A Novel Drillstring Dynamics Experimental Setup to Be Integrated Into Hardware in the Loop Capable Drilling Simulators

2017 ◽  
Author(s):  
Antonio Marquez ◽  
Catalin Teodoriu
Keyword(s):  
Vibration Suppression ◽  
Drill String ◽  
Operating Conditions ◽  
Vibration Monitoring ◽  
Small Radius ◽  
Delayed Response ◽  
Experimental Setup ◽  
Hardware In The Loop ◽  
Stick Slip ◽  
New Facility

One of the limiting factors for maximizing drilling performance is drillstring vibration/dynamics. With the development of in-bit, at bit or near bit vibration monitoring sensors, it has been reported that while drilling with PDC bits in hard formations, stick-slip is mostly observed before other types of vibration. Commonly, stick slip is a mathematical problem that can be resolved using various technics (like analytical, numerical, etc.). To compliment this theoretical effort, experimental measurements are required to verify mathematical models under controlled conditions and assess their range of applicability. This is why a large number of laboratory setups around the world exist. A comprehensive literature research has shown that most of the known experimental setups are smaller than 10 m length and focused mainly on vertical wells. Building a setup that reproduces real hydrocarbon wells, including the drill string inertia and the delayed response between bit and surface, as well as the complex friction transfer process taking place between the wellbore and the drillstring, is not feasible. Thus, downscaling the typical drillstring parameters is necessary for the study of vibrations and vibration suppression at laboratory conditions. Vibration suppression modeling and validation require a particular, dedicated laboratory setup. The design of such an installation will be presented in the following paper. The newly proposed experimental setup will exceed all existing stick-slip or lateral vibration experimental setups on the market by size, while adding new features like axial movement (mimicking ROP or heave compensation) and curved sections. This new facility will be the first to integrate the hardware in the loop capabilities and can be connected with any drilling simulator that supports such an option. This design will account not only for torsional vibrations, but will also allow the string to move axially while RPM, WOB and flow rates may be directly linked to a drilling simulator. Because of its design, to resemble medium to small radius of curvature, the stick slip process can be captured and highlighted for a wide range of directional well situations. Once the range in operating conditions was defined, the equipment and mechanical components for the facility were selected and designed. The new facility will significantly improve our ability to reproduce the physics of drill string vibrations and will lead to better optimization of downhole vibration suppression. The incorporated link to drilling simulators can improve the development of the next generation of vibration suppressing models and hardware.

scholarly journals Active control of stick-slip torsional vibrations in drill-strings

2018 ◽  
Vol 25 (1) ◽  
pp. 194-202 ◽  
Author(s):  
Thiago G Ritto ◽  
Maryam Ghandchi-Tehrani
Keyword(s):  
Degrees Of Freedom ◽  
Vibration Suppression ◽  
Optimization Problems ◽  
Control Strategies ◽  
Active Vibration Control ◽  
Drill String ◽  
Stick Slip ◽  
Weight On Bit ◽  
The One ◽  
Torsional Stability

This paper presents active vibration control to reduce the stick-slip oscillations in drill-strings. A simplified two degrees-of-freedom drill-string torsional model is considered. The nonlinear interaction between the rock and the bit is included in the model, where its parameters are fitted with field data from a 5 km drill-string system. Different proportional-derivative (PD)-control strategies are employed and compared, including the one that takes into account the weight-on-bit (axial force) and the bit speed. Optimization problems are proposed to obtain the values of the gain coefficients, and a torsional stability map is constructed for different weight-on-bit values and top-drive speeds. It is noted that the information of the dynamics at the bottom increases the performance of the PD-controller significantly in terms of the torsional vibration suppression, for the system analyzed.

scholarly journals Kinematics and dynamics analysis of new rotary-percussive PDM drilling tool

2021 ◽  
pp. 146134842198915
Author(s):  
Jialin Tian ◽  
Xuehua Hu ◽  
Liming Dai ◽  
Lin Yang ◽  
Yi Yang ◽  
...  
Keyword(s):  
Drill String ◽  
Structure Design ◽  
Drilling Process ◽  
Analysis Model ◽  
Drilling Tool ◽  
Stick Slip ◽  
Rate Of Penetration ◽  
Bottom Hole ◽  
Bottom Hole Assembly ◽  
The Impact

This paper presents a new drilling tool with multidirectional and controllable vibrations for enhancing the drilling rate of penetration and reducing the wellbore friction in complex well structure. Based on the structure design, the working mechanism is analyzed in downhole conditions. Then, combined with the impact theory and the drilling process, the theoretical models including the various impact forces are established. Also, to study the downhole performance, the bottom hole assembly dynamics characteristics in new condition are discussed. Moreover, to study the influence of key parameters on the impact force, the parabolic effect of the tool and the rebound of the drill string were considered, and the kinematics and mechanical properties of the new tool under working conditions were calculated. For the importance of the roller as a vibration generator, the displacement trajectory of the roller under different rotating speed and weight on bit was compared and analyzed. The reliable and accuracy of the theoretical model were verified by comparing the calculation results and experimental test results. The results show that the new design can produce a continuous and stable periodic impact. By adjusting the design parameter matching to the working condition, the bottom hole assembly with the new tool can improve the rate of penetration and reduce the wellbore friction or drilling stick-slip with benign vibration. The analysis model can also be used for a similar method or design just by changing the relative parameters. The research and results can provide references for enhancing drilling efficiency and safe production.

Active Control Comparison of Vibration in Flexible Spacecraft Using Different Active Friction Joints

2013 ◽  
Vol 446-447 ◽  
pp. 1160-1164
Author(s):  
Sahar Bakhtiari Mojaz ◽  
Hamed Kashani
Keyword(s):  
Energy Dissipation ◽  
Attitude Control ◽  
Vibration Suppression ◽  
Excitation Amplitude ◽  
Step Function ◽  
Flexible Spacecraft ◽  
Control Effort ◽  
Stick Slip ◽  
Control Comparison ◽  
Frictional Joints

Vibration properties of most assembled mechanical systems depend on frictional damping in joints. The nonlinear transfer behavior of the frictional interfaces often provides the dominant damping mechanism in structure and plays an important role in the vibratory response of it. For improving the performance of systems, many studies have been carried out to predict measure and enhance the energy dissipation of friction. This paper presents a new approach to vibration reduction of flexible spacecraft with enhancing the energy dissipation of frictional dampers. Spacecraft is modeled as a 3 degree of freedom mass-spring system which is controlled by a lead compensator and System responses to step function evaluated. Coulomb and Jenkins element has been used as vibration suppression mechanisms in joints and sensitivity of their performance to variations of spacecraft excitation amplitude and damper properties is analyzed. The relation between frictional force and displacement derived and used in optimization of control performance. Responses of system and control effort needed for the vibration control are compared for these two frictional joints. It is shown that attitude control effort reduces, significantly with coulomb dampers and response of system improves. On the other hand, due to stick-slip phenomena in Jenkins element, we couldn’t expect the same performance from Jenkins damper.

scholarly journals Hardware-in-the-loop simulation of wave energy converters based on dielectric elastomer generators

Meccanica ◽  
2021 ◽  
Vol 56 (5) ◽  
pp. 1223-1237
Author(s):  
Giacomo Moretti ◽  
Andrea Scialò ◽  
Giovanni Malara ◽  
Giovanni Gerardo Muscolo ◽  
Felice Arena ◽  
...  
Keyword(s):  
Wave Energy ◽  
Large Scale ◽  
Low Cost ◽  
Test Site ◽  
Dielectric Elastomer ◽  
Operating Conditions ◽  
Polymer Materials ◽  
Hardware In The Loop ◽  
Wave Energy Converters ◽  
Energy Converters

AbstractDielectric elastomer generators (DEGs) are soft electrostatic generators based on low-cost electroactive polymer materials. These devices have attracted the attention of the marine energy community as a promising solution to implement economically viable wave energy converters (WECs). This paper introduces a hardware-in-the-loop (HIL) simulation framework for a class of WECs that combines the concept of the oscillating water columns (OWCs) with the DEGs. The proposed HIL system replicates in a laboratory environment the realistic operating conditions of an OWC/DEG plant, while drastically reducing the experimental burden compared to wave tank or sea tests. The HIL simulator is driven by a closed-loop real-time hydrodynamic model that is based on a novel coupling criterion which allows rendering a realistic dynamic response for a diversity of scenarios, including large scale DEG plants, whose dimensions and topologies are largely different from those available in the HIL setup. A case study is also introduced, which simulates the application of DEGs on an OWC plant installed in a mild real sea laboratory test-site. Comparisons with available real sea-test data demonstrated the ability of the HIL setup to effectively replicate a realistic operating scenario. The insights gathered on the promising performance of the analysed OWC/DEG systems pave the way to pursue further sea trials in the future.

Study of stick–slip suppression and robustness to parametric uncertainty in drill strings containing torsional vibration tool using sliding-mode control

2021 ◽  
pp. 146441932110452
Author(s):  
Jialin Tian ◽  
Jie Wang ◽  
Siqi Zhou ◽  
Yinglin Yang ◽  
Liming Dai
Keyword(s):  
Torsional Vibration ◽  
Complex Dynamics ◽  
Sliding Mode ◽  
Parametric Uncertainty ◽  
Drill String ◽  
Lumped Parameter Model ◽  
Drilling Process ◽  
Drill Bit ◽  
Stick Slip ◽  
Drilling Operations

Excessive stick–slip vibration of drill strings can cause inefficiency and unsafety of drilling operations. To suppress the stick–slip vibration that occurred during the downhole drilling process, a drill string torsional vibration system considering the torsional vibration tool has been proposed on the basis of the 4-degree of freedom lumped-parameter model. In the design of the model, the tool is approximated by a simple torsional pendulum that brings impact torque to the drill bit. Furthermore, two sliding mode controllers, U1 and U2, are used to suppress stick–slip vibrations while enabling the drill bit to track the desired angular velocity. Aiming at parameter uncertainty and system instability in the drilling operations, a parameter adaptation law is added to the sliding mode controller U2. Finally, the suppression effects of stick–slip and robustness of parametric uncertainty about the two proposed controllers are demonstrated and compared by simulation and field test results. This paper provides a reference for the suppression of stick–slip vibration and the further study of the complex dynamics of the drill string.

An Innovative Approach of Using Engineering Modelling to Improve Drilling Dynamics in Western Rajasthan, India

2021 ◽  
Author(s):  
Shailesh Prakash ◽  
Mohammad Zayyan ◽  
Ole Gjertsen ◽  
Manuel Centeno Acuna ◽  
Piyush Kumar Kulshrestha ◽  
...  
Keyword(s):  
Torsional Oscillation ◽  
Predictive Modelling ◽  
Integrated Approach ◽  
Vibration Monitoring ◽  
Hole Drilling ◽  
Volcanic Complex ◽  
Gas Field ◽  
Stick Slip ◽  
Unique Type ◽  
Barmer Basin

Abstract Raageshwari Deep Gas (RDG) field is a major gas field in the Barmer Basin of Rajasthan, India which comprises of a tight gas-condensate reservoir within the underlying thick Volcanic Complex. The Volcanic Complex comprises two major units – upper Prithvi Member (Basalt) and lower Agni Member (Felsics interbedded with older basalt). The production zone is drilled in 6" and has historically seen high level of shock & vibrations (S&V) and stick-slip (S&S) leading to multiple downhole tool failures and poor rate of penetration (ROP). Individual changes in Bit and bottom hole drilling assembly (BHA) design were not able to give satisfactory results and hence an integrated approach in terms of in-depth formation analysis, downhole vibration monitoring, correct predictive modelling, bit and BHA design was required. A proprietary formation analysis software was used to map the entire RDG field to understand the variation in terms of formation compactness, abrasiveness and impact (Figure 1,2,3 & 4). The resulting comprehensive field map thus enabled us to accurately identify wells that would be drilling through more of problematic Felsics and where higher S&V and S&S should be expected. To better understand the vibrations at the point of creation, i.e., bit, a downhole vibration recording tool was used to record vibration & stick-slip data at a frequency of 1024Hz. This tool picked up indication of a unique type of vibration occurring downhole known as High Frequency Torsional Oscillation (HFTO), that was quite detrimental to the health of bit and downhole tools. A proprietary predictive modelling software was used to optimize the bit-BHA combination to give least amount of S&V and S&S. Data from the downhole vibration recording tool, formation mapping software and offset bit designs was used to design a new bit with ridged diamond element cutters and conical diamond element cutters to drill through the highly compressive and hard basalt. The predictive modelling software identified a motorized Rotary steerable assembly (RSS) to give the best drilling dynamics with the newly designed bit. The software predicted much lower S&V and S&S with higher downhole RPM which was possible with the help of motorized RSS. Implementing the above recommendations from the various teams involved in the project, drilling dynamics was vastly improved and ROP improvement of about 45% was seen in the field. This combination was also able to drill the longest section of Felsics (826m) with unconfined compressive strengths as high as 50,000 psi in a single run with excellent dull condition of 0-1-CT-TD This paper will discuss in detail the engineering analyses done for improving drilling dynamics in field along with how HFTO was identified in field and what steps were taken to mitigate it.

Electric Motors Coupled to Hydraulic Motors as Actuators for Hydraulic Hardware-in-the-Loop Simulation

2005 ◽  
Author(s):  
Scott Driscoll ◽  
James D. Huggins ◽  
Wayne J. Book
Keyword(s):  
Complete System ◽  
Control Valve ◽  
Operating Conditions ◽  
Flow Control Valve ◽  
Hardware In The Loop ◽  
Hydraulic Systems ◽  
Advantages And Disadvantages ◽  
Hydraulic Motors ◽  
Proportional Flow ◽  
Hil Simulation

Hardware-in-the-Loop (HIL) Simulation enables testing of an actual physical component of a system under a variety of conditions without the expense of full scale testing. In hydraulic systems, flows or pressures that interface with the component in question are controlled by a computer running a simulation designed to emulate a complete system under real operating conditions. Typically, servo valves are used as actuators to control the flows or pressures. This paper investigates the use of electric servo-motors coupled to hydraulic gear motors as alternative actuators, and discusses some of the advantages and disadvantages that motors have in comparison to valves. A demonstration HIL simulation involving a mobile proportional flow control valve attached to an emulated backhoe is described, and results are compared to data from a real backhoe.

Experimental Exploration of Schallamach Waves and Self-Excitation in a Belt-Drive System

2018 ◽  
Author(s):  
Yingdan Wu ◽  
Michael Varenberg ◽  
Michael J. Leamy
Keyword(s):  
Angular Velocity ◽  
Dynamic Behavior ◽  
Oscillation Amplitude ◽  
Operating Conditions ◽  
Drive System ◽  
Belt Drive ◽  
Stick Slip ◽  
Stick Slip Motion ◽  
System Inertia ◽  
Slip Motion

We study the dynamic behavior of a belt-drive system to explore the effect of operating conditions and system moment of inertia on the generation of waves of detachment (i.e., Schallamach waves) at the belt-pulley interface. A self-excitation phenomenon is reported in which frictional fluctuations serve as harmonic forcing of the pulley, leading to angular velocity oscillations which grow in time. This behavior depends strongly on operating conditions (torque transmitted and pulley speed) and system inertia, and differs between the driver and driven pulleys. A larger net torque applied to the pulley generally yields more remarkable stick-slip oscillations with higher amplitude and lower frequency. Higher driving speeds accelerate the occurrence of stick-slip motion, but have little influence on the oscillation amplitude. Contrary to our expectations, the introduction of flywheels to increase system inertia amplified the frictional disturbances, and hence the pulley oscillations. This does, however, suggest a way of facilitating their study, which may be useful in follow-on research.

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