シロフォンの自動演奏に関する研究
極配置制御による高速位置制御の実現
2000 年 31 巻 6 号 p. 151-156
詳細
2000 年 31 巻 6 号 p. 151-156
We attempted to play the xylophone automatically by controlling pneumatic components. A bar was controlled by proportional pressure control valves and high cycle solenoid valves. The width of the bar was about 25mm, the range of positioning the bar was from-12.5mm to +12.5mm of the desired positions. The positioning accuracy of striking bars was not restricted within narrow limits, but high velocity positioning is required t o play the xylophone automatically. We controlled position of the bar by pole assignment control to realize fast positioning. To achieve fast positioning of the bar, compressed air a port on the left or right was expelled. When the error is greater than 55mm, the left port is opened, and when the error is less than-55mm, the right port is opened.
