JPH01282769A - Tracking controller for magnetic recording/reproducing device - Google Patents

Abstract

PURPOSE:To execute an optimum tracking control even in case of executing the other recording and reproduction in a VTR for executing deep layer and surface phase recording by controlling a speed change and a phase of a capstan motor 9 so that a composite envelope value holds a set value. CONSTITUTION:A video signal and a HiFi audio signal amplified by both head amplifiers 41, 42 are detected by the respective envelope detecting circuits 43, 44, converted to digital signals by A/D converting circuits 45, 46 and stored in memory circuits 47, 48. Subsequently, a microcomputer 49 performs prescribed weighting to both these digital signals and adds them, and controls a capstan motor 9 so as to hold a set value which has been set in the vicinity of the maximum value of this added composite envelope value. In such a way, in a VTR consisting of both the deep layer and surface phase recording, an automatic tracking operation can be executed with high accuracy in both the self- picture recording and the other recording and reproduction.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic tracking control device for a magnetic recording/reproducing apparatus a (hereinafter referred to as rVTRJ) that uses both deep recording and surface recording.

[Prior art] Figure 6 shows, for example, the Japanese Patent Publication No. 55-51256゜55-512.
FIG. 7 is a block circuit diagram showing the configuration of the conventional automatic tracking control GLL device for a VTR disclosed in Publication No. 57, and FIG. 7 is a diagram for explaining its operation. In FIG. (2) and the control signal (3) used for the tracking servo during playback are recorded, and the rotating video head (4a), (4b
) and a fixed control head (5) respectively.
) is attached to a rotating drum (6), and is rotationally driven at a predetermined constant rotation speed by a drum motor (8) controlled by a drum motor drive circuit (7).

On the other hand, the magnetic tape (1) has a frequency generator (10) that generates a frequency signal proportional to one revolution, and the capstan motor drive control circuit (1) to which this FG signal is applied.
The drive is controlled by 1). A pulley (12) is driven by a capstan motor (hereinafter referred to as "CP motor") (8).
), driven in the direction of arrow (15) via belt (13) and cap stan (14).

The control signal reproduced by the control head (5) and amplified by the control amplifier (1B) is applied to the phase comparator circuit (17).
7), the magnet piece (18) attached to the rotating drum (6) is connected to the fixed detection head (1).
9) The rotational phase detected in (rotating video head (4a)
, (rotation angle of (ab)) signal adjusted by a phase adjustment circuit (20) is added. .

The error signal output from the phase comparator circuit (17) is applied to the CP motor drive control circuit (11), which controls the CP motor (8) which is being driven at approximately a predetermined speed by the drive control circuit (11). The tape running is finely controlled so that the rotational phase of the rotating video heads (4a), (4b) and the playback phase of the control signal (3) have a phase relationship determined by the phase adjustment circuit (20). controlled. As a result, rotating video heads (4a), (4b)
is the signal track (2) determined by the phase adjustment circuit (20).
) will be scanned over a constant relative position.

On the other hand, the reproduced video FM signals reproduced by the rotating video heads (4a) and (4b) are transferred to the rotating transformer (21).
, amplified by the head amplifier (22),
The signal detected by the envelope detection circuit (23) is sent to a comparator (25) and an integration circuit (28).
). The output of the head amplifier (22) is connected to a peak hold circuit (which holds the maximum value of the envelope signal).
24) can also be added. In addition, the peak hold circuit (2
The output of 4) and the output of the envelope detection circuit (23) are added to a comparator (25),
5) is the output voltage Vp of the peak hold circuit (24),
It compares the output voltage Ve of the envelope detection circuit (23) and determines whether the voltage difference Vp-We is smaller or larger than an appropriately set threshold eO. comparator(
The output of 25) is applied to a differentiating circuit (28), which generates a positive or negative pulse signal each time the output of the comparator (25) is inverted. The flip-flop (27) is a differentiator circuit (2
6) is triggered only by a negative pulse signal to flip between positive and negative output voltage levels. Flip-flop (27
) is applied to the integrating circuit (28), where it is integrated and converted into an increase/decrease signal according to the output voltage polarity of the flip-flop (27) to control the phase of the 1-phase adjustment circuit (20). Now, when the phase of the phase adjustment circuit (20) is in the state a in FIG. 7, the output voltage of the flip-flop (27) is at a positive voltage level, and the output of the integrating circuit (28) is in the increasing direction, The phase of the adjustment circuit (20) is in the increasing direction, c
change in the direction of Accordingly, the output of the envelope detection circuit (23) increases sequentially, reaches the maximum value Vpax of the envelope voltage Vp (the level indicated by the broken line in FIG. 7), and then decreases again, and the output of the phase adjustment circuit (20) When the phase becomes d, the envelope voltage Ve of the envelope detection circuit (23) and the peak hold circuit (24)
Since the difference between the maximum value Vpmax of the hold voltage Vp becomes the predetermined threshold value aO (the level indicated by the broken line in FIG. 7) of the comparator (25), the comparator (25) is inverted from a positive level to a negative level. The differentiator circuit (26) therefore generates a negative pulse to invert the flip-flop (27) to a negative voltage level. As a result, the output of the differentiating circuit (28) begins to decrease, and the phase of the phase adjustment circuit (20) decreases again and changes in the direction of C.
) is controlled to fluctuate between , , and d, and the output voltage Ve of the envelope detection circuit (23) is controlled to fluctuate between the voltages shown by the broken lines Vpiax and eo, and the threshold value eo is appropriately set. This allows tracking, which was traditionally done manually, to be done automatically.

[Problems to be solved by the invention: The conventional VTR automatic tracking control system is configured as described above, and has served its purpose and functions, but when playing back magnetic tapes recorded on other machines, ,
Since the track width of the video head of the reproducing machine and the track width of the recorded magnetic tape are different, there is a problem in that it is not possible to drive to the best track position. Especially V
A VTR that records and plays back the video signal on the surface of the magnetic tape surface and the HtFi audio signal on the deep layer using separate heads, like H3 type HiFi video.
If the deep recorded signal remains in the surface area, it will have a negative effect on the operation of the video head that performs surface recording (reducing the C/N), so be sure to narrow the track width of the head that performs deep recording. The track width of the head that performs surface recording is widened, and the surface portion of the deep recording portion is configured to perform surface recording. Therefore, if the above-mentioned control system is adopted using only video signals, the tracking of the HiFi audio signal will be insufficient, and the audio S/N will be poor, making it unusable. This will be explained in detail below.

First, the principle of a Hi-Fi VTR that performs deep layer 9 surface layer recording will be explained with reference to FIGS. 8(a) and 8(b). 8th
As shown in figure (a), the video head (4a), (
4b) and HiFi audio head (40a)
, (40b) are each exactly 1 on the rotating drum (6).
800 and installed. Moreover, it has video heads (4a), (4b) and HiFi audio head (40a).

As shown in FIG. 9(a), the step (40b) on the side surface of the drum is fixed at a constant value (for example, 164).

As shown in FIG. 8(b), first, there is a gap go (gear width approximately o, s IL) in the tape traveling direction (15).
HiFi audio head (40) with
A large recording current of about 161 J was applied to the .

A video head (4JL) having a 0th order gap g+ (gap width as small as 0.3JL) records to the deep layer of a magnetic material (1b) formed to a thickness of about 4JL on a film base (LA) of ), and a video signal is recorded in the surface layer above the HiFi audio signal that has been recorded deep. If you look at this situation from the tape magnetic side, it is as shown in Figure 9(a). Figure 9 shows a tape recorded on a VTR with heads (4) and (40) arranged as shown in Figure 9(b). When playing back on the same VTR (hereinafter referred to as "self-recording and playback"), Fig. 9 (C) shows the tracking state, that is, the tracking position where the envelope pattern of the video signal is maximum and the HiFi audio signal. Since the tracking positions at which the envelope values of both signals are maximum are to and coincide with each other, the maximum value of the envelope of either the video signal or the HiFi audio signal can be found to control the best tracking position. Therefore, in the case of self-recording/playback, the conventional example shown in FIG. 6 is also applicable in principle. However, as shown in Figure 10, when playing back a tape recorded on another VTR (hereinafter referred to as "other recording/playback"), the envelope exchange of the video signal is performed as shown in Figure 10 (C). A deviation occurs between the tracking position t1 where the amplitude is maximum and the tracking position t2 where the envelope height of the HtFi audio signal is maximum. Generally, the video track width is set at 58 pL in the VH3 system, but the video track width actually recorded is various widths below 58 pL, and the video head (4) and HiFi audio head (4)
0), there are various types of steps, so the tracking positions tl, t, + may be different from each other.

This invention was made to solve the above-mentioned problems, and it is possible to perform high-speed recording using a head with a narrow track width for deep recording.
The HiFi VTR, which consists of both the Fi signal and the video signal that is surface-recorded on top of the HiFi signal that has already been recorded deep using a head with a wide track width, can perform automatic tracking operations with high precision for both self-recording and self-recording. , and a playback-only VT that employs a wide surface recording head (video head) that emphasizes special playback functions such as still slow motion.
An object of the present invention is to obtain an automatic tracking control device with good tracking accuracy that can perform tracking operations in exactly the same way even in R.

[Means for Solving the Problems] The automatic tracking control device according to the present invention includes means for envelope detecting a reproduced video signal and converting it into a digital signal, and means for envelope detecting a reproduced HiFi audio signal and converting it into a digital signal. means for converting, means for adding a predetermined weight to both digital signals, and means for controlling a capstan motor so as to maintain a set value near the maximum value of the added composite envelope value. It is equipped with the following.

[Function] The control means for the capstan motor in this invention is as follows:
The speed and phase of the capstan motor are controlled so that the composite envelope value maintains the set value, and the tracking position where the video head scans the video track and the tracking position where the Hi-Fi audio head scans the audio track are integrated. Control to achieve the best tracking position.

[Embodiment of the Invention] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1st
In the figures (1) to (11), (14) to (1B)
.

(ts), (19), and (:2+) have the same functions as the components with the same symbols as in the conventional example shown in FIG.

(30) is a reference signal generator that provides a reference signal for operating the servo control circuits of both the drum (6) and capstan (14), and is 3.58MH in the case of the NTSC system.
2 oscillation circuit (30a) and a down counter (30c) that counts down this oscillation signal.

(30d) and down counter and phase correction circuit (30
b). (31) is a rotating drum (6
) are correctly rotated at 1800 rpm, and the rotating heads (4a) and (4b) are mounted facing each other.

The drum servo control circuit also controls the rotational phase of (40a) and (40b), and the drum phase comparison circuit (31a)
).

Drum frequency comparison circuit (31b), drum flip-flop signal generation circuit (31c), and both comparison circuits (31b), drum flip-flop signal generation circuit (31c),
It consists of a mixing filter circuit (31d) that mixes and smoothes the outputs of 1a) and (31b).

(32) is a capstan servo control circuit that rotates the capstan (14) at a predetermined speed and runs the magnetic tape (1) at a predetermined speed and tracking position, and includes a CP phase comparison circuit (32a) and a CP frequency comparison circuit. circuit (32b), and both comparison circuits (32a)
.

A mixing filter circuit (32b) that mixes and smoothes the output of
31c). (33) is a delay circuit that delays the reference signal of the drum phase comparison circuit (31a);
Reference numeral (34) denotes a repair frequency division vertical signal generation circuit which generates a station frequency division vertical reference signal based on this delayed signal, which is used as a reference for a tracking control signal generated by a microcomputer (49). (35) is a delay circuit for creating a HiFi head switch signal which is a delayed drum flip-flop signal.

(41) is a video head amplifier circuit that amplifies the video signal, (42) is an H that amplifies the HiFi audio signal.
iFi audio head amplifier circuit, (43) is FM
A video signal envelope detection circuit (44) detects the amplitude of the video signal converted into an FM signal.
A HiFi signal envelope detection circuit (53) detects the amplitude of the iFi audio signal, an attenuator (53) attenuates the output of the video signal envelope detection circuit (43),
54) is a HiFi signal envelope detection circuit (attenuator that attenuates the output of 40%), (45) is an A/D conversion circuit that converts the video envelope detection signal, which is an analog signal, into a digital signal, and (46) is an analog signal. (47) is an A/D conversion circuit that converts the HiFi audio envelope detection signal into a digital signal; (47) is a memory circuit that stores the digitized video envelope signal;
(48) is a memory circuit that stores the digitized HiFi audio envelope signal, and (48) is an arithmetic unit and control unit that compares the composite envelope value obtained by adding both digital signals with a discrimination value set to an appropriate value. This is a microcomputer that creates pulses.

2(A) to (G) are signal waveform diagrams of each part in FIG. 1, FIG. 3 is a flowchart showing the control operation by the microcomputer (48), and FIG. 4 is a waveform diagram for explaining the same. FIG. 5 is a diagram showing tracking control characteristics in this embodiment.

The operation of this embodiment will be explained in detail below.

First, a drum frequency generator (hereinafter referred to as "drum FGJ") (10a) attached to a drum motor (8) (
7) FG signal (e.g. 720H2) and 3.58M
The drum frequency comparison circuit (31
Compare in b). A drum PG that magnetically detects the rotational phase of the head using a magnet piece (]8) attached to the rotating drum (6) and a drum phase detection head (19).
A pulse signal (30Hz) is input to a drum flip-flop circuit (31c), and its output signal (shown in FIG. 2 (A)) is used as a down counter phase correction circuit (shown in FIG. 2 (A)) that counts down the 3.58MH7 reference oscillation signal and corrects the phase. 30b)
The drum phase comparison circuit (31a) compares the output signals of the drum frequency comparison circuit (31b) and the drum phase comparison circuit (31a) (as shown in FIG. At step 31d), the smoothed and mixed signal is applied to the drum motor drive circuit (7) to perform stable rotation at 1800 rpm with controlled speed and phase.

On the other hand, the FG multiplied signal of the capstan frequency generator (hereinafter referred to as rCP-FGJ) (10) attached to the capstan motor (9), for example 720H1),
．． 58MH2 reference oscillation signal down counter (30d)
The output signal counted down by the CP frequency comparison circuit (
32b). On the other hand, the control head (5)
The control signal is detected by the control signal amplification circuit (18) and the control signal is amplified by the control signal amplification circuit (18).
) as shown).

A tracking control signal (shown in FIG. 2(E)) generated by a microcomputer (48) is compared with a CP phase comparison circuit (32a). This CP frequency comparison circuit (32
b) The output signal of the CP phase comparison circuit (32a) is smoothly mixed by the mixing filter circuit (31c) and applied to the capstan motor drive circuit (11), which drives the tape at a stable tape speed with controlled speed and phase. do.

On the other hand, the output signal of the drum flip-flop circuit (31c) (shown in FIG. 2(A)) is applied to the video head amplifier circuit (41) as a head switch signal for the rotating video head, and the output signal is applied to the video head amplifier circuit (41) as a head switch signal for the rotating video head. ) is switched. In addition, the delay circuit (35)
) as shown in the video head (4a).

A HiFi audio head (40a) is attached at an angle of 90° to (4b).

The flip-flop signal (shown in Fig. 2 (C)) with a delay corresponding to (40b) is applied to the HtFi audio head amplifier (42), and the inputs from the HiFi audio head (40a) and (40b) are switched. It will be done. In this way, both head amplifiers (41) are connected.

The video signal and HiFi audio signal amplified in (42) are switched according to the phase of each head, and a continuous envelope signal is extracted.

Next, the FM video signal amplified by the video head amplifier (41) is detected by a video signal envelope detection circuit (43) and attenuated by an attenuator (53), and this attenuated analog envelope detection signal is D conversion circuit (
45) is converted into a digital signal and sent to the memory circuit (47)
is memorized. Similarly, the FM audio signal amplified by the HiFi audio head amplifier (42) is
It is detected by the iFi audio signal envelope detection circuit (44) and attenuated to % by the attenuator (54), and this attenuated analog envelope detection signal is sent to the A/D conversion circuit (
46) converts it into a digital signal and sends it to the memory circuit (48)
is memorized. These A/D conversion circuits (45), (4
G) is 8 bits (256 stages), sampling frequency 1
It only needs to be able to process at 0 KHz, and can be configured at a relatively low cost.

The two voltage values of the memory circuits (47) and (48) are applied to the microcomputer (43) and added.

Furthermore, the microcomputer (49) generates an r-divided vertical reference signal (3) generated by the %-divided vertical signal generation circuit (34).
0H1) (shown in FIG. 2 (D)) as a reference, a tracking control signal (shown in FIG. 2 (E)) is created, and this signal C
In addition to the P phase comparison circuit (32a), the phase is compared with a control pulse signal (shown in FIG. 2(G)). Figure 2 (F
) shows the signal waveform in the CP phase comparison circuit (32a).

Next, the operation of the microcomputer (49) will be explained in detail with reference to the flowchart of FIG. 3 and FIG. 4 showing changes in the composite envelope value.

The microcomputer (48) includes a memory circuit (47).
), (48), the video signal and the HIFi audio signal are input with different weighted envelope digital values, which are added, and this added value determines the level of the composite envelope (hereinafter referred to as "composite envelope value") M. The following arithmetic processing is performed for . First, the starting point is set to no, and its composite envelope value is also set to J2.
0, and the subtraction value p determined appropriately from this no value is M
rLL is compared with the initially set judgment value JO. Here, Jo is selected as (Jo<1o), so Jo<sentence.

−p.

Next, set the discriminant value io to jo=io−p, control the tracking amount in the negative direction to find the composite envelope planting l, and f
Compare Ll -P and the discriminant value jo. The result is intersecting + -
If p<jo = sentence op, then the same comparison is made for the composite envelope value fL2.13, and the result is sentence 2-p<j.

Sentence 3-p<j.

If it is smaller than the discriminant value jo, the discriminant value jo
is stored in the RAM in the microcomputer (49).

Next, a point Ha at which the synthetic envelope planting becomes the stored discriminant value jo is determined. That is, it is determined that even if the tracking amount is searched in this negative direction, there is no maximum value of the synthetic envelope, and the point where intersection a=jo=intersection 0-P is found, and the tracking XI! : is stored in the RAM in the microcomputer (49) as point A.

Next, from point A, control the tracking amount in the positive direction and return it in the opposite direction), and determine the aging of the synthetic envelope 2.
A comparison is made using P as the judgment value j2. The result is 52 = 5L2
If -p, the tracking amount is further searched in the positive direction to obtain the composite envelope value statement l, and the operation of comparing it with the judgment value j2 is repeated in sequence. j+=u+ P Sentence ++-p>jo=intero -p 1+2-p>j++=Sentence II -P lr5- p = Ja4m M+4- p1+9-
p = j + a = Sentence 18-P In this way, when the synthetic envelope sentences reach sentence 2o where they begin to decrease, the comparison result becomes 20-P≦j19: Sentence 19-P.

In this way, tracking IB is sequentially searched in the forward direction,
Compare the value of the predetermined subtraction pt-subtracted sentence 1-P from the synthetic envelope setting 1 of each check point with the setting judgment value j1 set by the previous synthetic envelope value, and if it is larger or equal, search comparison operation is performed. is repeated, and when it becomes smaller, the setting discrimination value j+ is stored in the RAM in the - time microcomputer (49) (in this example, j+
q is stored) 0 Next, the tracking amount is further searched in the positive direction to find a point where the composite envelope set 1 becomes j+q. That is, the point where the sentence b-jz=j+a...jz is found, and the tracking amount at this time is stored in the RAM in the microcomputer (48) as point B.

Through the above calculation operations, the tracking points A and B are determined by RA.
0, which will be temporarily stored in M. Next, set the intermediate point between this point A and point B as the final best tracking point, search again in the negative direction from point B, and stop the tracking search at point 0 and fix it. do.

Using this zero point as a reference, the tracking control signal (Fig. 2 (E)
) is generated by the tracking control signal generator in the microcomputer (49) and applied to the CP phase comparison circuit (32a).

The above operation is an operation that is always performed when the playback operation starts, but even during playback there is a discriminant value of 3 where the composite envelope is set 1.
When it becomes less than 1, it is repeated.

FIG. 5 is a diagram showing the tracking characteristics in this embodiment, and FIG. 5(a) shows the envelope value IV of the video signal.
Figure 5(b) is a characteristic diagram of the tracking amount of the envelope value nu of the HiFi audio signal.
3) This is a characteristic diagram of the tracking amount of the envelope value 3'aJlv and %MA attenuated to 9% in (54), respectively. In this example, the envelope &f l A of the HiFi audio signal, which is a deeply recorded signal.
and the envelope value UV of the video signal recorded on the surface.
The weighting ratio is chosen to be 1:2. FIG. 5(C) is a characteristic diagram of the combined envelope value (local exchange ν Jufune) obtained by adding these two values to tracking (2), which has a characteristic in which the envelope In of the HiFi audio signal is weighted. Here, it is shown that if the zero point is determined and controlled so that the composite envelope value becomes the maximum value, the best overall tracking control can be performed considering not only the HiFi audio signal but also the video signal.

In this way, H4F1 was recorded deep with a narrow track width.
If tracking control is performed with weight placed on the envelope value IA of the audio signal, it is possible to determine a tracking amount with good S/H for both signals, taking into account the video signal surface-recorded with a wide track width.

In the above embodiments, specific configuration examples generally called digital servo circuits have been shown for the drum servo system and the capstan servo system, but the present invention is not limited to this and can be used for a wide range of analog servo circuits.

In addition, in the above embodiment, the attenuation ratio of the attenuators (53) and (54) is set to 2%, but the reason for this is that in the case of the VHS system, if the attenuation ratio is set to 2%, it will give the best result for both the video signal and the HiFi audio signal. This is because the tracking amount can be controlled stably (by recording recorded tapes recorded on VTRs with various track widths at +lr), and the tracking amount is limited to this weighting ratio. isn't it.

In addition, in the above embodiment, the attenuators (53) and (54) were provided by 1iQ, but these were not provided and the microcomputer (4
It is also possible to adopt a configuration in which weighting is performed by the calculation process in 9).

In addition, in the above embodiment, the tracking amount set points A and B
The best tracking point was set at the 0 point in between, but it goes without saying that any arbitrary point can be selected.

Furthermore, although this embodiment has described VH3 type HiFi VTR (deep recording type), VHS type non-HiFi VT
When an R playback tape is inserted, there is no output from the HjFj envelope detection circuit, so only the video signal system is operated, and a program for switching and calculating with a microcomputer can be provided, which can be easily realized.

[Effects of the Invention] As described above, according to the present invention, both the envelope detection signal of the video signal and the envelope detection signal of the HiFi audio signal are weighted to the HiFi audio signal which is being deep-recorded with a narrow track width. Since the structure is such that tracking is performed based on the combined envelope value of both signals, which is synthesized from the added value, the image quality is maintained even when performing self-recording and playback on a VTR that performs depth and surface recording. This has the effect of providing a VTR that can perform optimal tracking control that can automatically drive to the optimal tracking position with good quality and sound quality.

[Brief explanation of the drawing]

FIG. 1 is a block circuit diagram of an embodiment of the present invention, FIG. 2 is a signal waveform diagram of each part thereof, FIG. 3 is a signal processing flowchart in the microcomputer of this embodiment, and FIG.
Figure 5 is a waveform diagram for explaining its operation, Figure 5 is a diagram for explaining the tracking characteristics of this embodiment, Figure 6 is a block circuit diagram showing a conventional automatic tracking control device, and Figure 7 is its operation. Figure 8 is a diagram to explain the deep layer. Figures 9 and 10 for explaining the surface recording method
The figure is a diagram for explaining the relationship between the recording pattern of a magnetic tape on which deep surface recording has been performed and the envelope signal of the reproduced signal. (4a), (4b)...rotating video head, (5
)...Control head, (10), (10a
)... Frequency generator, (30)... Reference signal oscillator, (31)... Drum servo control circuit, (32)...
・Capstan servo control circuit, (40a), <40
b) One rotation H7Fi audio head, (43)...
Video signal envelope detection circuit, (44)...Hi
Fi audio signal envelope detection circuit, (45)
, (4B)...A/D conversion circuit, (47) , (
48)...Memory circuit, (49)...Microcomputer, (53). (54)...Attenuator. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] (1) Means for envelope-detecting a signal reproduced from a deep-recorded signal by a first rotary head and converting it into a first envelope digital signal; means for envelope detecting a signal obtained by reproducing a signal surface-recorded with a wider track width with a second rotary head and converting it into a second envelope digital signal; and the first and second envelope digital signals. means for adding the first envelope digital signal with heavier weighting on the first envelope digital signal; means for generating a tracking control signal indicating a tracking amount for which the added composite envelope digital signal value is maximum; and the tracking control signal. A tracking control device for a magnetic recording/reproducing device, comprising means for controlling a cap stun speed and a tracking amount based on the following.