0
Article

Analysis of Friction-Induced Limit Cycling in an Experimental Drill-String System

[+] Author and Article Information
N. Mihajlović, A. A. van Veggel, N. van de Wouw, H. Nijmeijer

Eindhoven University of Technology, Department of Mechanical Engineering, Dynamics and Control Group, Den Dolech, PO Box 513, 5600 MB Eindhoven, The Netherlands

J. Dyn. Sys., Meas., Control 126(4), 709-720 (Mar 11, 2005) (12 pages) doi:10.1115/1.1850535 History: Received June 17, 2003; Revised November 04, 2003; Online March 11, 2005
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.

References

Jansen, J. D., 1993, “Nonlinear Dynamics of Oil-Well Drill-Strings,” Ph.D. thesis, Delft University Press, The Netherlands.
Jansen,  J. D., and van de Steen,  L., 1995, “Active Damping of Self-Excited Torsional Vibrations in Oil Well Drillstrings,” J. Sound Vib., 179(4), pp. 647–668.
Leine, R. I., 2000, “Bifurcations in Discontinuous Mechanical Systems of Filippov-Type,” Ph.D. thesis, Eindhoven University of Technology, Eindhoven, The Netherlands.
Leine,  R. I., van Campen,  D. H., and Keultjes,  W. J. G., 2002, “Stick-Slip Whirl Interaction in Drillstring Dynamics,” ASME J. Vibr. Acoust., 124, pp. 209–220.
Van den Steen, L., 1997, “Suppressing Stick-Slip-Induced Drill-String Oscillations: A Hyper Stability Approach,” Ph.D. thesis, University of Twente, Enschede, The Netherlands.
Brett,  J. F., 1992, “The Genesis of Torsional Drillstring Vibrations,” SPEDE, 7(3), pp. 168–174.
Kust, O., 1998, “Selbsterregte Drehschwingungen in Schlanken Torsionssträngen: Nichtlineare Dynamik und Regelung,” Ph.D. thesis, Techincal University Hamburg-Harburg, Germany.
Cunningham,  R. A., 1968, “Analysis of Downhole Measurements of Drill String Forces and Motions,” ASME J. Eng. Ind., 90, pp. 208–216.
Tucker,  R. W., and Wang,  C., 1999, “An Integrated Model for Drill-String Dynamics,” J. Sound Vib., 224(1), pp. 123–165.
Brockley,  C. A., Cameron,  R., and Potter,  A. F., 1967, “Friction-Induced Vibration,” ASME J. Lubr. Technol., 89, pp. 101–108.
Brockley,  C. A., and Ko,  P. L., 1970, “Quasi-Harmonic Friction-Induced Vibration,” ASME J. Lubr. Technol., 92, pp. 550–556.
Ibrahim,  R. A., 1994, “Friction-Induced Vibration, Chatter, Squeal, and Chaos; Part I: Mechanics of Contact and Friction,” Appl. Mech. Rev., 47(7), pp. 209–226.
Ibrahim,  R. A., 1994, “Friction-Induced Vibration, Chatter, Squeal, and Chaos; Part II: Dynamics and Modeling,” Appl. Mech. Rev., 47(7), pp. 227–253.
Krauter,  A. I., 1981, “Generation of Squeal/Chatter in Water-Lubricated Elastomeric Bearings,” ASME J. Lubr. Technol., 103, pp. 406–413.
Leonard, W., 2001, Control of Electrical Drives, Springer-Verlag, Berlin.
Hensen, R. H. A., 2002, Controlled Mechanical Systems with Friction, Ph.D. thesis, Eindhoven University of Technology, Eindhoven, The Netherlands.
Hensen,  R. H. A., Angelis,  G. Z., Molengraft v. d.,  M. J. G., Jager d.,  A. G., and Kok,  J. J., 2000, “Gray-Box Modeling of Friction: An Experimental Case-Study,” Eur. J. Control, 6(3), pp. 258–267.
Narendra,  K. S., and Parthasarathy,  K., 1990, “Identification and Control of Dynamical Systems Using Neural Networks,” IEEE Trans. Neural Netw., 1, pp. 4–27.
Armstrong-Hélouvry,  B., and Amin,  B., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30(7), pp. 1083–1138.
Leonov,  A. I., 1990, “On the Dependance of Friction Force on Sliding Velocity in the Theory of Adhesive Friction of Elastomers,” Wear, 141, pp. 137–145.
Ascher, U. M., Mattheij, R. M. M., and Russell, D. R., Numerical Solution of Boundary Value Problems for Ordinary Differential Equations, SIAM, Philadelphia, 1995.
Parker, T. S., and Chua, L. O., 1989, Practical Numerical Algorithms for Chaotic Systems, Springer-Verlag, Berlin.
Sastry, S., 1999, Nonlinear Systems, Springer-Verlag, New York.
Leine,  R. I., and van Campen,  D. H., 2004, “Discontinuous Fold Bifurcations,” Syst. Anal. Model. Simul., 43(3), pp. 321–332.
Van de Wouw,  N., and Leine,  R. I., 2004, “Attractivity of Equilibrium Sets of Systems With Dry Friction,” Nonlinear Dyn., 35, pp. 19–39.

Figures

Grahic Jump Location
Experimental drill-string setup
Grahic Jump Location
Friction model at the upper disk
Grahic Jump Location
Friction model at the lower disk
Grahic Jump Location
Estimated friction torques at the lower disk
Grahic Jump Location
Applied normal force at the brake of the lower disk
Grahic Jump Location
Equilibrium branches of the drill-string setup
Grahic Jump Location
Friction damping for suggested friction torque present at the lower disk of the drill-string setup
Grahic Jump Location
Bifurcation diagrams of the drill-string setup
Grahic Jump Location
Two types of limit cycles in state-space: for u=1 V (no stick-slip is present) and for u=2 V (stick-slip is present). x1u−θl,x2=θ̇u,x3=θ̇l.
Grahic Jump Location
Experimental and simulated angular velocity response of the lower disk in steady state for different constant input voltages when the brake is applied
Grahic Jump Location
Simulated and experimental results (circles) of the steady-state analysis of the drill-string setup
Grahic Jump Location
Angular velocity of the lower disk in steady state for different constant input voltages when the brake is applied
Grahic Jump Location
Power spectral density of the angular velocities shown in Fig. 12

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In