Funny, isn't it...

The main difference between GLRenderer and SoftwareRenderer on the one and the AWTGLRenderer on the other hand is, that the latter one is multi-threaded...it has to be, because drawing has to happen in the AWT-Event-Thread but normal jPCT operations do not.
That's the reason why it consumes more cpu power than the other two on your machine (because it seems to be a dual core/cpu setup or otherwise all renderers would use close to 100% cpu). With AWTGLRenderer, there are two threads running: One does all the calculations (that's your application's thread), the other one (the event thread) all the drawing. If you want to throttle cpu usage, use a sleep (as you've already done). The engine itself will try to pump out data as fast as it can, which will always lead to 100% cpu usage.
However, the results after adding the sleep(20) are i but strange indeed. I don't know the complexity of your test scene, but keep in mind that software renderer needs some cpu cycles to clear the buffers and blit the result. Especially the latter is not cheap in Java, so this may be a reason for the large difference. But as long as adding the sleep helps, i wouldn't worry too much about it...
