD-ROM), a magneto-optical disk (MO), a ZIP disk, DVD (Digital Versatile Disk), and a semiconductor memory.

  The input / output interface (I / O) 24 includes an AD converter, and detection signals (analog signals) output from the key sensor 7 and the hammer sensor 8 are converted into digital signals via the I / O 24 and output to the CPU 20. Is done. The CPU 20 performs processing for acquiring the output of each sensor at every predetermined clock timing. In addition, a solenoid driving control signal generated under the control of the CPU 20 during reproduction of performance information, which will be described later, is converted into a PWM-type current signal (hereinafter abbreviated as a PWM signal) via the PWM generator 25, and the solenoid 6. Is output. In addition to the above, the automatic performance piano is provided with a group of operators for various settings for an operator (user) to select an operation mode, a communication interface connected to an appropriate external device, and the like. It's okay.

  An outline of the performance recording operation and performance information reproduction operation executed in the automatic performance piano will be described. In FIG. 1, a recording control unit 12 and a post-recording processing unit 13 correspond to modules relating to performance recording processing, and a pre-reproduction processing unit 10 and a motion control unit 11 are modules related to performance information reproduction processing. Equivalent to. Various functions realized by various arithmetic processing performed by these modules may be implemented by a software program executed by the CPU 20, but are not limited thereto, and include a signal processing circuit that executes various arithmetic processing performed by the respective modules. Thus, various functions of each module may be configured by a hardware device.

  The recording control unit 12 generates and records performance information based on the detection signals output from the key sensor 7 and the hammer sensor 8. That is, information relating to the stringing speed and the stringing time is obtained based on the detection signal of the hammer sensor 8, and information relating to the keying speed and the keying time is obtained based on the detection signal of the key sensor 7, and various information relating to these performance events. On the basis of this, performance information representing the performance content of the piano performance by the performer is generated. The performance information generated here may be created in an appropriate data format such as MIDI format. The generated performance information can be recorded in an appropriate storage device 23 (see FIG. 2) after being normalized in the post-recording processing unit 13. Here, the normalization process is a process for absorbing individual differences between pianos. Note that the normalization processing is detailed in, for example, the description in Patent Document 2 above.

In the pre-reproduction processing unit 10, a key trajectory for reproducing each performance event included in the performance information based on performance information supplied from the storage device 23 (see 9 in FIG. 2, a real-time communication device not shown) or the like. Data is generated and supplied to the motion control unit 11. Here, the key trajectory data is data representing a change in the key position over time in a certain time interval, and is included in the performance information. The key trajectory to be drawn by the key to realize the string striking speed information (the string striking speed to be given to the hammer) is calculated by the calculation. For details of the process for generating the control, the control principle, and the like, refer to a known document such as Patent Document 1 described above.
The motion control unit 11 generates a target value for driving the solenoid at each time using the supplied trajectory data. In addition, physical quantity information (position, velocity, acceleration, etc.) corresponding to the detection signal of the key sensor 7 is input to the motion control unit 11 as a feedback signal. The motion control unit 11 basically generates a control signal u for driving the solenoid 6 based on the target value (orbit data) and the detection signal of the key sensor 7, and the PWM generator 25 (see FIG. 2), the behavior of the key 1 is servo-controlled by outputting an excitation current corresponding to the control signal u to the solenoid 6.

The motion control unit 11 directly applies an excitation current to the solenoid 6 to drive it. The purpose of the control is to finally realize an appropriate stringing speed of the hammer 3. The key 1 is driven as much as possible, and the emphasis of control is on reproducing the key pressing speed of the key 1 that is faithful to the key pressing speed information indicated by the trajectory reference. As described above, the stroke width (between the rest position and the end position) of the key 1 is approximately 10 mm. Thus, the motion control unit 1 1, the key depression speed represented by the target value (trajectory Rifaransu), within a relatively narrow limited operating range (approximately 10 mm), is requested to faithfully reproduce. Further, the solenoid 6 and the key 1 are mechanically independent operation systems, and have different motion transmission characteristics. Therefore, a solenoid drive signal (control signal) that takes into account only key orbit data to be simply realized. In u), the orbit reproducibility of the key 1 is insufficient. According to this embodiment, as will be described in detail later, the motion control unit 11 changes the servo control gain coefficient according to the supplied target value (orbit reference), thereby improving the speed reproducibility of the key. Can be improved with high accuracy.

  FIG. 3 is a block diagram functionally showing the system configuration of servo control executed in the motion control unit 11. Hereinafter, an example of a control algorithm in servo control according to the present invention will be described. In FIG. 3, various arithmetic processes in a feedback loop surrounded by a one-dot chain line are implemented by a software program executed by the CPU 20.

  In FIG. 3, the target value generating unit 30 is based on the key trajectory data (trajectory reference) generated according to the performance information to be reproduced, and the position target value rx representing the position component of the trajectory reference at a certain time. A speed target value rv representing a speed component is generated. The target value for each event (position and velocity) generated by the target value generation unit 30 is sent in parallel according to a predetermined sample time (for example, every 1 ms). In this embodiment, since the key 1 strokes between the rest position (stroke 0 mm) and the end position (position depressed approximately 10 mm from the rest position), the position target value rx is taken as an example. , And can be expressed in units of millimeters (mm), and can take values in the range of 0 to 10 mm. Moreover, the value of the speed target value rv can be expressed in millimeters per second (mm / s) as an example, and can take a value in the range of 0 to 500 mm / s.

The position target value rx and the speed target value rv generated by the target value generation unit 30 are input to the position comparison unit 31 and the speed comparison unit 32 in the next stage according to a predetermined sample time (for example, every 1 ms), respectively. A position feedback signal and a speed feedback signal, which will be described later, are input to the position comparison unit 31 and the speed comparison unit 32 as well as the position target value rx and the speed target value rv, respectively. The position comparison unit 31 subtracts the position feedback signal from the position target value rx generated by the target value generation unit 30 to obtain a position deviation ex representing the difference between the two. Also, the speed comparing section 32 subtracts the speed target value r v and a speed feedback signal, obtains the speed deviation ex representing the difference between the two.

  In FIG. 3, reference numeral 33 denotes a gain value calculation unit. The position target value rx output from the target value generation unit 30 is supplied to the gain value calculation unit 33. The gain value calculation unit 33 calculates a position gain value kx (servo gain coefficient) to be multiplied by the position deviation ex based on the supplied position target value rx with reference to a calculation table described later. As described above, by changing the servo gain coefficient for the position deviation ex according to the position target value rx, the followability of the key stroke position at each time to the position target value rx can be improved. By variably controlling the position gain value kx and precisely reproducing the position target value rx at each time, the reproducibility of the change in the stroke position of the key 1 over time, that is, the reproduction of the operation speed of the key 1 is achieved. Can be improved.

  FIG. 4 is a diagram illustrating an example of a table referred to in the gain value calculation unit 33 in order to calculate the position gain value kx. This table may be stored in an appropriate memory such as the ROM 21 or the RAM 22 shown in FIG. As shown in FIG. 4, in the table, whether the position target value rx represents a value of 3 mm or less or a value of 3 mm or more is set as a condition for calculating the position gain value kx. When rx is 3 mm or less, the position gain value kx is set to a relatively large value “0.9”. When the position target value rx is 3 mm or more, the position gain value kx is set to a relatively small value “0.3”. The values set as indices in the gain value calculation table are examples and are not limited to these. Further, the calculation of the position gain value kx is not limited to the table reference, and for example, the position gain value kx may be obtained by an appropriate arithmetic expression using the position target value rx as a parameter.

The position component amplifier 34 multiplies the position deviation ex by the position gain value kx output from the gain value calculator 33, and outputs the position control signal ux as a result. The position control signal ux output from the position component amplifier 34 takes a value converted into a use ratio (percentage) of the position component in the excitation current to be supplied to the solenoid 6. That is, in the position component amplification unit 34, the control amount of the position component represented by the position deviation ex is unit-converted from an expression in millimeter units to a value corresponding to the increase / decrease value of the duty ratio in the subsequent PWM generator.
The speed component amplifying unit 35 multiplies the speed deviation ev by a predetermined speed gain value kv and outputs a speed control signal uv. In the example shown in the figure, the speed gain value kv in the speed component amplifying unit 35 is given as a predetermined fixed value. The speed gain value kv can be set to an appropriate value by experiment. In the servo control, since the emphasis is placed on the speed control, the speed gain value kv is set to a value larger than the position gain value kx . The speed control signal uv output from the speed component amplifier 35 takes a value converted into a use ratio (percentage) of the speed component in the excitation current to be supplied to the solenoid 6. That is, the speed component amplifying unit 35 converts the control amount of the speed component represented by the speed deviation ev from a representation in units of millimeters per second into a value corresponding to the increase / decrease value of the duty ratio in the subsequent PWM generator). .

  The position control signal ux and the speed control signal uv output from the position component amplifying unit 34 and the velocity component amplifying unit 35 are added by the adder 36 in the next stage, and the addition result is output as the control signal u. The control signal u takes a value corresponding to a current signal to be finally supplied to the solenoid 6 (in other words, an increase / decrease value of the duty ratio in the PWM generator 25). The control signal u is converted into an excitation current ui in PWM format via a PWM generator 25 (corresponding to the function block “PWM conversion” in FIG. 3) and supplied to the solenoid 6. In this example, a PWM format signal is applied as the current signal supplied to the solenoid 6, but the format of the current signal is not limited to this.

  When the solenoid 6 is energized with an excitation current corresponding to the control signal u, the key 1 provided corresponding to the energized solenoid 6 is driven. The key sensor (position sensor) 7 detects the stroke position yk of the driven key 1 and outputs an analog detection signal yxa corresponding to the key stroke position yk according to a predetermined sampling time. The analog detection signal yxa is converted into a digital signal (key position signal yxd) via an AD converter (corresponding to the input / output interface in FIG. 2) 24. The normalization processing unit 38 performs processing for correcting individual differences between the key 1 and the key sensor 7 in the key position signal yxd, and outputs a normalized key position detection value yx. The key position detection value yx is fed back (negative feedback) to the position comparison unit 31 as a position feedback signal yx for comparison with the position target value rx. The key position detection value yx is supplied to the speed generation unit 39. The speed generation unit 39 calculates speed information of the key 1 by appropriately differentiating the key position detection value yx (for example, polynomial fitting). As an example of the calculation method, the speed information (key speed value yv) of the key 1 can be calculated by quadratic curve fitting using position information (key position detection value) at seven points before and after a certain sampling time point. The key speed value yv is fed back to the speed comparison unit 32 (negative feedback) as a speed feedback signal yv for comparison with the speed target value rv.

  According to the servo control configuration shown in FIG. 3, the servo control is performed for both the position component and the velocity component, and the gain value kx for the position deviation ex is variably set in two steps according to the position target value rx. By configuring, the actual trajectory of the key 1 can be made to accurately follow the trajectory reference.

Here, various values are set as the position gain value kx in the position component amplification unit 34, the key 1 is actually driven, and the result of measuring the key position detection value yx and the velocity value yv is shown in FIGS. Shown in (c). FIG. 5A is a trajectory diagram showing an actual measurement example of the key motion trajectory realized based on a certain trajectory reference in the servo configuration shown in FIG. 3, and FIGS. 5B and 5C. Shows an actual measurement example of the key trajectory based on the trajectory reference when the position gain value kx is given as a fixed value. 5A to 5C, the vertical axis represents the operating position of the key 1, and the horizontal axis represents time elapsed t. The trajectory shown in FIG. 5B is an example of a trajectory when a relatively weak position gain value kx = “0.3” is given as a fixed value for the entire stroke operation of the key 1. As is apparent from the figure, in this case, when the key pressing operation starts (when the key pressing depth from the rest position is 3 mm or less), the actually measured trajectory of the key 1 cannot follow the trajectory reference. . As described above, when the followability at the time of rising of the key pressing operation is insufficient, for example, when the key hitting operation of the key 1 is performed, there is a problem that the continuous hitting trajectory cannot be reproduced faithfully. On the other hand, the trajectory shown in FIG. 5C is an example of a trajectory when a relatively strong position gain value kx = “0.9” is given as a fixed value for the entire stroke operation of the key 1. is there. As is apparent from the figure, in this case, although the followability at the start of the key pressing operation is improved, the operation of the key 1 becomes unstable, and the behavior of the key 1 and the action etc. near the end position of the stroke. Disturbances (so-called “twisting”, in which a single key is hit twice).
On the other hand, the trajectory of FIG. 5A has a relatively large position gain value kx = “0.9” when the position target value rx represents a value where the key depression depth from the rest position is 3 mm or less. Therefore, it is possible to improve the followability to the trajectory reference when the key pressing operation starts (when the key pressing depth from the rest position is 3 mm or less). By giving a relatively large value as the position gain value kx, the key stroke position at each time can be appropriately reproduced, so that the followability of the key pressing speed (trajectory inclination) with respect to the speed component of the trajectory reference can be improved. it can. Further, when the position target value rx represents a value where the key depression depth from the rest position is 3 mm or more, a relatively small position gain value kx = “0.3” is given. Can be prevented from disturbing the behavior of the key 1 ("double strike"). In this way, by changing the position gain value kx according to the position target value rx, it is possible to improve the followability to the trajectory reference over the entire stroke operation of the key 1.

  In the above embodiment, an example has been shown in which the gain calculation unit 33 calculates the position gain value kx corresponding to the position target value rx. FIG. 6A is a servo configuration block diagram showing a configuration example in which the gain calculation unit 33 calculates a speed gain value kv corresponding to the position target value rx as a modification example. In FIG. 3, the components already described in FIG. 3 are given the same reference numerals and the description thereof is omitted as appropriate. In FIG. 6A, the position value rx output from the target value generator 30 is supplied to the gain value calculator 33. The gain value calculation unit 33 calculates a speed gain value kv based on the supplied position target value rx, and the calculated speed gain value kv is supplied to the speed component amplification unit 35. For example, the speed gain value kv may be obtained by referring to an appropriate calculation table. FIG. 6B is a diagram illustrating an example of a change characteristic of the speed gain value kv according to the position target value rx. In the figure, the horizontal axis represents the position target value rx, and the vertical axis represents the speed gain value kv. When the position target value rx is small (at the start of the key pressing operation), if a relatively strong value is given as the speed gain value kv, the operation of the key 1 tends to become unstable. It was. In this regard, as shown in FIG. 6B, when the value of the position target value rx represents a certain threshold value (for example, key depression depth 5 mm) or less, a relatively small value is set as the speed gain value kv. When the position target value rx is greater than the certain threshold value (key pressing depth 5 mm), a relatively large value is given as the speed gain value kv. As a result, it is possible to stabilize the operation at the time of rising of the key pressing operation and improve the speed followability.

FIG. 7A is still another configuration example, and is a servo configuration block diagram showing a configuration example in which the gain calculation unit 33 calculates the position gain value kx corresponding to the speed target value rv. In FIG. 7A, the gain value calculation unit 33 is supplied with the speed target value rv output from the target value generation unit 30. The gain value calculation unit 33 calculates a position gain value kx based on the supplied speed target value rv, and the calculated position gain value kx is supplied to the position component amplification unit 34. The position gain value kx can be obtained by referring to an appropriate calculation table, for example. FIG. 7B is a diagram illustrating an example of a change characteristic of the position gain value kx according to the speed target value rv. In the figure, the horizontal axis represents the speed target value rv, and the vertical axis represents the position gain value kx. As shown in FIG. 7B, when the value of the speed target value rv represents a value from 0 mm / s to a certain threshold (for example, 50 mm / s), for example, a characteristic that is inversely proportional to the magnitude of the speed. To set the position gain value kx. That is, the position gain value kx is relatively increased as the speed target value rv is smaller (the speed is slower). Further, when the value of the speed target value rv represents a certain threshold value (for example, 50 mm / s) or more, the position gain value k x is given as an appropriate constant value. An appropriate constant value may be determined by experiment. Thereby, the followability of the position component when the operation speed of the key 1 is low is improved, the operation position of the key 1 is reproduced more accurately, the reproducibility of the slow operation of the key 1 is improved, or the key It becomes possible to improve the operation responsiveness when the operation of 1 is stopped.

FIG. 8A is still another configuration example, and is a servo configuration block diagram illustrating a configuration example in which the gain calculation unit 33 calculates a speed gain value kv corresponding to the speed target value rv. In FIG. 8A, the speed value target value rv output from the target value generator 30 is supplied to the gain value calculator 33. The gain value calculation unit 33 calculates a speed gain value kv based on the supplied speed target value rv, and the calculated speed gain value kv is supplied to the speed component amplification unit 35. The speed gain value kv can be obtained by referring to an appropriate calculation table, for example. FIG. 8B is a diagram illustrating an example of a change characteristic of the speed gain value kv according to the speed target value rv. In the figure, the horizontal axis represents the speed target value rv, and the vertical axis represents the speed gain value kv. As shown in FIG. 8B, when the value of the speed target value rv represents a value from, for example, 0 mm / s to a certain threshold value (for example, 200 mm / s), a characteristic that is inversely proportional to the magnitude of the speed. To set the speed gain value kv. That is, as the velocity target value rv is small (slow speed), strengthened relative velocity gain value kv, if the value of the velocity target value rv represent more than the certain threshold value (e.g., 200 mm / s), the speed The gain value kv is given as an appropriate constant value. The threshold value here is set to a larger value than the example of FIG. As a result, the operation speed of the key 1 can be reproduced more accurately. In particular, a fast operation can be executed more accurately.

  It should be noted that the gain value of the feedback loop (the position gain value and / or the speed gain value may be configured differently. Then, an example of a configuration in which only one of the position gain value and the speed gain value is variably set has been given. However, the present invention is not limited to this, and may be configured to variably set both.When both the position gain value and the speed gain value are variably set, the reference values for calculating each gain value are as described above. According to the calculation algorithm given in each embodiment, the position target value and the speed target value may be appropriately combined.

Further, with a predetermined speed target value (for example, rv = 200 mm / s) as a boundary, the keystroke pattern is divided into a weak keystroke speed range (rv = 200 mm / s or less) and a normal keystroke speed range (rv = 200 mm / s or more). Thus, the gain value (position gain value and / or velocity gain value) of the feedback loop may be varied.
As another example of the servo configuration, the outputs of the position component amplifying unit 34 and the velocity component amplifying unit 35 are unified (added) by the adding unit 36, but a “fixed value” is further added to the control signal u. It is also possible to adopt a configuration in which addition is performed, and the fixed value that varies according to a given speed target value is added. "Fixed value" functions as a correction value for optimizing the servo control operation against various factors such as the physical characteristics of each member such as keys and hammers and the operation characteristics of the keystroke operation to be realized. To do. FIG. 9A is a block diagram of a servo configuration example for adding the fixed values. In this example, the position calculation value 33 is supplied with the position target value rx and the speed target value rv, and the gain calculation section 33 is based on the supplied position target value rx and speed target value rv. kx, velocity gain value kv, and fixed value f are output. The fixed value f is a parameter that is added to the output (control signal u) of the adder 36 in the second adder 40. FIG. 9B is a diagram illustrating an example of characteristics of each control parameter (position gain value kx, velocity gain value kv, and fixed value f) output from the gain calculation unit 33 in the configuration of the above (a). According to the characteristics of FIG. 9B, a weak keystroke speed range (rv = 200 mm / s or less) and a normal keystroke speed range (rv = 200 mm) with a predetermined speed target value (for example, rv = 200 mm / s) as a boundary. / S or higher), so that the fixed value f is variable (f = 9 + 2 * (rv−200) / 100) according to the given speed target value rv in the normal keying speed range. It has become. As described above, when the key speed is relatively fast (for example, rv = 200 mm / s or more), by providing a fixed value f corresponding to the speed target value, followability to a keystroke operation at a relatively high speed is achieved. Can be improved. In the characteristic example of FIG. 9B, the gain value (position) of the feedback loop is used in both the weak keying speed range (rv = 200 mm / s or less) and the normal keying speed range (rv = 200 mm / s or more). A constant value is given as a gain value and / or a speed gain value. However, the present invention is not limited to this, and the characteristics of the feedback loop can be adjusted by appropriately changing the gain value. Further, in FIG. 9B, with a predetermined position target value rx (for example, rx = 4 mm) as a boundary, a key pressing start portion (rx = 0 to 4 mm) and a key pressing latter portion (rx = 4 to 10 mm) 2 The classification of the key operation range is shown. As yet another example of the control parameter output characteristic of the gain calculation unit 33, it is possible to adjust the characteristic of the feedback loop by varying the control parameter according to the division of the key operation range.

  As described above, according to this embodiment, the servo gain coefficient (at least one of the position gain value and the speed gain value) is set to at least one of the supplied position target value rx and speed target value rv. By performing variable control accordingly, the followability of the actual key pressing speed (servo control amount) with respect to the key pressing speed (servo control target value) indicated by the trajectory reference can be improved, and the performance information can be reproduced. Can be increased.

In the above embodiment, a target value (position target value rx and / or speed target value rv) is supplied to the gain value calculation unit 33, and a feedback loop correction value (control parameter: Although an example of changing the gain value and the fixed value has been described, the present invention is not limited to this, and the configuration is such that each control parameter is set based on the measured values of the keyboard speed and the keyboard position (that is, the speed signal yv and the position signal yx). Is also possible.
Further, according to the servo configuration of FIG. 3, the example in which the key position information and speed information based on the output of the position sensor (key sensor 7) provided corresponding to the key 1 is used as a feedback signal has been shown. The member whose operation is detected by the sensor and the dimension detected by the sensor are not limited to the above example. In other words, the key sensor 7 is not limited to a position sensor, and may be a speed sensor, or may be a combination of both. Also, the key sensor 7 is not limited to the configuration in which the sensor output of the key operation is used for feedback control. The speed information may be used as a feedback signal, or the operation speed information of the solenoid plunger may be used as a feedback signal. In addition, the form of the automatic performance piano which concerns on this invention may be either a grand piano or an upright piano.

  In the above-described example, the drive control of the key 1 in the automatic performance piano has been described. However, by adding a correction value that is changed according to the target value according to the present invention to the control signal, the reproduction accuracy of the servo control is improved. The technical idea of improving the performance is not limited to key drive control, but can also be applied to drive control of performance operators of automatic musical instruments such as pedal drive control of automatic performance pianos.

  In the above-described embodiment, the various arithmetic processes (servo control) executed by the motion control unit 11 are configured to be executed by a software program executed by the CPU 20. It is also possible to configure to execute the various arithmetic processes.

The figure which shows the whole structure of the automatic performance piano which concerns on one Example of this invention. The block diagram which shows the electrical hardware constitutions in the automatic performance piano which concerns on the same Example. The functional block diagram which shows the servo control system structural example of the automatic performance piano which concerns on the Example. The figure which shows an example of the table for position gain value calculation concerning the Example. FIGS. 4A to 4C are trajectory diagrams showing a trajectory reference to be realized in key drive control and an actual measurement example of a key drive trajectory (control amount) according to the reference. FIG. (B) and (c) show trajectory examples when the position gain value is given as a fixed value for comparison. (A) is a modified example of the above embodiment, and shows a block diagram of a servo configuration for calculating a speed gain value according to a position target value, and (b) is a change characteristic of a speed gain value according to the position target value. FIG. (A) is another modified example of the above embodiment, and shows a block diagram of a servo configuration for calculating a position gain value according to a speed target value, and (b) shows a position gain value according to the speed target value. The figure which shows a change characteristic. (A) is another modification of the above embodiment, and shows a block diagram of a servo configuration for calculating a speed gain value according to the speed target value, and (b) is a speed gain value according to the speed target value. FIG. (A) is still another modification of the above embodiment, and shows a block diagram of a servo configuration for adding a predetermined fixed value to the control signal, and (b) is a gain value calculation shown in FIG. 9 (a). The figure which shows an example of the output characteristic of a part.

Explanation of symbols

1 key, 2 action mechanism, 3 hammer, 4 strings, 5 damper, 6 electromagnetic solenoid, 7 key sensor, 8 hammer sensor, 9 plunger, 10 playback pre-processing unit, 11 motion control unit, 12 recording control unit, 13 post-recording processing Unit, 30 target value generation unit, 31 position comparison unit, 32 speed comparison unit, 33 gain value calculation unit, 34 position component amplification unit, 35 speed component amplification unit

Claims (4)

According to the performance operator displaceable within the movement range from the rest position to the end position, an action mechanism for transmitting the movement of the performance operator to the hammer, and the movement of the performance operator transmitted by the action mechanism A driving device for driving the performance operator in a sound generation mechanism provided with a hammer for striking a sounding body,
Drive means for driving the performance operator by displacing the mover, having a mover that contacts the performance operator;
Detecting means for detecting a physical quantity corresponding to the movement of the performance operator;
And target value generating means for generating a target value of the operating speed of the target value of the operating position of the performance operators and the performance operator,
A deviation between the physical quantity detected by the detecting means and the target value generated by the target value generating means is multiplied by a certain gain value, and the driving means is controlled based on the multiplication result, thereby controlling the performance operator. Control means for servo-controlling the movement;
Based on the target value and the target value of the operating speed of the operating position, as the gain value in said control means, at least one of velocity gain value for deviation for position gain value and the operation speed to the deviation regarding the operating position of the performance operator A gain value setting means for variably setting one of the position gain values, when the target value of the operation position is not more than a predetermined value, relative to the case of not less than the predetermined value. A performance operator drive device comprising gain value setting means for setting a large position gain value. The control means includes an adding means for adding a predetermined fixed value to drive data given to the drive means for servo-controlling the drive means,
2. The performance operator drive device according to claim 1 , wherein the adding means adds a predetermined value that varies according to a target value of the operation speed as the fixed value. Player piano with a driving device performance operator according to any of the claims 1 or 2. According to the performance operator displaceable within the movement range from the rest position to the end position, an action mechanism for transmitting the movement of the performance operator to the hammer, and the movement of the performance operator transmitted by the action mechanism A method for driving the performance operator in a sound generation mechanism provided with a hammer for striking a sounding body by a driving means,
The drive means has a mover that contacts the performance operator, and drives the performance operator by displacing the mover.
The method
A procedure for detecting a physical quantity corresponding to the movement of the performance operator;
A step of generating a target value of the operating speed of the target value of the operating position of the performance operators and the performance operator,
A procedure for servo-controlling the movement of the performance operator by multiplying a deviation between the detected physical quantity and the target value by a certain gain value and controlling the driving means based on the multiplication result;
Based on said target value and the target value of the operating speed of the operating position, the variable setting at least one of velocity gain value for deviation for position gain value and the operation speed to the deviation regarding the operating position of the performance operator as the gain value The setting of the position gain value is a step of setting a relatively large gain value when the target value of the operation position is equal to or less than a predetermined value compared to the case where the target value is equal to or greater than the predetermined value. A method for driving a performance operator, comprising:

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