Dynamic Modelling and Control of a Submerged Device with Hydrostatic Actuators

[ES] Las corrientes marinas, fuente de energía renovable más predecible, localizan la mayor parte de su energía en altas profundidades. Para aprovechar esta energía se están desarrollando dispositivos flotantes, de tipo fondeado. La viabilidad económica de estos dispositivos requiere el abaratamiento de costos. El desarrollo de sistemas de control que permitan el cambio automático de orientación y profundidad del generador, con el fin de abaratar las maniobras de mantenimiento y aprovechar el recurso energético de forma óptima, resulta imprescindible. En este trabajo se presenta un actuador hidrostático y se realiza un modelo dinámico simple para control, de un dispositivo de dos grados de libertad, con un sistema de control de lastre. A partir de este modelo se ha desarrollado una ley de control multivariable, basada en una matriz de desacoplamiento no lineal y en la compensación de los términos de fricción y compresibilidad. Finalmente, la bondad del controlador ha sido validada mediante simulación.[EN] Marine currents represent the most predictable source of renewable energy. The greatest percentage of its energy is located in areas with high depths. In order to be able to operate at these depths, new devices are being developed, floating anchoring type. The economically viable harnessing of the tidal energy with these devices requires the development of control systems. These systems must allow the automatic change of orientation and depth of the generator to harness the energy in an optimal way. In this paper, a type of hydrostatic actuator based on the controlled handling of water ballast is selected. Next, a dynamic model, provided with two degrees of freedom, is presented for the control of a submerged device for the exploitation of tidal currents. 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