Automatic player capable of reproducing stop-and-go key motion and musical instrument using the same
AssigneeYamaha Corporation
InventorYuji Fujiwara
Life of this patent
Estimating the term…
Abstract
A servo controller of an automatic player piano normalizes an actual key position to a value less than a reference value indicative of a target stop on a reference trajectory when the key is found in a region immediately before the target stop and to another value greater than the reference value when the key exceeds the target stop, and adjusts a driving signal to a proper value in such a manner that a solenoid-operated key actuator minimizes the difference between the value or another value and the reference value, whereby the servo controller keeps the key in a narrow region on both sides of the target stop for reproducing stop-and-go key motion.
Claims20
An automatic player for producing at least stop-and-go motion of manipulators of a musical instrument, comprising:
- actuators provided in association with said manipulators, respectively, and responsive to driving signals so as to exert force on the associated manipulators, thereby moving the associated manipulators along reference trajectories on which a target stop is determined for said stop-and-go motion;
- sensors monitoring said manipulators for producing signals representative of pieces of motion data expressing actual motion of said manipulators on actual trajectories;
- and
- a data processing unit including
- a motion controller determining pieces of control data expressing target motion of said manipulators on said reference trajectories, and outputting said pieces of control data at time intervals and
- a servo controller connected to said sensors, said motion controller and said actuators for a servo control on said manipulators, normalizing said pieces of motion data in such a manner as to express said force in a direction same as the direction of said actual motion for the manipulators advancing toward said target stop and in another direction opposite to said direction of said actual motion for the manipulators running over said target stop and adjusting said driving signal to a proper value of magnitude through minimization of a difference between said pieces of motion data already normalized and said pieces of control data.
A musical instrument for producing tones through at least stop-and-go motion, comprising:
- manipulators selectively moved in said at least stop-and-go motion for specifying an attribute of tones to be produced;
- a linkwork connected to said manipulators so that said manipulators give rise to motion of said linkwork;
- and
- an automatic player for producing said at least stop-and-go motion of said manipulators, and including
- actuators provided in association with said manipulators, respectively, and responsive to driving signals so as to exert force on the associated manipulators, thereby moving the associated manipulators through said stop-and-go motion along reference trajectories on which a target stop is determined,
- sensors monitoring said manipulators for producing signals representative of pieces of motion data expressing actual motion of said manipulators on actual trajectories and
- a data processing unit having
- a motion controller determining pieces of control data expressing target motion of said manipulators on said reference trajectories, and outputting said pieces of control data at time intervals and
- a servo controller connected to said sensors, said motion controller and said actuators for a servo control on said manipulators, normalizing said pieces of motion data in such a manner as to express said force in a direction same as the direction of said actual motion for the manipulators advancing toward said target stop and in another direction opposite to said direction of said actual motion for the manipulators running over said target stop and adjusting said driving signal to a proper value of magnitude through minimization of a difference between said pieces of motion data already normalized and said pieces of control data.
Dependencies are inferred from the claim text.