scholarly journals Modeling Friction Performance of Drill String Torsional Oscillation Using Dynamic Friction Model

2017 ◽  
Vol 2017 ◽  
pp. 1-14 ◽  
Author(s):  
Xingming Wang ◽  
Ping Chen ◽  
Zhenhua Rui ◽  
Fanyao Jin
Keyword(s):  
Friction Force ◽  
Torsional Vibration ◽  
Transverse Velocity ◽  
Torsional Oscillation ◽  
Friction Model ◽  
Drill String ◽  
Dynamic Friction ◽  
Drilling Mud ◽  
Friction Behavior ◽  
Horizontal Drilling

Drill string torsional and longitudinal oscillation can significantly reduce axial drag in horizontal drilling. An improved theoretical model for the analysis of the frictional force was proposed based on microscopic contact deformation theory and a bristle model. The established model, an improved dynamic friction model established for drill strings in a wellbore, was used to determine the relationship of friction force changes and the drill string torsional vibration. The model results were in good agreement with the experimental data, verifying the accuracy of the established model. The analysis of the influence of drilling mud properties indicated that there is an approximately linear relationship between the axial friction force and dynamic shear and viscosity. The influence of drill string torsional oscillation on the axial friction force is discussed. The results indicated that the drill string transverse velocity is a prerequisite for reducing axial friction. In addition, low amplitude of torsional vibration speed can significantly reduce axial friction. Then, increasing the amplitude of transverse vibration speed, the effect of axial reduction is not significant. In addition, by involving general field drilling parameters, this model can accurately describe the friction behavior and quantitatively predict the frictional resistance in horizontal drilling.

A Novel Backstepping Approach for the Attenuation of Torsional Oscillations in Drill Strings

2016 ◽  
Vol 248 ◽  
pp. 85-92 ◽  
Author(s):  
Farooq Kifayat Ullah ◽  
Franklyn Duarte ◽  
Christian Bohn
Keyword(s):  
Torsional Oscillation ◽  
Friction Model ◽  
Drill String ◽  
Cutting Process ◽  
Underactuated System ◽  
Drilling Process ◽  
Control Input ◽  
Nonlinear Phenomenon ◽  
Stick Slip ◽  
Torsional Oscillations

A common problem in the petroleum drilling process is the torsional oscillation generated by the friction present during the cutting process. Torsional oscillations in drill string are particularly difficult to control because the drill string is an underactuated system, it has a very small diameter to length ratio and it is driven at top end with the cutting process at the other end. These factors make the drill string prone to self-excited torsional vibrations caused by the stick-slip of the cutting bit. The system is modeled as a torsional pendulum with two degrees of freedom, where the upper inertia models the top drive and also part of the drilling pipes. The bottom inertia models the bottom hole assembly (BHA). The drill is considered to be a massless torsional spring-damper. The drill string is subjected to friction, which is formulated using a dry friction model. The friction model takes into account Coulomb friction, stiction and Stribeck effect. The latter friction component is the main nonlinear phenomenon that introduces negative damping at the bit; it leads to self-enforcing stick-slip torsional oscillations.In the approach of this work, for the attenuation of these self-excited oscillations a recursive backstepping control strategy is used and it is carried out in continuous time. The main contribution of this work, which is different from the backstepping approaches reported in the literature, is to use a nonlinear/artificial damping as virtual control input. The stability of the system has been proven in the sense of Lyapunov. The goal of the proposed algorithm is to deal the underactuation of the system and to provide a good response for different operating points. The effectiveness and robustness of the controller has been tested in simulations.

Adhesive Effects on Dynamic Friction for Unlubricated Rough Planar Surfaces

2004 ◽  
Author(s):  
Xi Shi ◽  
Andreas A. Polycarpou
Keyword(s):  
Friction Coefficient ◽  
Mean Value ◽  
Friction Model ◽  
Major Influence ◽  
Dynamic Friction ◽  
Friction Behavior ◽  
Friction Forces ◽  
Normal Contact ◽  
Continuous Contact ◽  
Dynamic Friction Coefficient

As the size of contacting and sliding tribosystems decrease, intermolecular or adhesive forces become significant partly due to nanometer size surface roughness. The presence of adhesion has a major influence on the interfacial contact and friction forces as well as the microtribosystem dynamics and thus influences the overall dynamic friction behavior. In this paper, a dynamic friction model that explicitly includes adhesion, interfacial damping and the system dynamics for realistic rough surfaces was developed. The results show that the amplitude and mean value of the time varying normal contact and friction forces increase in the presence of adhesion under continuous contact conditions. Also, due to the attractive nature of adhesion, its presence delays or eliminates the occurrence of loss of contact. Furthermore, in the presence of significant adhesion, dynamic friction behavior is significantly more complicated compared to the no adhesion case, and the dynamic friction coefficient predictions may be misleading. Thus, it is more appropriate to discuss dynamic friction force instead of dynamic friction coefficient under dynamic conditions.

Parameter Identification of LuGre Friction Model: Experimental Set-up Design and Measurement

2015 ◽  
Author(s):  
Yun-Hsiang Sun ◽  
Tao Chen ◽  
Cyrus Shafai
Keyword(s):  
High Performance ◽  
Controller Design ◽  
Measurement Procedure ◽  
Friction Model ◽  
Operating Conditions ◽  
Dynamic Friction ◽  
Friction Modeling ◽  
Friction Behavior ◽  
Wide Range ◽  
Set Up

This work proposes a simple but general experimental approach including the rig design and measurement procedure to carry out a wide range of experiments required for identifying parameters for LuGre dynamic friction model. The design choice is based on accuracy of the estimated friction and flexibility in terms of changing contact conditions. The experimental results allow a complete LuGre model, which facilitates, but not limited to, other advanced friction modeling and high performance controller design if needed. In addition, several well-known dynamic friction features (varying break-away force, friction lag and presliding) are successfully demonstrated by our rig, which indicates the adequacy of our approach for capturing highly sophisticated and dynamic friction behavior over a wide range of operating conditions. The proposed set-up and the produced experimental data are believed to greatly facilitate the development of advanced friction compensation and modeling in friction affected mechanisms.

On the Modeling of Quasi-Steady and Unsteady Dynamic Friction in Sliding Lubricated Line Contact

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
H. Sojoudi ◽  
M. M. Khonsari
Keyword(s):  
Experimental Data ◽  
Friction Coefficient ◽  
Reynolds Equation ◽  
Friction Model ◽  
Sliding Contact ◽  
Dynamic Friction ◽  
Line Contact ◽  
Sliding Velocity ◽  
Friction Behavior ◽  
Lubricated Sliding

A simple but realistic dynamic friction model for the lubricated sliding contact is developed based on decoupling the steady and unsteady terms in Reynolds equation. The model realistically captures the physics of friction behavior both when speed is increased unidirectionally or when operating under oscillating condition. The model can simulate the transition from boundary to mixed to full film regimes as the speed is increased. Two different classes of simulations are performed to show the utility of the model: the so-called quasisteady, where the sliding velocity is varied very slowly, and the oscillating sliding velocity, where the friction coefficient exhibits a hysteresis type behavior. Both categories of simulation are verified by comparing the results with published experimental data.

Adhesive Effects on Dynamic Friction for Unlubricated Rough Planar Surfaces

2006 ◽  
Vol 128 (4) ◽  
pp. 841-850 ◽  
Author(s):  
Xi Shi ◽  
Andreas A. Polycarpou
Keyword(s):  
Friction Coefficient ◽  
Mean Value ◽  
Friction Model ◽  
Major Influence ◽  
Dynamic Friction ◽  
Friction Behavior ◽  
Friction Forces ◽  
Normal Contact ◽  
Continuous Contact ◽  
Dynamic Friction Coefficient

As the size of contacting and sliding tribosystems decrease, intermolecular or adhesive forces become significant partly due to nanometer size surface roughness. The presence of adhesion has a major influence on the interfacial contact and friction forces as well as the microtribosystem dynamics (microtribodynamics) and thus influences the overall dynamic friction behavior. In this paper, a dynamic friction model that explicitly includes adhesion, interfacial damping, and the system dynamics for realistic rough surfaces was developed. The results show that the amplitude and mean value of the time varying normal contact and friction forces increase in the presence of adhesion under continuous contact conditions. Also, due to the attractive nature of adhesion, its presence delays or eliminates the occurrence of loss of contact. Furthermore, in the presence of significant adhesion, dynamic friction behavior is significantly more complicated compared to the no adhesion case, and the dynamic friction coefficient predictions may be misleading. Thus, it is more appropriate to discuss dynamic friction force instead of dynamic friction coefficient under dynamic conditions.

scholarly journals Adaptive Compensation of Friction Forces with Differential Filter

2008 ◽  
Vol 3 (1) ◽  
pp. 80 ◽  
Author(s):  
Kouichi Mitsunaga ◽  
Takami Matsuo
Keyword(s):  
Friction Force ◽  
Adaptive Controller ◽  
Friction Model ◽  
Dynamic Friction ◽  
Nonlinear Friction ◽  
Adaptive Compensation ◽  
Friction Forces ◽  
Fuzzy Adaptive Controller ◽  
Fuzzy Adaptive

In this paper, we design an adaptive controller to compensate the nonlinear friction model when the output is the position. First, we present an adaptive differential filter to estimate the velocity. Secondly, the dynamic friction force is compensated by a fuzzy adaptive controller with position measurements. Finally, a simulation result for the proposed controller is demonstrated.

scholarly journals Nonlinear Control of a Pneumatic Actuator Based on a Dynamic Friction Model

2021 ◽  
Vol 67 (9) ◽  
pp. 458-472
Author(s):  
Xuan Tran Bo
Keyword(s):  
Friction Force ◽  
Control Method ◽  
Experimental Studies ◽  
Friction Model ◽  
Pneumatic Actuator ◽  
Dynamic Friction ◽  
Lugre Model ◽  
Nonlinear Characteristics ◽  
Sliding Control ◽  
Nonlinear Controllers

This paper presents a new controller for the position of a pneumatic actuator. The controller is designed based on the multiple-surface sliding control method in combination with a frictional compensator. The multiple-surface sliding control method is applied to deal with the nonlinear characteristics of the pneumatic system, and the frictional compensator is applied to compensate for the friction force in the pneumatic actuator. The friction force is estimated based on a dynamic friction model (the LuGre model). Both simulation and experimental studies are done to evaluate the new controller. The evaluation results indicate significant improvement in the tracking position error of the new controller comparing to the multiple-surface sliding controller without friction compensation and other nonlinear controllers.

Experimental Investigations of the Rubber-Asphalt Sliding Pair Dynamics

2002 ◽  
Author(s):  
Ante Bozˇic´ ◽  
Ivan Petrovic´ ◽  
Nedjeljko Peric´ ◽  
Jadranko Matusˇko
Keyword(s):  
Friction Coefficient ◽  
Dynamic Behavior ◽  
Friction Force ◽  
Contact Surface ◽  
Friction Model ◽  
Laboratory Model ◽  
Experimental Investigations ◽  
Dynamic Friction ◽  
The Road ◽  
Friction Models

A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models night be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface.

scholarly journals Experimental investigation of friction behavior in pre-sliding regime for pneumatic cylinder

2014 ◽  
Vol 36 (4) ◽  
pp. 283-290
Author(s):  
Tran Xuan Bo ◽  
Pham Tat Thang ◽  
Do Thanh Cong ◽  
Ngo Sy Loc
Keyword(s):  
Friction Force ◽  
Friction Model ◽  
Operating Conditions ◽  
Experimental Results ◽  
Hysteretic Behavior ◽  
Pneumatic Cylinder ◽  
Experimental Investigations ◽  
Friction Behavior ◽  
Piston Displacement ◽  
Pneumatic Cylinders

Friction always presents in pneumatic cylinders and causes difficulties in controlling position and velocity of pneumatic systems. In order to improve the control performance of the pneumatic systems, it is necessary to fully understand behavior of friction in the pneumatic cylinders. So far, dynamic friction behavior of pneumatic cylinders has been investigated but mainly focused on the friction behavior in sliding regime. In pre-sliding regime, friction behavior has not been investigated. In this paper, experimental investigations of friction behavior of a pneumatic cylinder in pre-sliding regime are made. The friction force is calculated from the equation of motion of the piston using the measured values of pressures in the two cylinder chambers and the piston displacement. The pressures are controlled by using two proportional pressure control valve. The friction force versus piston displacement characteristics are measured and analysed under various operating conditions of the applied force and the pressures. Experimental results show that: i) the piston motion in pre-sliding regime exhibits a nonlinear spring behavior; ii) hysteretic behavior with nonlocal memory is verified; iii) the pressures have influence only on the size of the hysteretic loop. These experimental results can be applied to develop a friction model for pneumatic cylinders.

Friction Force and Stresses Analysis for Contact of Assembled Details

2006 ◽  
Vol 113 ◽  
pp. 334-338
Author(s):  
Z. Dreija ◽  
O. Liniņš ◽  
Fr. Sudnieks ◽  
N. Mozga
Keyword(s):  
Mechanical Properties ◽  
Surface Roughness ◽  
Plastic Deformation ◽  
Friction Force ◽  
Sliding Friction ◽  
Friction Model ◽  
Contact Interface ◽  
Finite Element Program ◽  
Elastic Plastic ◽  
Element Program

The present work deals with the computation of surface stresses and deformation in the presence of friction. The evaluation of the elastic-plastic contact is analyzed revealing three distinct stages that range from fully elastic through elastic-plastic to fully plastic contact interface. Several factors of sliding friction model are discussed: surface roughness, mechanical properties and contact load and areas that have strong effect on the friction force. The critical interference that marks the transition from elastic to elastic- plastic and plastic deformation is found out and its connection with plasticity index. A finite element program for determination contact analysis of the assembled details and due to details of deformation that arose a normal and tangencial stress is used.

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