By Martha Belem Saldivar Márquez, Islam Boussaada, Hugues Mounier, Silviu-Iulian Niculescu
This ebook studies the result of exhaustive learn paintings on modeling and regulate of vertical oil good drilling structures. it really is inquisitive about the research of the system-dynamic reaction and the removal of the main destructive drill string vibration modes affecting total perforation functionality: stick-slip (torsional vibration) and bit-bounce (axial vibration). The textual content is geared up in 3 parts.
The first half, Modeling, provides lumped- and distributed-parameter versions that let the dynamic habit of the drill string to be characterised; a accomplished mathematical version considering mechanical and electrical parts of the final drilling method is usually supplied. The dispensed nature of the approach is accommodated by means of contemplating a process of wave equations topic to nonlinear boundary stipulations; this version is reworked right into a pair of neutral-type time-delay equations that could triumph over the complexity enthusiastic about the research and simulation of the partial differential equation model.
The moment half, research, is dedicated to the research of the reaction of the procedure defined by way of the time-delay version; very important houses beneficial for studying approach balance are investigated and frequency- and time-domain strategies are reviewed.
Part III, keep watch over, issues the layout of stabilizing regulate legislation aimed toward disposing of bad drilling vibrations; varied regulate concepts in keeping with infinite--dimensional procedure representations are designed and evaluated. The regulate proposals are proven to be potent in suppressing stick-slip and bit-bounce in order that a substantial development of the general drilling functionality might be achieved.
This self-contained ebook presents operational guidance to prevent drilling vibrations. additionally, because the modeling and keep watch over recommendations provided right here might be generalized to regard diversified engineering difficulties, it constitutes an invaluable source to researchers engaged on keep an eye on and its engineering program in oil good drilling.
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Extra info for Analysis and Control of Oilwell Drilling Vibrations: A Time-Delay Systems Approach
To properly describe the string behavior at the upper end, it is essential to consider the actuators’ dynamics; induction and DC motor models are then recalled. Furthermore, top boundary conditions must be defined to characterize axial-torsional drilling trajectories at this level. • Drillstring sections. , the series of drillpipes of length Lp and the BHA of length Lb , so that L = Lp + Lb , where L is the total length of the rod, as illustrated in Fig. 1. • Bottom extremity. The system trajectories at the bit level are characterized by the bottom boundary conditions involving a nonlinear term to represent the bit-rock contact from which undesirable vibrations arise.
This experimentally obtained model is validated in ; a specially designed test rig with a braking device was constructed for this purpose. 4 Notes and References 43 Besides the friction force arising from the contact between the cutting surface and the bit, the regenerative phenomena have influence on the occurrence of vibrations. In drilling operations, the depth of cut is determined by both the current and previous position of the bit. The regenerative cutting effect, which refers to this dependence on the current and previous states, is analyzed in  through a PDE model with switching boundary conditions.
The modeling of the torque on the bit constitutes a crucial aspect of the system description since it allows to reproduce the vibrational phenomena; this subject will be discussed in Chap. 3. 3 Neutral-Type Time-Delay Models The wave equation model provides a realistic description of the distributed system variables; however, under certain circumstances, it is convenient to deal with a relatively simpler model involving just the primary interest variables. This section presents a direct procedure to derive, from the wave equations, equivalent input-output 2 The inertia moment is such that I B = M B r 2 , where r is taken as the averaged radius of drillpipe.
Analysis and Control of Oilwell Drilling Vibrations: A Time-Delay Systems Approach by Martha Belem Saldivar Márquez, Islam Boussaada, Hugues Mounier, Silviu-Iulian Niculescu