Modeling and control of the "C-Plane" ocean current turbine

The "C-Plane" is a submerged ocean current turbine that uses sustained ocean currents to produce electricity. This turbine is moored to the sea floor and is capable of changing depth, as the current profile changes, to optimize energy production. A 1/30th scale physical prototype of the C-Plane is being developed and the analysis and control of this prototype is the focus of this work. A mathematical model and dynamic simulation of the 1/30th scale C-Plane prototype is created to analyze this vehicle's performance, and aid in the creation of control systems. The control systems that are created for this prototype each use three modes of operation and are the Mixed PID/Bang Bang, Mixed LQR/PID/Bang Bang, and Mixed LQG/PID/Bang Bang control systems. Each of these controllers is tested using the dynamic simulation and Mixed PID/Bang Bang controller proves to be the most efficient and robust controller during these tests.