LIQUID INSTRUMENTS Moku:Go PID Controller User Manual

June 9, 2024
Liquid instruments

LIQUID INSTRUMENTS Moku:Go PID Controller
LIQUID INSTRUMENTS Moku:Go PID Controller

User Interface

User Interface

ID Description
1 Main menu
2a Input configuration for Channel 1
2b Input configuration for Channel 2
3 Control matrix
4a Configuration for PID Controller 1
4b Configuration for PID Controller 2
5a Output switch for Channel 1
5b Output switch for Channel 2
6 Settings
7 Enable/disable the oscilloscope view

Main Menu

The main menu can be accessed by pressing the icon on the top-left corner.
Main Menu

This menu provides the following options:

Options Shortcuts Description
Save/recall settings:  
Save instrument state Ctrl+S Save the current instrument settings.
Load instrument state Ctrl+O Load last saved instrument settings.
Show current sate   Show the current instrument settings.
Reset instrument Ctrl+R Reset the instrument to its default state.
Power supply   Access power supply control window.*
File manager   Open file manager tool.**
File converter   Open file converter tool.**
Help  
Liquid Instruments website   Access Liquid Instruments website.
Shortcuts list Ctrl+H Show Moku:Go app shortcuts list.
Manual F1 Access instrument manual.
Report an issue   Report bug to Liquid Instruments.
About   Show app version, check update, or license information.

Power supply is available on Moku:Go M1 and M2 models. Detailed information about power supply can be found in Moku:Go power
supply manual.

Detailed information about the file manager and file converter can be found toward the end of this user manual

Input Configuration

The input configuration can be accessed by tapping the or icon, allowing you to adjust the coupling, and input range for each input channel.
Input Configuration

Details about the probe points can be found in the Probe Points section.

Control Matrix

The control matrix combines, rescales, and redistributes the input signal to the two independent PID controllers. The output vector is the product of the control matrix multiplied by the input vector.
where

For example, a control matrix of  equally combines the Input 1 and Input 2 to the top Path1 (PID Controller 1); multiples Input 2 by a factor of two, and then sends it to the bottom Path2 (PID Controller 2).

The value of each element in the control matrix can be set between -20 to +20 with 0.1 increments when the absolute value is less than 10, or 1 increment when the absolute value is between 10 and 20. Tap the element to adjust the value

PID Controller

The two independent, fully real-time configurable PID controller paths follow the control matrix in the block diagram, represented in green and purple for controller 1 and 2, respectively.

User Interface
User Interface

ID Function Description
1 Input offset Click to adjust the input offset (-2.5 to +2.5 V).
2 Input switch Click to zero the input signal.
3a Quick PID control Click to enable/disable controllers and adjust the

parameters. Not available in advanced mode.
3b| Controller view| Click to open full controller view.
4| Output switch| Click to zero the output signal.
5| Output offset| Click to adjust the output offset (-2.5 to +2.5 V).
6| Output probe| Click to enable/disable the output probe point. See Probe Pointssection for details.
7| Moku:Go output switch| Click to enable/disable the Moku:Go’s output.

Input / Output Switches

  • Closed/Enable
  • Open/disable

Controller (Basic Mode)

Controller Interface

Tap the icon to open the full controller view.
Controller Interface

ID Function Description
1 Design cursor 1 Cursor for Integrator ( I ) setting.
2a Design cursor 2 Cursor for Integrator Saturation ( IS ) level.
2b Cursor 2 indicator Drag to adjust cursor 2 ( IS ) level.
3a Design cursor 3 Cursor for Proportional ( P ) gain.
3b Cursor 3 indicator Drag to adjust curser 3 ( P ) level.
4a Cursor 4 indicator Drag to adjust curser 4 ( I ) frequency.
4b Design cursor 4 Cursor for I crossover frequency.
5 Display toggle Toggle between magnitude and phase response curve.
6 Close controller view Click to close the full controller view.
7 PID control Turn on/off individual controller, and adjust the

parameters.
8| Advanced mode| Click to switch to the advanced mode.
9| Overall gain control| Click to adjust overall gain of the controller.

PID Response Plot
The PID Response Plot provides an interactive representation (gain as a function of frequency) of the controller.
PID Response Plot

The green/purple solid curve represents the active response curve for PID Controller 1 and 2, respectively.
The green/purple dashed vertical lines (○4 ) represent the cursors crossover frequencies, and/or unity gain frequencies for PID Controller 1 and 2, respectively.
The red dashed lines (○1 ,○2 ,and ○3 ) represent the cursors for each controller.

Letter Abbreviations for Controllers

ID Description ID Description
P Proportional gain I+ Double integrator crossover frequency
I Integrator crossover frequency IS Integrator saturation level
D Differentiator DS Differentiator saturation level

List of Configurable Parameters in Basic Mode

Parameters Range
Overall gain ± 60 dB
Proportional gain ± 60 dB
Integrator crossover frequency 312.5 mHz to 31.25 kHz
Differentiator crossover frequency 3.125 Hz to 312.5 kHz
Integrator saturation level ± 60 dB or limited by the crossover

frequency/proportional gain
Differentiator saturation level| ± 60 dB or limited by the crossover frequency/proportional gain

Controller (Advanced Mode)

In Advanced Mode , users can build fully customized controllers with two independent sections (A and B), and six adjustable parameters in each section. Tap the Advanced Mode button in the full controller view to switch to the Advanced Mode.
Controller

ID Function Description
1 Frequency response Frequency response of the controller.
2a Section A pane Click to select and configure Section A.
2b Section B pane Click to select and configure Section B.
3 Close controller view Click to close the full controller view.
4 Overall gain Click to adjust the overall gain.
5 Proportional panel Click the icon to enable/disable proportional

path. Click the number to adjust the gain.
6| Integrator panel| Click the icon to enable/disable integrator path. Click the number to adjust the gain.
7| Differentiator panel| Click the icon to enable/disable differential path. Click the number to adjust the gain.
8| Integrator saturation corner frequency| Click the icon to enable/disable integrator saturation path. Click the number to adjust the frequency.
9| Differentiator saturation corner frequency| Click the icon to enable/disable differentiator saturation path. Click the number to adjust the frequency.
10| Basic mode| Tap to switch to the basic mode.

Quick PID Control

This panel allows user quickly to view, enable, disable, and adjust the PID controller without open the controller interface. It is only available in basic PID mode.

Click the P, I, or D icon to disable active controller path.
Click the shaded icon (i.e. ) to enable the path.
Click the active controller path icon (i.e. ) to enter the value.

Probe Points

Moku:Go’s PID controller has an integrated oscilloscope that can be used to probe the signal at the input, pre-PID, and output stages. The probe points can be added by tapping the icon.

Oscilloscope
Oscilloscope

ID Parameter Description
1 Input probe point Click to place the probe point at input.
2 Pre-PID probe point Click to place the probe after the control

matrix.
3| Output probe point| Click to place the probe at output.
4| Oscilloscope settings| Additional settings for built-in oscilloscope.
5| Measurement
| Measurement function for built-in oscilloscope.
6| Oscilloscope*| Signal display area for oscilloscope.

*Detailed instructions for the oscilloscope instrument can be found in Moku:Go oscilloscope manual.

Additional Tools

Moku:Go’s app has two built-in file management tools: file manager and file converter. The file manager allows users to download the saved data from Moku:Go to a local computer, with optional file format conversion. The file converter converts the Moku:Go’s binary (.li) format on the local computer to either .csv, .mat, or .npy format.

File Manager
Additional Tools

Once a file is transferred to the local computer, a icon shows up next to the file.

File Converter
Additional Tools

The converted file is saved in the same folder as the original file.
Liquid Instruments File Converter has the following menu options:

Options Shortcut Description
File  
·         Open file Ctrl+O Select a .li file to convert
·         Open folder Ctrl+Shift+O Select a folder to convert
·         Exit   Close the file converter window
Help  
·         Liquid Instruments website   Access Liquid Instruments website
·         Report an issue   Report bug to Liquid Instruments
·         About   Show app version, check update, or license information

Power Supply

Moku:Go Power supply is available on M1 and M2 models. M1 features a 2-channel power supply, while M2 features a 4-channel power supply. The power supply control window can be accessed in all instruments under the main menu.

The power supply operates in two modes: constant voltage (CV) or constant current (CC) mode. For each channel, the user can set a current and voltage limit for the output. Once a load is connected, the power supply operates either at the set current or set voltage, whichever comes first. If the power supply is voltage limited, it operates in the CV mode. If the power supply is current limited, it operates in the CC mode.
Power Supply

ID Function Description
1 Channel name Identifies the power supply being controlled.
2 Channel range Indicates the voltage/current range of the channel.
3 Set value Click the blue numbers to set the voltage and current

limit.
4| Readback numbers| Voltage and current readback from the power supply, the actual voltage and current being supplied to the external load.
5| Mode indicator| Indicates if the power supply is in CV (green) or CC (red) mode.
6| On/Off Toggle| Click to turn the power supply on and off.

Ensure Moku:Go is fully updated. For the latest information:
www.liquidinstruments.com

LIQUID INSTRUMENTS

References

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