Liquid Instruments Moku:Pro User manual
www.liquidinstruments.com 2021 Liquid Instruments. All rights reserved.
V21-0521
PID Controller
Moku:Pro User Manual
Moku:Pro’s PID (Proportional-Integrator-Differentiator) Controller features four fully real-time
configurable PID controllers with a closed-loop bandwidth >100 kHz. This enables them to be used
in applications requiring both low and high feedback bandwidths such as temperature and laser
frequency stabilization. The PID Controller can also be used as a lead-lag compensator by
saturating the integral and differential controllers with independent gain settings.
2| Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
Table of Contents
User Interface....................................................................................................................................... 4
Main Menu ............................................................................................................................................ 6
Preferences........................................................................................................................................... 7
Input Configuration .............................................................................................................................8
Control Matrix.......................................................................................................................................9
PID Controller..................................................................................................................................... 10
User Interface 10
Input / Output Switches 10
Controller (Basic Mode) 11
Controller Interface 11
PID Response Plot 12
PID Paths 13
PID Path Preview 14
List of Configurable Parameters in Basic Mode 14
Controller (Advanced Mode) 15
Quick PID Control 15
Probe Points ........................................................................................................................................17
Oscilloscope 17
Data Logger 18
4| Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
User Interface
Moku:Pro is equipped with four inputs, four outputs, and four PID controllers. Two control matrices
are used to create two multiple-input and multiple-output (MIMO) in groups for PID 1 &2, and PID
3&4. You can tap the or icons to switch between MIMO group 1 and 2. MIMO group 1 (inputs
1 and 2, PID 1 and 2, Output 1 and 2) is used throughout this manual. The settings for MIMO group 2
are similar to MIMO group 1.
5| Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
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
Enable the oscilloscope
6| Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
Main Menu
The main menu can be accessed by pressing the icon, allowing you to:
7| Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
Preferences
The preferences pane can be accessed via the main menu. In here, you can reassign the color
representations for each channel, connect to Dropbox, etc. Throughout the manual, the default
colors (shown in the figure below) are used to present instrument features.
ID
Description
1
Tap to change the color associated with input channels.
2
Tap to change the color associated with output channels.
3
Tap to change the color associated with math channel.
4
Indicate touch points on the screen with circles. This can be useful for demonstrations.
5
Change the currently linked Dropbox account to which data can be uploaded.
6
Notify when a new version of the app is available.
7
Moku:Pro automatically saves instrument settings when exiting the app, and restores them
again at launch. When disabled, all settings will be reset to defaults on launch.
8 Moku:Pro can remember the last used instrument and automatically reconnect to it at launch.
When disabled, you will need to manually connect every time.
9
Reset all instruments to their default state.
10
Save and apply settings.
8| Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
Input Configuration
The input configuration can be accessed by tapping the or icon, allowing you to adjust
the coupling, impedance and input range for each input channel.
Details about the probe points can be found in the Probe Points section.
9| Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
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.
1
2=
×1
2
where
1=×1+×2
2=×1+×2
For example, a control matrix of 1 1
0 2equally 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.
10 | Moku:Pro’s PID Controller User Manual © 2021 Liquid Instruments. All rights reserved.
PID Controller
The four independent, fully real-time configurable PID controller are grouped into two MIMO
groups. MIMO group 1 is shown here. In MIMO group 1, PID controller 1 and 2 follow the control
matrix in the block diagram, represented in green and purple, respectively. The settings for all
controller paths are the same.
User Interface
ID
Parameter
Description
1
Input offset
Tap to adjust the input offset (-1 to +1 V).
2
Input switch
Tap to zero the input signal.
3a
Quick PID control
Tap to enable/disable controllers and adjust the parameters. Not
available in advanced mode.
3b
Controller view
Tap to open full controller view.
4
Output switch
Tap to zero the output signal.
5 Output offset Tap to adjust the output offset (-1 to +1 V).
6
Output probe
Tap to enable/disable the output probe point. See Probe Points
section for details.
7
Moku:Pro output
switch
Tap to disable or enable DAC output with 0 dB or 14 dB gain.
Input / Output Switches
Closed/Enable
Open/disable
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