TORSIONAL FRICTION-INDUCED VIBRATIONS IN SLENDER ROTATING STRUCTURES

Drilling a wellbore can result in several types of vibration that lead to inefficient drilling and premature failure of drill string components. These vibrations are subdivided based on their operating direction into lateral, torsional, and axial vibrations. Especially in hard and dense formations, high-frequency torsional oscillations are found in the bottom-hole assembly (BHA). These critical vibrations are induced by a self-excitation mechanism caused by the bit–rock interaction. Self-excitation mechanisms are regenerative effects, mode coupling, or a velocity-dependent torque characteristic at the drill bit. To increase drilling performance and reduce tool failure due to high-frequency torsional oscillations, the critical vibration amplitudes localized at the bottom-hole assembly need to be minimized. Increasing the damping of self-excited systems to affect the energy output during vibration is a common approach to mitigate self-excited vibrations. In drilling systems, the achievable damping is naturally limited by the small installation space due to the drilled borehole diameter. Therefore, alternative methods to influence vibrations are necessary. Applying parametric excitation in self-excited systems can result in a parametric anti-resonance and therefore in an energy transfer within different modes of the structure. This allows, among other benefits, improved utilization of the structural damping. In this article, the influence of additional stiffness–based parametric excitation on self-excited torsional vibration in downhole drilling systems is investigated. For this purpose, a finite element model of a drill string is reduced using the component mode synthesis and analyzed with the goal to mitigate torsional vibrations. The multiple degree of freedom drill string model is investigated regarding the additional energy transfer due to the parametric excitation. Robustness of various parameters, especially with regard to the positioning within the bottom-hole assembly, is analyzed and discussed. Additionally, the problem of multiple unstable self-excited modes due to the nonlinear velocity-dependent torque characteristic in drilling systems is addressed.

Part of the process of exploration and development of an oil field consists of the drilling operations for oil and gas wells. Particularly for deep water and ultra deep water wells, the operation requires the control of a very flexible structure which is subjected to complex boundary conditions such as the nonlinear interactions between drill bit and rock formation and between the drill string and borehole wall. Concerning this complexity, the stick-slip phenomenon is a major component related to the torsional vibration and it can excite both axial and lateral vibrations. With these intentions, this paper has the main goal of confronting the torsional vibration problem over a test rig numerical model using a real-time conventional controller. The system contains two discs in which dry friction torques are applied. Therefore, the dynamical behaviour were analysed with and without controlling strategies.

Torsional vibrations experienced by drill strings can be detrimental to drilling operations. With a goal of understanding torsional vibrations experienced by drill strings and determining means to attenuate undesired vibrations, the authors have studied the effect of adding a sinusoidal modulation to a constant rotation speed of a drill string. A combination of modeling, analysis, and experiments is used to explore the influence of this rotation input modulation on the system response. The drill string is modeled as a modified Jeffcott rotor, which is described by a system with three degrees of freedom. Considering the case of forward whirling of a rotor in continuous contact with a stator, the equations of motion are reduced to a single degree-of-freedom nonlinear oscillator describing the torsional motions. In order to understand the fast time scale and slow time scale components of the motion, the method of direct partitions of motions is used to determine an approximate response to the nonlinear oscillator. The obtained results of the analysis illustrate that with the sinusoidal modulation of the rotor drive speed, the equivalent torsion stiffness can be enhanced and the character of the friction force at the contact can be made smooth. The analyses helps bring forth the stabilizing influence of the added sinusoidal input to the rotor drive speed. Over the considered parameter ranges, the numerical results obtained with the full three degree-of-freedom model and the reduced single degree-of-freedom model are found to be in agreement with each other. Furthermore, the results from these models are found to compare well with those obtained by using the method of direct partition of motions. Experiments with a laboratory scale drill-string arrangement are to be carried out to validate the analytical and numerical findings and further explore the effectiveness of the drive speed modulation on the rotor dynamics. Introduction Slender rotating structures are used in many engineering applications. Drill strings are long rotating slender structures, which are used in drilling operations. A schematic of a rotary drill rig is shown in Fig. 1 (e.g., Liao, Balachandran, Karkoub, and Abdel-Magid, 2011). Drill strings experience different types of vibrations (axial, torsional, and lateral vibrations) that may lead to detrimental failures of a drilling system. Drill-string vibrations have attracted the attention of many researchers, and many models have been developed to understand them. Since drill strings have a large length-to-diameter ratio, typically, the first torsional natural frequency and first lateral natural frequency are close to each other. This frequency proximity and the nature of the system allows for coupling and energy transfer between the associated vibration modes. Here, as a step towards developing further understanding, a drill string is modeled as an extended planar Jeffcott rotor with gravity acting normal to the rotor. Due to the planar motions, no gyroscopic effects are considered. The extended model, which was earlier considered in the work of Vlajic, Liu, Karki, and Balachandran (2014), is shown in Fig. 2. The model is described with three degrees of freedom (DOF), namely, x and y to account for lateral motions, and theta to account for torsional motion. A large number of research efforts have focused on controlling drill-string vibrations by using different feedback control algorithms, which need measurements along the drill string. In this work, the authors propose a different control approach to mitigate whirling motions during continuous rotor-stator contact. This can be compared to a situation of a drill string being in continuous contact with the borehole. The approach is open loop in implementation and this approach is based on adding a high frequency input to the drive speed of the drill string. Given the open-loop nature, the method does not depend on any measurements along the drill string or rotary table, which could be attractive for a practical stand point. Although the current focus is on motions of a rotor with continuous stator contact, it is planned to study stick-slip and non-contact cases in the future. System Modeling, Studies, and Results As previously mentioned, the drill string is modelled as a Jeffcott rotor with three DOF. Proceeding along the lines of the group's prior work (Vlajic, Liu, Karki, and Balachandran, 2014), after some approximations for the continuous rotor-stator contact case, the 3 DOF system is reduced to a single second-order nonlinear differential equation governing the torsional motion. In Fig. 3, for a representative case with a constant drive speed, the torsional state histories obtained for the full model and the reduced model are plotted. It is noted that the final state of the motion is captured quite well. To further analyze the response during forward whirling, the reduced-order model was nondimensionalized and an approximate solution was obtained by using the method of direct partitions. This method allows one to separate slow scale motions from fast scale motions. As discussed, in the group's prior work, this method can be useful to examine whirling motions. The results obtained by directly integrating the full model as well as the reduced-order model have been compared with that obtained by using the method of direct partitions of motions. It is seen that the perturbation analyses is able to provide an approximate solution that compares well with the numerical results obtained through direct integrations. Next, this analysis is used to examine the influence of the addition of secondary frequency component. It is seen that the addition of the secondary frequency, a high-frequency one, helps smooth out the friction coefficient variation with respect to the relative speed at contact. This is found to have a beneficial effect on the motion and helps suppress large-amplitude torsional motions. Stability analysis was also conducted to examine this effect. Concluding Remarks A study has been conducted to examine the influence of sinusoidal modulation of rotor drive speed in a system, wherein the rotor experiences continuous stator contact. A single degree of-freedom reduced model is developed to study the torsion response and it is found that the addition of a high frequency input can be beneficial in attenuating rotor motions. This is believed to be useful for developing open-loop control schemes for attenuating forward whirling motions of drill strings. Results obtained from a lab scale experimental arrangement will be used to examine the effect of this drive speed modulation further and they will be reported in the conference presentation. Future studies could build on the current effort to examine cases of backward whirling. Acknowledgment: The authors would like to gratefully acknowledge the support received from the Qatar National Research Fund for NPRP Project 7-083-2-041, to pursue this collaborative work between the University of Maryland, College Park, MD, USA and Qatar University, Doha, Qatar.

During the engineering of horizontal well, drill string is in the complicated moving state, strong vibration is the main reason that induces drill string failure. Drill string vibrations usually have axial vibration, lateral vibration, torsional vibration and coupling vibration, the drill string near the bottom of well usually vibrates strongly. As an example to G78-E15, the variety of vibration is analyzed by using ANSYS, the model of vibration is established, the rules of vibration are obtained. The analysis can provide reliable theory basis in order to avoid resonance of drill string.

The drilling system usually encounters detrimental stick-slip vibration to the drilling process. One of the approaches for controlling the stick-slip vibration is using high-frequency torsional impact (HFTI). However, how the HTFI will affect the vibration of the drill string is still unknown. This study proposed a mechanical model of the drill string by using continuous system to investigate the effect of HFTI on the vibration of a drill string in slip phase, wherein the HFTI is considered in the model. The mechanical model is investigated through using mode superposition method and conducting case studies. Results show that the HFTI is more sensitive to the drill string close to the drill bit and that the HFTI has little effect on the vibration of drill string. During the drilling process, the HFTI aggravates the rock damage and rock failure, which actually improves the drilling efficiency and mitigates the stick-slip vibration.

Drilling oil wells is a costly, complex and high risk operation, especially for many wells whose depths can be at least several thousand feet. To minimize the cost and risk involved in drilling, typically there are several sensors mounted near the drill bit, to measure important parameters such as temperature and pressure around the drill bit. The collected information needs to be sent to the surface, to assist the driller with controlling and steering the drill bit. Compared to the use of highly expensive and vulnerable cables for wired communication in deep oil wells, or very low rate communication using pulses of mud in wells, transmission of information using acoustic signals thru the drill string is a feasible and promising method. In this paper, we use a drill string acoustic communication testbed, where the receiver is a strain sensor. This sensor measures local fractional displacements due to received vibrations. Using experimental data, we study key characteristics of a drill string channel impulse response, sensed by a strain sensor. We also demonstrate how the strain channel response structure can control the communication system performance. [This work was supported in part by the National Science Foundation (NSF), Grant IIP-1340415.]

Drill string models are of two major types- Conventional and Periodic. Conventional drill string models are widely used due to their simplicity in manufacturing and dynamics analysis. Drill strings are affected mainly by torsional, lateral and axial vibrations. The dispersive or propagative nature of these vibrations can only be analyzed by using periodic drill string models. Drill pipe makes up the majority of the drill string. In reality, at each end of the drill pipe, tubular, larger-diameter portions called the tool joints are located. Since the dimensions of the tool joint are negligible when compared to the drill pipe, conventional drill string models assume drill strings to be uniform structures. The tool joints in drill strings introduce a geometrical periodicity in the structure.A periodic structural component is comprised of a repeating array of cells, which are themselves an assembly of elements. The elements may have differing material properties as well as geometric variations. The periodic structures act as mechanical filters for the wave propagation. A material or geometrical change in the structure causes a disruption to the continuous propagation of vibration waves.There are three types of waves propagating in rotating structures: torsional, flexural (bending) and longitudinal. Of these waves, torsional and longitudinal waves are dispersive while flexural waves are non- dispersive. The proportions of the waves which are dispersed vary according to the Wavenumber. The wavenumber is a property of the wave and depends on the structural, material and geometrical properties of the wave guide. Waveguide is the medium through which a wave travels. The wave number, and hence the dispersion and propagation characteristics of waves can be tuned by varying the material and geometrical periodicity in the drill strings.This paper presents the vibration propagation and attenuation characteristics in conventional and periodic drill string models. The periodic drill string model is developed such that it can be easily scaled to a real drilling rig model. The research also features a laboratory setting which comprises a mini drilling rig and actual drilling samples. These features ensure robustness of the dynamics analyzed for the periodic drill string model.The research findings are analyzed under zero and non- zero borehole drill string interactions. Vibration information is collected from upper and lower parts of the drill string models to compare the propagation and attenuation characteristics. Proximity sensors are used for the data acquisition which is then analyzed using frequency and power spectrum graphs. The time and frequency domain vibration propagation characteristics are investigated for both the conventional and periodic drill string models. Laboratory testing analyzes (1) introduction of stop and pass band regions in frequency spectra by periodic drill string models, and (2) vibration attenuation in torsional and lateral vibration modes. The tests confirm the introduction of stop bands in frequency spectra for the periodic drill strings, while they were absent and had an all pass-band for conventional drill string models.The research opens up a new method of passive control of drilling vibrations- by introducing tool joint designs which could be tuned to efficiently dampen out the harmful vibrations affecting the drilling rigs.

Deep wells are commonly drilled while steering the drill bit. The steering process is completely controlled by the drilling-rig operator. A key element of this procedure is the measurement and communication of navigation information from the bottom of the well to the operator. Pressure pulses modulated onto the flow of the drill fluid are now employed in some cases to communicate this information. However, data rates are only a few binary bits per second with this method. This drastically limits the quantity of data available to the operator. As an alternative method, elastic waves generated within the steel drill string can be used as a carrier signal to transmit data. The drill string is commonly assembled from 10-m segments of threaded pipe and forms a periodic structure. The elastic wavelengths of interest are shorter than this periodic length. Consequently, these waves undergo significant dispersion. This paper presents new data for the propagation of elastic waves in a 2-km drill string. The influence of aperiodicity in the drill string, rotation of the drill string, and noise levels are studied in detail. The data verify a method for reducing the attenuation of a carrier signal by a factor of 2.

The longitudinal vibration of the bottom drill string is violent and the law is complex during the deep well drilling. The vibration of the drill string brings many adverse effects on the drilling pipe fracture and bit trampoling. Generally speaking, the effective way to control the vibration of drill string is to install damping device in bottom hole. The research group proposes a device that uses the longitudinal vibration energy of the deep well drill string to modulate the impact dynamic load, which converts the vibration energy of the downhole drill string that is not conducive to drilling into the mechanical impact energy that improves the rock breaking capacity of the bit. The impact load modulation device can use the drill string to apply the “mechanical WOB” and the differential pressure between the upper and lower piston to produce the “hydraulic WOB”, The simulation results show that the adjustable range of output load is 2 ~ 7T, and the change of each time is about 2T. The modulation law of impact load under the influence of longitudinal vibration of drill string and different parameters is analyzed. Through ground experiment and simulation, the damping performance and speed-up effect of the modulation device are compared and analyzed, and the impact load output characteristics of the device are analyzed, which provides a thinking for the design of damping and pressurization tools.

Bit feed principles and operations of slide drilling

Vibrations are known as destructive loads and thus are leading to downhole fatigue failures, severe bottom hole assembly and bit wear and may cause wellbore instabilities. Downhole measurement of vibrations, however, can provide valuable information about downhole conditions and characteristics of the formations drilled. Uniaxial compressive strength is one of the representative characteristics of rock properties. It shows the capacity of a rock to withstand a certain amount of axial loads. Optimizing weight on bit and rotary speed of the drill string are the ways to continue drilling a hole - of course by exceeding uniaxial compressive strength of formations - and to keep rate of penetration in an optimal range during drilling operations. Therefore, it is expected that the axial vibrations change with variations of the uniaxial compressive strength of formations. Previous experiments with several layered concretes cubes proved that the drill string vibrations are related to the uniaxial compressive strength of concretes. To extend the study in this area, complex rock samples such as sandstone, dolomite and limestone were drilled with optimized ranges of weight on bit and rotary speed of drill string. Experimental drilling operations were conducted using a laboratory drilling rig (CDC miniRig) with a vibration sensor sub attached to the drill string. The uniaxial compressive strength of all samples was measured prior to the experiments. During all experiments, drilling parameters were recorded with a sampling rate of one second and the vibration data with a sampling frequency of 3200 Hz. Analysis of magnitude and higher order frequency moments of vibration data in combination with the mechanical specific energy demonstrated a change of the drill string's axial vibration measurements due to variations of uniaxial compressive strength. From that it is concluded that the formations can be recognized in real-time by incorporation of the vibration measurements. Introduction When talking about drill string vibrations, in most of the time downhole fatigue failure, severe bit wear and reduced rate of penetration come to the mind. Drill string vibrations are inevitable in the drilling operations and lots of researches have been investigated to manage the magnitude of vibrations by designing proper bottom hole assemblies (Macpherson et al., 1993; Chen et al., 2006). However, the vibrations can be utilized as a valuable tool to recognize formations drilled. In most of the cases, the vibrations are caused by bit and drill string interaction with the formations under certain drilling conditions. One of the dominant conditions is formation characteristics (mechanical and petrophysical properties). Uniaxial compressive strength (UCS) is one of the representative characteristic of the formation properties. It shows the capacity of a formation to withstand a certain amount of axial loads. Previous works show that the harder the formation, the bigger the magnitude of the vibrations and vice versa (Esmaeili et. al, 2012). Therefore monitoring vibrations in real-time can advance warning of formation changes. Myers et al. (2002) explained how the vibration data measured by an accelerometer are related to petrophysical properties of the formations in the Indian Ocean region. Al-Shuker et. al. (2011) presented changes in drilling dynamics driven by the bit's interaction with the formation can be a near instantaneous indicator of changes in formation characteristics. The key is real-time drilling dynamic measurement at the bit. Previous works (Esmaeili et al., 2012) presented a close relationship between the mechanical properties of layered concretes cubes and the measured vibrations. The study proved that the vibrations can be used as a tool to recognize the formation changes.

This paper deals with the development of a novel mesoscopic model of polycrystalline diamond compact (PDC) drill bits that can be implemented in complex drill string models for simulations to analyse the influence of rock inhomogeneities or the impact of anti-whirl bits on drill string dynamics. In contrast to existing modelling approaches, the model is developed at a mesoscopic level, where the basic bit–rock interaction is taken from the macroscopic bit model and the cutting characteristics are summarised at a microscopic cutting level into a simplified configuration via cutting blades. This model can therefore effectively describe asymmetries and thus interactions between the torsional and lateral dynamics of the drill bit, and is particularly suitable for investigating the effects of drilling into rock inhomogeneities and fault zones on drilling dynamics. By integration into a complex drill string model, simulation studies of drilling through a sandwich formation were carried out. The simulation results allow detailed stability statements and show the influence of formation properties and bit design on torsional and lateral drill string dynamics.

Electromagnetic (EM) telemetry is one of the key research subjects that has increased application in transmitting real-time data between the borehole and surface during drilling. There are several methods that can be used to model an EM telemetry system, including the method of moments (MoM) and the electric field integral equation method. We have developed a pulse basis function for the MoM, which assists in the analytical estimation of thin wire kernel integrations and avoids singular problems when simulating current distributions. The scattering field is solved using the current distribution. We examine the method using a simple example of vertical drilling. In the model, a vertically placed drill string is driven through a layered earth model. The drill string represents a long, thin wire antenna with a source located near the drill bit. The validity of the method is confirmed by comparing our results to the analytical solution in a half-space model as well as the current distributions along the drill string derived from the proposed method with those derived from a commercial finite-element solver, COMSOL-Multiphysics. Furthermore, the efficiency of this method is demonstrated by comparing its computational costs with those of COMSOL. The simulated EM telemetry in a known geologic setting is then compared with a field data example. These comparisons show that the proposed method is accurate and efficient. Moreover, we develop insights into how the parameters needed for calculations alter current distributions along the drill string and the signal received at the surface. The proposed method is therefore useful for obtaining the optimal design parameters for EM telemetry systems.

In this paper, the authors present a discrete system model to study the coupled axial-torsional dynamics of a drill string. In this model, nonlinearities such as dry friction, loss of contact, and state-dependent time delay are taken into consideration. Simulations are carried out by using a 32-segment model with 128 states. Bit bounce is observed through time histories of axial vibrations, while stick-slip phenomenon is noted in the torsion response. The normal strain contours of this spatial-temporal system demonstrate the existence of strain wave propagation along the drill string. The shear strain wave shows the wave node and wave loop along the drill string, which indicates that the torsion motion has the properties of a standing wave. By varying the penetration rate, qualitative changes are observed in the system response, which includes chaotic and hyperchaotic behavior. Stability analysis shows a stable region for the degenerated one-segment model, while the stable region becomes infinitesimally small, as the resolution of spatial discretization is increased. This finding suggests the drill string motions are always likely to be self-exited in practical drilling operations.

In the oil drilling process, measurement-while-drilling system is usually used to provide real-time monitoring of the position and orientation of the bottom hole. Usually the bottom drill string attitude is measured on the condition that the drill string is static. Particularly, in rotary steerable drilling application, it is a challenging problem to accurately measure the spatial attitude (inclination, azimuth, and tool face) of the bottom drilling tool with the drill string rotating. A set of “strap-down” measurement system was developed in this paper, the triaxial accelerometer and triaxial fluxgate were installed near the bit, and real-time well deviation and azimuth can been measured. Laboratory experiments show that the dynamic solver methods will meet the project requirements. However, according to the drilling field tests, playback analysis on storage data of the underground measurement indicates that drill string vibration is the main reason for measurement errors. So, by setting a time window, the real-time measurement of the accelerometer and the flux gate signal are processed and analyzed, the movement patterns of the rotary drilling tool at the bottom were judged within the time window. Stick-slip phenomenon is utilized to improve the measurement accuracy and to reduce the impact of lateral vibration of the drilling string on the measurement system. We could take advantage of stick-slip phenomenon because of it cannot be avoided completely, although it should be avoided in order to improve the drilling string operating life. Simulation results showed that recommended dynamic survey approach could effectively enhance measurement precision, and deduce effect of vibration on resolve results.