Active damping of self-excited torsional vibrations in oil well drillstrings

Jansen, J.D.; Steen, L. van den

doi:10.1006/jsvi.1995.0042

Cited by 220 publications

(180 citation statements)

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“…There has already been extensive research on the subject of frictioninduced torsional vibrations in the drill-string systems. Much of the research considers vibrations in the drill-string systems (Brett, 1992;Germay, 2002;Jansen and Van den Steen, 1995;Kreuzer and Kust, 1996a,b;Keuzer and Kust, 1997 Kust, 1998;Kyllingstad and Halsey, 1988;Jansen, 1991;Leine, 2000;Leine and Van Campen, 2005;Mihajlović et al, 2005Mihajlović et al, , 2004bVan den Steen, 1997). It is generally concluded that torsional vibrations are the result of negative damping in the friction force at the point between the bit and the borehole (see, for example, (Brett, 1992;Kreuzer and Kust, 1996a;Mihajlović et al, 2004b)).…”

Section: Real Drilling Systemsmentioning

confidence: 99%

“…This conclusion is supported by additional evidence from various other investigations (Brett, 1992;Leine, 2000;Leine and Van Campen, 2005;Mihajlović et al, 2005Mihajlović et al, , 2004bVan den Steen, 1997). With those conclusions in mind, a control strategy is suggested in (Jansen and Van den Steen, 1995) that torsional vibrations the in drill-string systems should be avoided. It should be noted that Germay (Germay, 2002) and Richard et al (Richard et al, 2004) concluded that the interaction between torsional and axial dynamics of the system may cause torsional vibrations in the drilling systems.…”

Section: Real Drilling Systemsmentioning

confidence: 99%

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Drilling Systems: Stability and Hidden Oscillations

Kiseleva

Kuznetsov

Леонов

et al. 2013

Discontinuity and Complexity in Nonlinear Physical Systems

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Esitetään Jyväskylän yliopiston informaatioteknologian tiedekunnan suostumuksella julkisesti tarkastettavaksi yliopiston Agora-rakennuksen Delta-salissa joulukuun 16. päivänä 2013 kello 12.Academic dissertation to be publicly discussed, by permission of the Faculty of Information Technology of the University of Jyväskylä, in building Agora, auditorium Delta, on December 16, 2013 at 12 o'clock noon. UNIVERSITY OF JYVÄSKYLÄ JYVÄSKYLÄ 2013Oscillations This work is devoted to the study of electromechanical models of induction motorpowered drilling systems. This is a current issue, as drilling equipment failures cause significant time and expenditure losses for drilling companies. Although there are many papers devoted to the investigation of these systems, equipment failures still occur frequently in the drilling industry. In this study, we continue investigations begun by researchers from the Eindhoven University of Technology, who introduced an experimental model of a drilling system. The model consists of two discs connected to each other by a steel string that experiences purely torsional deformation. The upper disc is connected to the driving part. The lower disc, representing the bottom end of the drill-string, experiences friction torque caused mainly by interaction with the shale. The key idea of the present study that distinguishes it from the previous model was the introduction of more complex equations of the driving part, in particular, considerations of the induction motor.Towards this end, two new mathematical models are considered. The first is a simplified one, its prototype being an electric hand drill. In this case it is assumed that the drill string is absolutely rigid and the friction torque acting on the lower part of the drill-string has asymmetric characteristics of the Coulomb type. The qualitative analysis of this model made it possible to obtain parameters on permissible loads (i.e., permissible values of the friction torque) in case the system remained in operational mode after the shale's type changes. Using computer modeling, analysis of sudden load appearance was also performed.The second mathematical model focuses on the torsional deformation of the drill during operation. For the friction torque with Coulomb type asymmetric characteristic, local analysis of the system is provided. The author carried out computer modeling of the friction model created by the researches at the University of Eindhoven. In this model, we found an interesting effect represented by hidden stick-slip oscillations.The results of the study have been published in 11 papers.

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Section: Real Drilling Systemsmentioning

confidence: 99%

Section: Real Drilling Systemsmentioning

confidence: 99%

Drilling Systems: Stability and Hidden Oscillations

Kiseleva

Kuznetsov

Леонов

et al. 2013

Discontinuity and Complexity in Nonlinear Physical Systems

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“…1. The model presented is similar to the ones given in [9], [20], [27] with the difference that, here, the dynamics of the top electric motor is not considered and the WOB is included.…”

Section: A Model Describing Drillstring Torsional Behaviourmentioning

confidence: 99%

“…Most of them consider the drillstring as a torsional pendulum with different degrees of freedom, for instance: [12], [16], [28] propose singledegree-of-freedom models, [1], [3] propose two-degreeof-freedom models including a linear controller, and [9], [20], [27] present two-degree-of-freedom models for the mechanical part of the system plus the model for the rotary table electric motor system.…”

Section: Introductionmentioning

confidence: 99%

“…This system has been incorporating in different wells and it has reduced significantly torque fluctuations at the surface (up to 80%) and bit stick-slip conditions [10], [31]. 2) Introduction of a vibration absorber at the top of the drillstring [9] which follows the same approach given in [7], [25]. 3) Introduction of a PID controller at the surface in order to control the rotary speed [21].…”

Section: Introductionmentioning

confidence: 99%

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Practical approach to modelling and controlling stick-slip oscillations in oilwell drillstrings

Navarro-López

Suárez

Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.

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Abstract-Stick-slip friction-induced oscillations appearing in oilwell drillstrings are a source of failures which reduce penetration rates and increase drilling operation costs. For this reason, a major problem to solve is modelling the drillstring torsional behaviour and proposing control solutions to help reduce stick-slip phenomenon. This paper is focused on both problems. On the one hand, it presents dynamic drillstring models in order to reproduce stick-slip vibrations under different operating conditions. The model used for the torque on the bit is the main difference with respect to other models proposed in the literature. On the other hand, some experience-based control estrategies are evaluated in order to reduce stick-slip oscillations. These estrategies will use the angular velocity at the drillstring upper part, the torque on the bit and the weight on the bit, proved to have a key importance in the reduction of drillstring torsional vibrations. The control approach followed is a decentralized one, i.e., the angular velocity at the top end of the drillstring and the bit velocity are controlled separately. The supervisory task is made by the driller.

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Nonlinear output‐feedback control of torsional vibrations in drilling systems

Vromen

Wouw

Doris

et al. 2017

Intl J Robust & Nonlinear

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Summary This paper considers the design of a nonlinear observer‐based output‐feedback controller for oil‐field drill‐string systems aiming to eliminate (torsional) stick–slip oscillations. Such vibrations decrease the performance and reliability of drilling systems and can ultimately lead to system failure. Current industrial controllers regularly fail to eliminate stick–slip vibrations under increasingly challenging operating conditions caused by the tendency towards drilling deeper and inclined wells, where multiple vibrational modes play a role in the occurrence of stick–slip vibrations. As a basis for controller synthesis, a multi‐modal model of the torsional drill‐string dynamics for a real rig is employed, and a bit–rock interaction model with severe velocity‐weakening effect is used. The proposed model‐based controller design methodology consists of a state‐feedback controller and a (nonlinear) observer. Conditions, guaranteeing asymptotic stability of the desired equilibrium, corresponding to nominal drilling operation, are presented. The proposed control strategy has a significant advantage over existing vibration control systems as it can effectively cope with multiple modes of torsional vibration. Case study results using the proposed control strategy show that stick–slip oscillations can indeed be eliminated in realistic drilling scenarios in which industrial controllers fail to do so. Moreover, key robustness aspects of the control system involving the robustness against uncertainties in the bit–rock interaction and changing operational conditions are evidenced. Copyright © 2017 John Wiley & Sons, Ltd.

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Active damping of self-excited torsional vibrations in oil well drillstrings

Cited by 220 publications

References 0 publications

Drilling Systems: Stability and Hidden Oscillations

Drilling Systems: Stability and Hidden Oscillations

Practical approach to modelling and controlling stick-slip oscillations in oilwell drillstrings

Nonlinear output‐feedback control of torsional vibrations in drilling systems

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