Patent ID: 7202409

Claim:
An automatic player musical instrument for producing music sound, comprising: a sound generator actuated for producing said music sound at different pitches; plural link works making a motion so as to actuate said sound generator, and having respective component parts; and a control loop associated with said component parts, and including a data generator outputting pieces of control data representative of reference trajectories on which said component parts are expected to travel, plural actuators provided in association with said component parts, respectively, having respective movable members for exerting force on said component parts and responsive to driving signals so as to give rise to said motion through said movable members, sensors respectively monitoring said component parts and producing detecting signals representative of a physical quantity of said component parts, other sensors respectively monitoring said movable members and producing other detecting signals representative of another physical quantity of said movable members different from said physical quantity, a servo controller connected to said data generator, said sensors and said other sensors, determining pieces of target data representative of a target physical quantity and another target physical quantity, respectively weighting said physical quantity and said another physical quantity by a weighting factor and another weighting factor for producing pieces of status data representative of a weighted physical quantity and another weighted physical quantity and comparing said target physical quantity and said another target physical quantity with said weighted physical quantity and said another weighted physical quantity for determining a piece of instruction data representative of a proper magnitude of said driving signals, and a modulator connected between said servo controller and said plural actuators and responsive to said piece of instruction data for adjusting said driving signals to said proper magnitude.