JP5104928B2 - Performance information playback device - Google Patents

Description

  The present invention relates to a performance information reproducing apparatus having a mechanical sounding mechanism driven based on performance information.

As is well known, an automatic performance piano is an acoustic piano having an automatic performance function (recording function for recording a piano performance / playback function for performance based on performance information). The performance information recorded by the recording function records performance operations (key and pedal movements) performed on the piano. The performance information is reproduced by reproducing a performance operation by mechanically moving a key or a pedal based on the performance information and playing an acoustic piano performance sound. The procedure of the sounding operation (stringing operation) of the piano performance sound is as follows: the key is driven by the excitation of the solenoid provided corresponding to the key to be driven, and the key is driven according to the keying drive of the key. The corresponding action mechanism is activated, and the hammer strikes the corresponding string in response to the activation of the action mechanism. The striking strength of the hammer by the hammer corresponds to the key striking speed, and the key striking speed corresponds to the current supplied to the solenoid. Therefore, by controlling the amount of power supplied to the solenoid, the strength of the stringing operation, that is, the strength of the tone to be generated is controlled.
The processing related to the automatic performance function is performed by a control unit including a DSP. In addition to the recording and playback functions described above, the control unit has various functions such as volume change during playback, tempo change, transposition adjustment, and metronome. The user can operate these functions from the control unit. it can.

  An example of this type of automatic performance piano is described in Patent Document 1 below. In the reproduction control of performance information in the automatic performance piano described in Patent Document 1, a key pressing operation (in this specification, the key pressing operation is an operation composed of a key pressing operation and a key releasing operation) based on the performance information to be reproduced. Is generated, and the output signal of the plunger sensor that detects the speed of the solenoid plunger is obtained as a feedback signal, and the drive of the solenoid is servo-controlled based on the trajectory data and the feedback signal. By doing so, the keystroke trajectory represented by the performance information is faithfully reproduced including the subtle nuances of the performance.

  By the way, in the conventional automatic performance piano, when the reproduction accuracy (fidelity) of the performance is increased with respect to the reproduction function, the reproduction operation which is difficult to control reproduction may become unstable. For example, if you try to reproduce the keystroke (weak keystroke) with extremely weak force faithfully on the trajectory, the hammer may not be able to strike the string, or the stringing speed may be too weak to hear the sound. was there. In addition, if you try to reproduce a repetitive key that has a relatively short key-press drive cycle and a short stroke width, faithfully following the trajectory, the key return (return stroke width) will be insufficient before the jack returns. The keystroke (pressing) of the key starts, and the subsequent stringing operation cannot be performed, or the key cannot be given an appropriate speed because the key pressing amount (pushing stroke width) is insufficient. There was a risk of problems such as weak stringing and delayed stringing timing.

  In order to stabilize the reproduction operation for the reproduction of the trajectory which is difficult to perform the reproduction control as described above, the following additional control has been devised. In other words, for the reproduction of weakly struck keys with a predetermined strength or less, the keystroke strength is raised to a certain lower limit value. Also, with respect to repeated keystrokes, measures are taken to ensure a sufficient time between the key release operation and the subsequent key press operation: for example, (1) advance the key release timing (2) increase the key release speed (3 ) Increase the key press speed. However, if additional control is performed to stabilize these playback operations, the fidelity of the orbital reproduction will be lost, and the piano performance and tone will become unnatural, and the inflection of the performance will become flat. There was any inconvenience.

  In other words, in the playback control of the conventional automatic performance piano, the inconvenience that occurs when the performance reproduction accuracy (fidelity) is increased and the inconvenience that occurs when the stability of the playback operation is increased, both trade-offs are achieved. The performance of either fidelity or stability had to be compromised.

Japanese Patent Laid-Open No. 7-175471

  The present invention has been made in view of the above points, and an object thereof is to provide a performance information reproducing apparatus capable of appropriately exhibiting both performances of fidelity of trajectory reproduction and stability of reproduction operation in reproduction control. And

The present invention relates to a sound generation mechanism that generates a musical sound based on a mechanical sound generation operation, and supply means that supplies performance information that represents a keystroke performance corresponding to a musical sound to be reproduced and includes at least a velocity value; driving means for driving the sounding mechanism based on the performance information, based on said performance information, and movement detecting means for detecting the performance information corresponding to the out weak striking operation of pronunciation operation the sounding mechanism, sequential playback operation A playback mode selection means for selecting any one playback mode among a plurality of playback modes having different performance playback performance so as to enhance stability, and a playback mode having a high stability priority by the playback mode selection means more but selected for velocity values of the performance information corresponding to the detected weak press operation by the operation detecting means, those to increase raised the lower limit value stepwise A control for correcting the performance information and causing the drive means to drive the sound generation mechanism based on the corrected performance information, and a gain of the sound generation operation of the sound generation mechanism for the performance information when the sound generation mechanism is driven by the drive means Correct be stepwise reduced, performance information reproducing apparatus, characterized in that it comprises a control means for performing at least control one of the braking control for driving the sounding mechanism to said driving means by using a gain after correction It is.

The performance information reproducing apparatus according to the present invention further comprises means for generating reproduction operation data for reproducing the musical tone by the sound generation operation of the sound generation mechanism based on the performance information, and the control means includes the control means, Instead of correcting performance information, the reproduction operation data is corrected.
Further, in the performance information reproducing apparatus according to the present invention, the operation detecting means detects performance information or reproduction operation data corresponding to a specific operation that is difficult to reproduce as a sound generation operation of the sound generation mechanism, and the control means However, the performance information or the reproduction operation data corresponding to the specific operation difficult to reproduce detected by the operation detection means is corrected, while the performance information or the reproduction operation data corresponding to the specific operation difficult to reproduce is obtained. If it is not detected, the correction is not performed.

In addition, the present invention can be configured and implemented as a keyboard instrument that includes the performance information reproducing device described above and a keyboard, and that causes the sound generation mechanism to perform a sound operation in accordance with the operation of the keyboard.
In addition, the present invention includes the performance information reproducing apparatus described above and a keyboard, wherein the keyboard is played by the driving means, and the sound generation mechanism is caused to perform a sounding operation according to the keystroke performance of the keyboard. It can be configured and implemented as an auto-playing piano.

According to the present invention, as the priority of the stability is high reproduction mode is selected, the velocity values of the performance information corresponding to the weak press operation, greatly raised to so that the performance information under limit value stepwise Control to drive the sound generation mechanism based on the corrected performance information and to reduce the gain of the sound generation operation of the sound generation mechanism with respect to the performance information when the sound generation mechanism is driven by the drive means. Correct to, by performing at least one of the control of the control for driving the sounding mechanism to said driving means by using a gain after correction, it is possible to stabilize the weak press operation. I follow, as is the high stability mode, even in the difficult operation of the playback control to avoid the string striking error or the like, it is possible to perform stable reproducing operation, the lower the stability mode, fixes Since the degree is small, the keystroke action represented by the performance information can be reproduced more accurately. Therefore, there is an excellent effect that both reproduction performance of performance information reproduction fidelity and reproduction operation stability can be appropriately exhibited.

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. (A) is a configuration example of an operation panel according to the embodiment, (b) is a list of generation modes according to the embodiment, and (c) is a memory configuration of a reproduction mode defining variable according to the embodiment. (A) is a flowchart which shows an example of the process sequence at the time of power-on of the automatic performance piano which concerns on the Example, (b) is a flowchart which shows an example of the procedure of the "mode acceptance task" started in the process. (A) is a flowchart which shows the schematic procedure of the reproduction | regeneration processing in the automatic performance piano which concerns on the Example, (b) is a figure which shows an example of the format of the reproduction | regeneration operation | movement data produced | generated in the reproduction | regeneration processing. The flowchart which shows an example of the procedure of mode setting and the addition process at the time of the music reproduction concerning the Example. The block diagram which shows the control structure of the servo control in an automatic performance piano.

  Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. As an example, an example in which the performance information reproducing apparatus according to the present invention is applied to an 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 is linked to the movement of the key 1, the action mechanism 2 for transmitting the movement of the key 1 to the hammer, and the movement of the corresponding key 1 as a mechanical sounding mechanism. A hammer 3 that performs a stringing operation, a string 4 that is hit by the hammer 2, 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. The position from the rest position to the end position (position shown by a two-dot chain line in the figure: a position pushed in from the rest position by 10 mm in this embodiment) in response to a key pressing operation (key pressing and key release). Stroke up and down between. On the lower surface side of the rear end of the key 1, an electromagnetic solenoid 6 is provided as a driving means (actuator) for automatically pressing the key 1. These configurations are almost the same as those of a general automatic performance piano. The piano is provided with a plurality of keys 1 (typically 88 keys), and each of the above components is provided corresponding to each of the 88 keys.

  As is well known, the electromagnetic solenoid 6 has a coil disposed in the yoke and a rod-shaped plunger inserted so as to be bi-directionally movable in the coil axis, and the tip of the plunger corresponds to the solenoid. It arrange | positions so that it may contact | abut to the rear-end lower surface part of the key 1 to do. When the solenoid 6 is driven based on the excitation current given from the control system, the plunger is displaced upward according to the driving of the solenoid 6 and strikes the rear end of the corresponding key 1. In response to the pushing-up operation of the key 1 by the plunger, the key 1 corresponding to the driven solenoid 6 performs a keystroke operation. This activates the mechanical sounding mechanism of the piano.

A key sensor 7 for detecting the movement of the key 1 is disposed on the lower surface side of each key 1 of the automatic performance piano. The key sensor 7 may be constituted by, for example, a position sensor that can output continuous position information (analog signal) for all steps of the operation stroke of the key 1. The output of the key sensor 7 is supplied to both a recording control unit 13 and a servo control unit 12, which will be described later, and is used for performance information generation / recording processing during performance recording and servo control during performance information reproduction. . 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. Note that the key sensor 7 is not limited to an optical position sensor, and may be configured by other appropriate types of sensors. The physical quantity detected by the key sensor 7 is not limited to the position, and may be other physical quantities such as speed and acceleration.
The hammer 3 is provided with a hammer sensor 8 for detecting a string striking speed and a string striking timing by the hammer 3. Each hammer sensor 8 may be configured by an appropriate sensor (for example, an optical sensor or the like) capable of outputting information on a physical quantity (position, speed, acceleration, or the like) related to the movement of the hammer 3, for example. In this example, the output of the hammer sensor 8 is supplied to a recording control unit 13 which will be described later, and is used in the performance information generation process during performance recording. A specific configuration example of various sensors applicable as a hammer sensor for an automatic performance piano is described in, for example, Japanese Patent Application Laid-Open No. 2001-175262.

In FIG. 1, a pre-reproduction processing unit 10, a motion control unit 11, and a servo control unit 12 correspond to modules related to performance information reproduction processing, and a performance recording unit 13 and post-recording processing unit 14 perform performance recording. It corresponds to the module related to processing. The performance recording unit 13 generates and records performance information based on detection signals output from the hammer sensor 8 and the key sensor 7. That is, based on the detection signals of the key sensor 7 and the hammer sensor 8, various information relating to performance operations (stringing operation, keying operation, etc.) performed by the piano player is acquired, and performance information (for example, performance operation (for example, the keying operation)) , MIDI format data). The generated performance information can be recorded in the appropriate storage device 24 (see FIG. 2), for example, after being properly normalized in the post-recording processing unit 14. Here, the normalization process is a process for absorbing individual differences between pianos, and the various physical information is inherent to sensor positions, structural differences, or mechanical errors in each piano. Since it has a tendency, it is a process of assuming a standard piano and converting it to the stringing time, stringing speed, etc. of the piano. The operation of the reproduction process will be described later. Various operations such as arithmetic processing performed by these modules are controlled by a software program executed by the CPU 20 (see FIG. 2 described later) in a control unit responsible for signal processing in the automatic performance piano.
The pre-reproduction processing unit 10 performs appropriate normalization and unit alignment on the performance information (for example, MIDI data) of the musical sound to be reproduced, and generates a keystroke trajectory for the key 1 for reproducing the musical sound. (This is called “playback operation data”). The motion control unit generates a trajectory reference ref (trajectory target value) for instructing a keystroke trajectory to be reproduced based on the generated reproduction operation data. The servo control unit 12 is a module that generates a control signal u for servo-driving the solenoid 6 using the trajectory reference ref and a feedback signal based on the output signal of the key sensor 7, and servo-controls the driving of the solenoid 6. is there. The details of the algorithm for generating the trajectory reference based on the performance information are detailed in, for example, the description in Patent Document 1 above. Details of the performance information reproduction processing performed by the pre-reproduction processing unit 10, the motion control unit 11, and the servo control unit 12 will be described later.

  FIG. 2 is a block diagram showing an outline of the electrical hardware configuration of the automatic performance piano shown in FIG. As shown in FIG. 2, the automatic performance piano includes a CPU 20, a ROM 21, a flash memory 22, a RAM 23, a storage device 24, a switch operation detection circuit 25, a PWM generator 26, and an interface (I / O) 27 for capturing sensor output. 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 in response to keystroke operations. Control programs for various processes executed by the CPU 20 may be stored in an appropriate memory (ROM 21, flash memory 22, RAM 23, etc.). In this embodiment, each of the ROM 21, flash memory 22, and RAM 23 stores values of playback mode defining variables, which will be described later, and a piano playing mode is set based on the values stored as the playback mode defining variables. It has become so.

  The storage device 24 is used for writing performance information generated by a performance recording process, which will be described later, and for storing performance information used when reproducing the performance information. Alternatively, it may be configured by an appropriate storage medium such as a floppy (registered trademark) disk, a compact disk (CD-ROM, CD-RAM), a magneto-optical disk (MO), a ZIP disk, a DVD (Digital Versatile Disk), or a semiconductor memory. .

  The interface (I / O) 27 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 27 and taken into the CPU 20. The CPU 20 captures the output of each sensor at every predetermined clock timing, and performs processing for acquiring information related to the keying operation of the key 1 and information related to the stringing operation of the hammer 3 based on the acquired sensor output. The PWM generator 26 converts a control signal (solenoid drive signal) generated during performance information reproduction processing, which will be described later, into a current value in PWM format (hereinafter abbreviated as a PWM signal) and supplies an excitation current to the solenoid 6. In addition, the automatic performance piano may include a communication interface for connecting to a suitable external device or a communication network such as the Internet.

  An operation panel 28 including a switch group is connected via a switch operation detection circuit 25. The operation panel 28 includes a switch group for selecting a piano performance reproduction mode according to this embodiment. FIG. 3A is a diagram illustrating a configuration example of a switch group for selecting a piano performance reproduction mode on the operation panel 28. The operation panel 28 may be disposed at a location convenient for user operation, such as the front surface of the control unit main body. In FIG. 6A, the operation panel 28 is provided with a plurality of (18 in the figure) push button switches 29. FIG. 3B is a list of playback modes of piano performance according to this embodiment, and shows five playback modes having different performance playback performance. The table of FIG. 3B shows specific numerical values (mode values) 1 to 5 corresponding to the respective reproduction modes, the mode names of the respective modes, and the contents of the additional processing at the time of reproduction in the respective modes. Has been.

  In FIG. 3B, the top playback mode (mode name “sharp”) is the playback mode with the highest trajectory reproducibility (fidelity), and toward the bottom, the mode name “natural” and the mode name “solid”. In order of mode name “safe” and mode name “safe”, the playback modes with high stability of the playback operation are sequentially shown. The mode name “sensitive” has a mode value “1” and the mode name “natural”. Is assigned the mode value “2”, the mode name “solid” is assigned the mode value “3”, the mode name “safe” is assigned the mode value “4”, and the mode name “safe” is assigned the mode value “5”. ing. If you play a piano performance in a high-fidelity mode, you can more accurately reproduce the keystrokes represented by the performance information (although operations that are difficult to control can be unstable), and a highly stable mode. If a piano performance is played back, even if it is difficult to control playback, it is possible to avoid a string striking error and perform stable playback (on the other hand, fidelity is relatively impaired). The user can select an arbitrary mode from the above five playback modes on the operation panel 28 shown in FIG. 3 (a), and perform the optimal piano performance according to the use, TPO, preference, etc. of the automatic piano performance. You can let the piano do it.

  The contents of the addition process will be described with reference to FIG. In the drawing, “weak bottoming up processing”, “continuous hit processing”, and “volume adjustment processing” are additional processing for correcting the playback operation data in accordance with the selected playback mode.

  “Weak-throwing-up processing” increases the keystroke strength by changing the speed information to the predetermined lower limit value when the speed information (velocity value) of the reproduction operation data is less than the predetermined lower limit value. Correct the weakly struck key that is difficult to control playback. That is, the control system detects a weak keystroke action to be subjected to additional processing based on the performance information or the reproduction action data, using the predetermined lower limit value as a threshold value, and the weak keystroke key detected as the weak keystroke key Make the above corrections for operation.

  In the “continuous hit handling process”, the difficulty of reproducing the hit key is reduced by correcting the key release timing, the key pressing speed, the key release speed, and expanding the stroke width (amplitude) of the key hit trajectory. These repeated hitting key handling processes are processes for securing time between repeated key release and key press operations. That is, the control system, for example, based on performance information or playback operation data, for example, a keystroke operation in which the time between the key release and the key press operation is less than a predetermined time, or a cycle of the key press operation is relatively short and the stroke width is short A continuous hitting key operation or the like is detected as a continuous hitting key to be subjected to additional processing, and the above correction is performed on the detected continuous hitting key operation.

  Further, in the “volume adjustment process”, the volume (velocity value) is lowered uniformly. This process only works in safe mode and safe mode.

  In FIG. 5B, “servo gain correction” is an additional process for correcting the characteristics of the sound generation operation by servo control by correcting the parameters of servo control in accordance with the selected reproduction mode. In this embodiment, as an example of correction of the servo gain value, an example of correcting the speed gain value (see FIG. 7 described later) is shown.

  The contents of the additional processing in each playback mode are as shown in FIG. That is, in the “sensitive” mode, the given reproduction operation data is reproduced as it is without performing any additional processing. In the “natural” mode, the lower limit value of the velocity value (Velo) is set to Velo = 16 as “weak bottoming up processing”, and the key release timing is advanced as “continuous hit processing”. In the “steady” mode, the lower limit value of the velocity value is set to Velo = 20 as “weakly raised bottom processing”, and the key release speed is increased by a predetermined amount in addition to the key release timing being advanced as “continuous hit processing”. To do. Further, as “servo gain correction”, a basic predetermined gain value is multiplied by a correction value = 0.8, and a value (basic value * 0.8) as a result of the multiplication is set as a speed gain value. In the “safe” mode, the lower limit value of the velocity value is set as “Velo = 24” as “weak stroke raising process”, and the key pressing speed is increased by a predetermined amount in addition to the process in the solid mode as the “sequential hit handling process”. At the same time, the volume (velocity value) is reduced by -10. Further, as “servo gain correction”, “basic value * 0.8” is set as the speed gain value in the same manner as described above. In the “safe” mode, the lower limit value of the velocity value is set to “Velo = 32” as “weak bottoming up processing”, and the “strike hit processing” is performed in addition to the above-described processing in the safe mode. While expanding the fixed amount, the volume (velocity value) is reduced by -20. Further, a basic predetermined gain value is multiplied by a correction value = 0.5, and a value (basic value * 0.5) as a result of the multiplication is used as a speed gain value.

  In the operation panel 28 of FIG. 3A, the numbers “0” to “5” shown side by side at the top of the panel correspond to the mode value, and the mode value “0” corresponds to no mode selection. In addition, the vertical arrangement at the left end of the panel indicates “reproduction mode defining variables B, C, and D” that define the mode values applied to the reproduction control. The playback mode defining variable is a parameter for the user to select a usage mode pattern of the playback mode. As will be described later, a predetermined mode value is stored in advance in the playback mode defining variable “A” and cannot be changed by the user. For this reason, the variable “A” does not appear on the operation panel 28. On the panel 28, the user turns on (presses) a button 29 corresponding to any mode value “0” to “5” for each of the playback mode defining variables “B”, “C”, and “D”. Thus, any one of the mode values “0” to “5” corresponding to the operated button 29 can be assigned to each of the variables B to C. Note that only one of the mode values “0” to “5” is assigned to each variable on the operation panel 28. In FIG. 3A, the buttons corresponding to the mode values assigned in each variable are shown in black. That is, in the figure, mode value “0” is assigned to variable B, mode value “3” is assigned to variable C, and mode value “4” is assigned to variable B.

  FIG. 3C is a diagram for explaining the memory configuration of the playback mode defining variable. The playback mode defining variable A stores a mode value assigned at the time of factory shipment. This mode value is always “1” and cannot be changed by the user. The mode value of the variable A is stored in the ROM 21 (see FIG. 2). The playback mode defining variable B stores a mode value of a playback mode that is a basic setting for playback control during the startup of the apparatus. The mode value of the variable B is stored in the flash memory 22 (see FIG. 2), and the setting is saved even when the apparatus is turned off. The initial value of variable B is mode value “0”. The playback mode defining variable C stores a mode value that is a playback mode that is applied only to a certain piece of music playback control. The mode value of the variable C is stored in the RAM 23 (see FIG. 2). Note that the initial value of the variable C is also the mode value “0”. The playback mode defining variable D stores a mode value that is a playback mode that is applied only during playback of a certain keystroke operation. The mode value of the variable D is stored in the RAM 23 (see FIG. 2). The initial value of the variable D is also the mode value “0”. The mode values stored in the variables B, C, and D are values based on user settings on the operation panel 28 in FIG.

  When performing reproduction control of performance information, a mode value used for reproduction is set in a register “mode” in the RAM 23. The playback mode defining variables are ordered in the order of B, C, and D with variable A as the top, and when the mode value of a certain variable is “0”, the mode value of the upper variable is used. And That is, the control system sequentially checks the mode value from the lower variable D when performing reproduction control of performance information, and the effective mode value (1 to 5) stored as the lower variable is preferentially used. It is stored in the register “mode” and referred to as a mode value to be used. In other words, the mode value “0” is a value that invalidates the mode setting by the variable.

  An example of a processing procedure when setting the mode value in the register mode based on the setting of the operation panel 28 will be described with reference to the flowcharts of FIGS. The flowchart in FIG. 5A is a process that is started when the automatic performance piano is started up. When the automatic performance piano is turned on in step S1, the mode value of the playback mode defining variable B stored in the flash memory 22 (see FIG. 2) is checked in step S2. If the mode value of the variable B is 0 (NO in step S2), the mode value “1” of the upper variable A is set in the register mode in step S3. On the other hand, if the mode value of the variable B is other than 0 (YES in step S2), the mode values 1 to 5 assigned to the variable B are set in the register mode. In step S5, the mode acceptance task described below is started and other processing is executed (step S6). FIG. 4B is a flowchart showing an example of the procedure of the mode acceptance task activated in step S5. This mode acceptance task is a process for reflecting a user operation on the operation panel 28 in the setting of the register mode, and is a process that always operates in parallel with other tasks executed in the apparatus. In step S7, the presence / absence of operation of the button 29 on the operation panel 28 is scanned, and the reception of a user operation is awaited. As described above, the user can input any of the mode values 0 to 5 for the playback mode defining variables B to C by operating the button 29 on the operation panel 28. When the operation of the button 29 by the user is accepted (YES in step S7), the variable and mode value corresponding to the operated button are recognized in step S8, and the recognized reproduction mode defining variable is recognized in step S9. Store the mode value. Thereby, the user can assign arbitrary mode values 0 to 5 to the playback mode defining variables B to C.

Next, playback control in the automatic performance piano will be described.
FIG. 5A is a flowchart showing an outline of a procedure of performance information reproduction processing. The reproduction process shown in the flowchart of FIG. 10A corresponds to the processes in the pre-reproduction processing unit 10, the motion controller 11, and the servo controller 12 in FIG. This reproduction process is started in response to, for example, an operation of a reproduction instruction switch provided in the control unit. In step S10, musical performance information (eg, MIDI data) to be reproduced is acquired from the storage device 24, a real-time communication device (not shown) or the like, and in step S11, pre-reproduction processing (processing in the pre-reproduction processing unit 10 in FIG. 1) is obtained. )I do. That is, the obtained performance information (for example, MIDI data) is appropriately normalized, unit-adjusted, and the like to generate data (playback operation data) that serves as a condition for generating the keystroke trajectory of the key 1. The unit alignment is a process of converting data given in the MIDI format into description units such as millimeter units or millimeters per second. An example of the data format of the reproduction operation data is shown in FIG. The reproduction operation data includes, for example, time information t, position information x, speed information (velocity value) v, and key number Kn.
In step S12, a trajectory reference ref (trajectory target value) for instructing a keystroke trajectory to be reproduced is generated based on the generated reproduction operation data. This process corresponds to the process in the motion control unit 11 in FIG. One keystroke trajectory indicated by one trajectory reference ref corresponds to the generation of one musical sound. In step S13, a control signal u for driving the solenoid 6 is generated using the trajectory reference ref and a feedback signal based on the output signal of the key sensor 7, and an excitation current (PWM signal) based on the control signal u is generated. This is applied to the solenoid 6 to servo-control the drive of the solenoid 6. As described below, during the motion control in step S12 and the servo control in step S13, additional processing (see FIG. 3B) corresponding to the mode (value in the register mode) applied during playback is performed. It will be.

FIG. 6 is a flowchart showing an example of the procedure of the addition process based on the setting of the register mode and the setting value of the register at the time of the reproduction process shown in FIG. The flow shows a flow procedure for reproduction of one musical sound (one keystroke operation).
When the reproduction of a certain tune is started according to the operation of the reproduction instruction switch or the like (step S20), the mode value of the reproduction mode defining variable D is checked in step S21, and the mode value of 1 to 5 is set in the variable D If any of them is entered (variable D ≠ 0), the mode value assigned to the variable D is set in the register mode in step S22. On the other hand, if the variable D = 0 (YES in step S21), the mode value of the variable C is checked in step S23. If the variable C ≠ 0, the mode value (any one of 1 to 5) assigned to the variable C is set in the register mode in step S24. On the other hand, if variable C = 0 (YES in step S23), the mode value of variable B is examined in step S25. If the variable B ≠ 0, the mode value (any one of 1 to 5) assigned to the variable B is set in the register mode in step S26. On the other hand, if variable B = 0 (YES in step S25), the mode value of variable A is set in register mode in step S27.

  In step S28, the reproduction operation data generated in step S11 of FIG. 5A is acquired. In step S29, the mode currently set in the register mode for the reproduction operation data (modes 1 to 5). In step S30, a trajectory reference ref reflecting the addition process is generated. The processes in steps S28 to S30 are included in the process in step S12 in FIG. 5A (motion control unit 11 in FIG. 1).

  The additional processing executed in step S29 is processing for correcting the reproduction operation data, that is, “weak bottoming up processing”, “continuous hitting processing”, and “volume adjustment processing”. The purpose of these additional processes is to stabilize the operation of a specific keystroke operation (in this example, a weak keystroke and a continuous keystroke) that is difficult to reproduce by a mechanical sound generation mechanism (see FIG. 1). The control system detects a specific keystroke operation (weak or continuous hit) that is difficult for the mechanical sound generation mechanism to reproduce based on the performance information or the reproduction operation data, and performs the additional processing in reproducing the detected keystroke operation. carry out. The contents of the addition process are as described above with reference to FIG.

  In steps S28 to S30 in FIG. 6, since the trajectory reference ref is generated after performing any of the above addition processing on the playback operation data, the generated trajectory reference ref is characterized by each playback mode. The data is appropriately modified according to the performance of reproduction of performance, or is unmodified data.

  In step S31, servo control for driving the solenoid (processing of the servo control unit 12 in FIG. 1) is performed based on the trajectory reference ref corrected by the additional processing. In this embodiment, in the servo control process, servo gain correction (see FIG. 3B), which is one of the additional processes, is further performed. Details of the servo control operation will be described later with reference to FIG. When the keystroke operation is completed, the mode value of the playback mode defining variable D is reset to 0 (initial value) in step S32. Since the variable D is a variable that defines the reproduction mode only for the reproduction control of one keystroke operation as described above, it is returned to the default value “0” after the keystroke operation is completed, and the mode setting by the variable D is made invalid. The processes from steps S21 to S32 are repeated until the reproduction of one song is completed (NO in step S33). When the reproduction of one song is completed (YES in step S33), the mode value of the reproduction mode defining variable C is reset to 0 (initial value) in step S34. Since the variable C is a variable that defines the playback mode only for the playback control of one song as described above, it is returned to the default value “0” after the song playback ends, and the mode setting by the variable C is disabled.

The servo control operation according to this embodiment will be described with reference to FIG.
FIG. 7 is a block diagram functionally showing a control configuration of servo control in the automatic performance piano. In FIG. 5, various arithmetic processes in the feedback loop (processes in the servo controller 12 in FIG. 1) are performed by a software program executed by the CPU 20. In FIG. 5, the elements described above are given the same reference numerals and description thereof is omitted as appropriate. In the figure, the AD converter 27 corresponds to the interface (I / O) in FIG.

  The target value generation unit 30 generates a position target value rx and a speed target value rv at a certain time t based on the trajectory reference ref generated by the motion control unit 11. The generated target values (rv and rx) are sent in parallel to the subsequent stage according to a predetermined sample time (for example, every 1 ms). The speed target value rv is data describing the keystroke speed at a certain time in units of millimeters per second, for example, and the position target value rx is data representing the key position at the certain time.

  The output yk of the key sensor 7 is digitally converted via the AD converter 27, and then subjected to appropriate normalization processing (such as correction of individual differences for each key sensor) by the normalization unit 31, and after the normalization. Is fed back to the comparator 32 as a position component feedback signal yx. The speed generation unit 33 calculates speed information of the key 1 by appropriately differentiating the normalized signal (for example, polynomial fitting). As a specific example of the calculation method, the speed information of the key 1 can be calculated by quadratic curve fitting using position information (key sensor output) at seven points before and after a certain sampling time point. The output of the speed generator 33 is negatively fed back to the speed comparator 34 as a speed component feedback signal yv.

  The position comparison unit 32 outputs a deviation ex between the position target value rx and the position component feedback signal yx. The deviation ex is amplified by the position amplification unit 35 by a predetermined position gain value kx, and the result is the position control signal ux. Is output as The position gain value kx is a predetermined fixed value obtained through experiments or the like. The position control signal ux output from the position component amplifier 35 takes a value converted into a use ratio (percentage) of the position component in the excitation current supplied to the solenoid 6. That is, the position component amplification unit 35 converts the control amount of the position component represented by the position deviation ex from a representation in millimeters to a value corresponding to the increase / decrease value of the duty ratio in the subsequent PWM generator).

  The speed comparison unit 34 outputs a deviation ev between the speed target value rv and the speed component feedback signal yv. The deviation ev is amplified by the speed amplification unit 36 by a predetermined speed gain value kv, and the result is the speed control signal uv. Is output as The speed control signal uv takes a value converted into a use ratio of a speed component in the excitation current supplied to the solenoid 6. That is, the unit conversion of the same kind as that of the position component amplification unit 35 is also performed in the velocity component amplification unit 36. Then, the adder 38 unifies the position control signal ux and the speed control signal uv to generate the control signal u, and the PWM generator 26 generates the PWM signal ui (excitation current) based on the control signal u, By driving the solenoid 6 in accordance with the PWM signal ui, a keystroke operation is performed based on the musical performance information to be reproduced.

  In FIG. 7, a gain correction instruction unit 37 is a module that outputs a correction value Ckv of the speed gain value according to the reproduction mode. The gain correction instruction unit 37 is supplied with the set value of the register mode (mode values 1 to 5), and the correction value Ckv of the gain value Kv corresponding to the supplied mode value is referred to, for example, as a table or as appropriate. Is output by, for example. By correcting the speed gain value kv of the speed amplifying unit 36 with the correction value Ckv, the characteristics of the sounding operation by servo control are corrected. An example of the contents of the correction of the speed gain value according to each reproduction mode is as described above with reference to FIG. Since the speed amplifying unit 36 amplifies the deviation ev with the speed gain value kv appropriately corrected according to the playback mode, the features of each playback mode are reflected in the control signal of the speed servo.

  As described above, according to the embodiment of the present invention, in the playback control of performance information on an automatic performance piano, a plurality of playback modes having different performance playback performance (in the above embodiment, “sensitive”, “natural”, “ The user can arbitrarily select a playback mode from “Consistent”, “Safe” and “Safe”. This is the most appropriate from the viewpoint of whether the emphasis is on the fidelity of keystroke trajectory reproduction or the stability of the pronunciation operation, depending on the user's preference, the use of the automatic performance piano, TPO, etc. An excellent effect is that it is possible to let an automatic performance piano perform playback control, and to fully demonstrate both the fidelity of trajectory reproduction and the stability of playback operation in playback control. Play. An automatic performance in a high-fidelity playback mode is suitable, for example, when it is desired to reproduce an accurate operation of a key such as a piano lesson, and a highly stable playback mode is used when a piano performance is played like a BGM. Is suitable.

  In the above-described embodiment, all the playback modes having the mode values 1 to 5 and the parameters of the playback mode defining variables A to D are not necessarily required, and only appropriately selected parameters may be used. In the above example, it is assumed that the user can select the pattern of use of the playback mode (for example, for each song or keystroke) using the playback mode defining variables A to D. However, without using this parameter, the playback mode is simply set. It may be a configuration that selects only. Further, regarding the additional processing in each reproduction mode, not all the processing contents are uniformly required, and the processing contents may be appropriately selected or combined for each reproduction mode. Further, the control content of each processing content, the threshold value setting, and the like are merely examples, and are not limited thereto. Further, with respect to a normal keystroke operation that is not detected as a weakly struck key or a continuously struck key that is to be subjected to additional processing, any additional processing may not be performed.

  In the above-described embodiment, five types of playback modes are shown. However, the present invention is not limited to this, and any configuration may be used as long as at least two playback modes can be selected. In the above embodiment, the playback mode is classified from the viewpoint of fidelity and stability. However, the viewpoint of the playback mode classification is not limited to the above. Further, the mode setting method is not limited to the above embodiment. In the above embodiment, an example is shown in which mode setting is performed from a dedicated physical operation panel as shown in FIG. The configuration and design of the operation panel for mode setting are not limited to the illustrated example. In addition, this may be configured not only from the physical operation panel but also from a display screen on a display such as an LCD.

In the above embodiment, the additional process in step S29 in FIG. 6 is performed on the reproduction operation data that is the source of the trajectory data in the motion control unit. In this stage, the configuration may be such that additional processing is added to the performance information.
In the above-described embodiment, the playback control of the performance is performed by generating playback operation data based on the performance information in MIDI format, generating a trajectory reference based on the generated playback motion data, and using the generated trajectory reference to generate a solenoid. Although an example of performing the above driving is shown, the data used for the reproduction control may be MIDI data. In this case, the soft key handling process, the continuous key handling process, the volume adjustment process, and the like in the additional process may be performed on the MIDI data.

  In the example of FIG. 7, the servo gain correction target as the additional process is the speed gain value kv. However, the present invention is not limited to this, and the position gain value kx may be corrected. Both gain values may be corrected. In the servo control configuration of FIG. 7, the servo control configuration including the position component feedback loop and the velocity component feedback loop has been described, but an acceleration component feedback loop may be further added. A servo configuration in which feedback loops of position, velocity, and acceleration components are appropriately combined may be used. Further, a servo configuration with only a velocity component feedback loop or a servo configuration with only a position component feedback loop may be used. In any case, the correction of the gain value may target any event. Further, the plunger of the solenoid 6 may be provided with a plunger sensor for detecting the movement of the plunger, and the output of the plunger sensor may be used as a feedback signal, or the output of the key sensor 7 and the plunger sensor may be combined. There may be. Further, the additional processing in the servo control unit is not limited to the servo gain value correction processing. For example, other forms of additional processing are possible, such as a form in which a value corresponding to each reproduction mode is given as a bias current for the control signal u.

  The form of the automatic performance piano according to the present invention may be either a grand piano or an upright piano, and is not limited to an automatic performance piano, and may be a mute piano, a mute auto piano, or the like. In addition to the pianos, the reproduction driving device according to the present invention can be applied to musical instruments having a mechanical sounding mechanism and a mechanism for electrically driving the sounding mechanism based on performance information. For example, the present invention can be applied to an electronic piano having a sound generation mechanism including a key, an action mechanism, and a hammer, and controlling sound generation by an electronic sound source based on the operation of the sound generation mechanism.

  1 key, 2 action mechanism, 3 hammer, 4 strings, 5 damper, 6 solenoid, 7 key sensor, 8 hammer sensor, 10 playback pre-processing unit, 11 motion control unit, 12 servo control unit, 28 operation panel, 29 button, 37 Gain correction instruction section

Claims (5)

A sounding mechanism that produces musical sounds based on mechanical sounding movements;
Supply means for supplying performance information that represents a keystroke performance corresponding to a musical tone to be reproduced and includes at least a velocity value;
Driving means for driving the sound generation mechanism based on the performance information;
Based on the performance information, and movement detecting means for detecting the performance information corresponding to the out weak striking operation of pronunciation operation the sound producing mechanism,
Replay mode selection means for selecting any one replay mode among a plurality of replay modes having different performance replay performance so as to improve the stability of the sequential replay operation;
The higher the priority of the stability reproduction mode is selected by the reproduction mode selection means, the velocity values of the performance information corresponding to the weak press operation detected by the operation detecting means, stepwise increase the lower limit value The performance information is corrected so as to be raised, the control for driving the sound generation mechanism based on the corrected performance information, and the sound generation mechanism for the performance information when the sound generation mechanism is driven by the drive means. Correct reduce the gain of the sound operation stepwise, characterized in that it comprises control means for performing at least control one of the braking control for driving the sounding mechanism to said driving means by using a gain after correction Performance information playback device. Means for generating reproduction operation data for reproducing the musical sound by the sound generation operation of the sound generation mechanism based on the performance information;
2. The performance information reproducing apparatus according to claim 1, wherein the control means corrects the reproduction operation data instead of correcting the performance information. The operation detecting means detects performance information or reproduction operation data corresponding to a specific operation difficult to reproduce as the sound generation operation of the sound generation mechanism;
The control unit corrects the performance information or the reproduction operation data corresponding to the specific operation difficult to reproduce detected by the operation detection unit, while the performance information or reproduction corresponding to the specific operation difficult to reproduce is performed. 3. The performance information reproducing apparatus according to claim 1, wherein the correction is not performed when motion data is not detected.   A keyboard instrument comprising the performance information reproducing apparatus according to any one of claims 1 to 3 and a keyboard, wherein the sound generation mechanism is caused to generate a sound according to an operation of the keyboard.   A performance information reproducing apparatus according to any one of claims 1 to 3 and a keyboard are provided, the keyboard is played by the driving means, and the sound generation mechanism is caused to generate a sound according to the keystroke performance of the keyboard. An automatic performance piano.

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