Patent ID: 6992241

Claim:
An automatic player musical instrument for producing tones, comprising: an acoustic musical instrument including a tone generating sub-system for producing said tones, and plural motion propagating paths each having plural component parts connected in series to one another toward said tone generating sub-system and sequentially moved for specifying a pitch of the tone to be produced; and an automatic playing system including plural sensors respectively converting motion of predetermined component parts respectively incorporated in said plural motion propagating paths to detecting signals representative of a current physical quantity expressing said motion, a target state indicator for producing pieces of target data each representative of a target physical quantity and a rate of change of said target physical quantity for associated one of said predetermined component parts, plural actuators respectively associated with said plural motion propagating paths and selectively energized with driving signals so as selectively to cause the associated motion propagating paths to move, and plural feedback control loops connected between said plural sensors and said plural actuators and optimizing said driving signals, each of said plural feedback loops having a first data processor connected to one of said plural sensors and determining a true physical quantity and a rate of change of said true physical quantity on the basis of said current physical quantity, a second data processor connected to said target state indicator and said first data processor and determining a first difference between said target physical quantity and said true physical quantity and a second difference between said rate of change of said target physical quantity and said rate of change of said true physical quantity, a multiplier connected to said second data processor and respectively multiplying said first difference and said second difference by a first gain and a second gain so as to produce a first controlling signal and a second controlling signal, respectively, said first gain being fallen within a range between 0.5 and 2.0, said second gain being fallen within a range between 0.5 and 2.3, the ratio of said second gain to said first gain ranging from 1 to 3 and a signal modulator connected between said multiplier and said plural actuators and optimizing the driving signal on the basis of said first controlling signal and said second controlling signal.