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31 17 1387 3 4

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Non-linear Vibrational Analysis of an Axially Moving Drillstring


System with Time Dependent Axial Load and Velocity in an
Inclined Well
S.M. Sahebkar, M.R. Ghazavi, S. Emailzadeh-Khadem, and M.H. Ghayesh
ABSTRACT

ch

Mech. Eng. Dept., School of Eng., Tarbiat Modarres Univ.

Ar

A non-linear model of a drill string system in an inclined well with axially moving motion and loading is
established and analyzed by perturbation technique. The drillstring is modeled as a simply supported axially
moving rotor. Based on Hamilton's principle, the dynamic model developed consists of kinetic and potential
energy. Non-linear coupling terms are kept in the formulation, which leads to full coupling between the axial
and the transverse vibrational modes. The method of multiple scales is employed to solve the non-linear
equations, to analyze the steady state response, and to find the stability region of the system. Analytical and
numerical results reveal the non-linear phenomena, such as primary and parametric resonance that have not
been previously reported. Our results are compared with some existing experimental date showing relatively
good agreements.

Key Words: Drillstring, Non-linear Vibration, Axially Moving Rotor, Method of Multiple Scales, Dynamic
Stability

sahebkar@gmail.com :( ) -
-
-
-

www.SID.ir

4 3 1387

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.
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u

u
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t
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l v
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w

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1 l
+ 2J p
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J = J y = J z J p = 2J J p

.[11] J p = d ( Do4 Di4 ) 32

21

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]:[231621
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* z
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v
w
f CD Do ( ) 2 + ( ) 2

1 l
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t

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*4
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* 2
*
*
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z
z z
= e* exp(it ) + *2 ( * )( * )dx* iq2* ,
x 0 x x

z * = w* + iv*

v Wh . .

) ( exx
]:[16
u 1 w 2 1 v 2
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= exx
+ ( ) + ( ).
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x 2 x

]:[11

* 2 z
* 2 z * * z
* 2 z
* * * + *2 *2 + * * + 2
*2
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* 2

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+i 2 * *2 J * *2 *2 + P* *2
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* 1 1 w* 2 v* 2
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x
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(0, t ) = *2 (1, t ) = 0.
*2
x
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= ) z* (0, t ) = z * (1, t

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)(14

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4 3 1387

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* + I * *4 + CD ( * )( * )( * ) q1
x
t t t
x
= e exp(it ) i q2

* z
) dx .
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SI

) :(1
].[311
Drillstring
Drilling Fluid
E = 210 GPa
f = 1500 kg/m3

Bore hole

Do = 0.2286 m
)(9 inch
Di = 0.0762 m
)(3 inch
e0 = 0.00508 m
)(0.2 inch
)l = 10 m (65 ft
0 = 0.01 m/s

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n = 0,1, 2,..... ,

Tn = nt * ,

2 = 2 , e* = 2 e , CD* = 2 CD.
) (10
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q2* = 2 q2 , q1* = q1 , J * = J

z ( x, t , ) = z0 ( x, T0 , T1 ,....) + z1 ( x, T0 , T1 ,....) + ...

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) (17
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] 25 [26 )(17
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P0 = 100 kN
= 5 rad/s
)(47.7 rpm

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Dh = 0.4445 m
)(17.5 inch
= 0.1 rad

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z
x*2

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d = 7850 kg/m3

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23

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x
x
2
2
2 z0
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x
x
x
z0
2
) + q1 * CD D0 z0 z0 D0 z0 + e exp(it
x
* 2 z0 1 z0 z0
+ *2 * * dx iq2 .
x 0 x x

)(26

) (12 )(25
:

)D02 z1 + ( 0 2 + 1

)(21

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)(22

)(27

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= )Z n ( x

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=(...)

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x

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) + n 3 exp(i (n )T0 ) + n 4 exp(i(n + p )T0
+ n 5 exp(i (n p )T0 ) + e exp(it ) iq2 .

n 5 , n 4 , n 3 , n 2 , n1
.

4 3 1387

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) exp(inT0 ) exp(inT0 .


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n .

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n1 , n 2 , n3 .

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1
+ Re( n1 )an + Re( n 2 ) an3
4
T1

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) A(T1 :
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1

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25

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1 2

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n
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1 2

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.
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an T1 = n T1 = 0 .

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n.
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4

= Im( n1 ) Im( n 2 ) an2 Im( n 3 ) an

+ n 3 An (T1 ) An (T1 ) An (T1 ) + n 4 exp(i T0 ) = 0.

n1 , n 2 , n 3 n 4 .

an
1
+ Re( n1 )an + Re( n 2 ) an3
T1
4

n
1
+ Im( n1 )an + Im( n 2 ) an3
T1
4

)(39

an

) Im( n 4 ) cos( n
1
*+ Im( n 3 ) an2 + 2
an = 0,
2
) + Re( n 4 ) sin( n

) G (an , n

an
.

) G (an , n

n

an T1 = n T1 = 0
) (39 38
an = 0 .

www.SID.ir

n
= G (an , n ),
T1

) F (an , n

a
n
= J I
) F (an , n

) (31
) A n (T1 ]:[26
1
i T
)(42
An = (rn + isn ) exp( 1 ).
2

. n = T1 n

an
= F (an , n ),
T1

Ar

)(38

) Re( n 4 ) cos( n
1
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an = 0,
2
) Im( n 4 ) sin( n

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) A n (T1 ) (31
:

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:

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)(37

) An (T1
) + n1 An (T1 ) + n 2 An2 (T1 ) An (T1
T1

J I = 0

) (42 ) (37

.

4 3 1387

26

rn = sn = 0
:

= 0.

)(43

)n = 0

J I (r =s
n

. 1

:

1 = 16.154

-3-4 ) (= n 2n
2n .



.


] 21 :[27
)(44
= 2n + .

:
) An (T1
) + n1 An (T1 ) + n 2 An2 (T1 ) An (T1
T1
)(45
) + n 3 An (T1 ) An (T1 ) An (T1

2 = 65.627

. 3 = 147.81 rad/s
1 , 2
n / n .


. n=1
= n

SI

= 2n . n=3
:

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= n 3 . = 2n 3



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) (ROP

.
WOB .

+ n 5 exp(i T0 ) An (T1 ) = 0.

) An (T1 ) (39
:

n
1
+ Im( n1 )an + Im( n 2 ) an3
T1
4

an

) Im( n 5 ) cos( T1
1
+ Im( n 3 ) an2 +
an = 0,
2
) Re( n 4 ) sin( T1

an n ) (47 46
.
-4

.
) (26
) (27

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)(47

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1
+ Re( n 3 ) an2 +
an = 0,
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) + Im( n 5 ) sin( T1

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1
+ Re( n1 )an + Re( n 2 ) an3
T1
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n1 , n 2 , n 3 n 5 .

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...

l = 10m .
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.


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) .( l l

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.

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Whirl: The Culprit in Mobile Bay, SPE Drilling
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Mechanical Systems of Filippov-Type, PhD

1387 3 4

30

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11.

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9.

Dissertation, Mech. Eng. Dept., Univ. of


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3, pp. 556564, 2001.

SI

22. Marynowski, K. and Kapitaniak, T. Zener


Internal Damping in Modeling of Axially Moving
Viscoelastic
Beam
with
Time-dependent
Tension, Int. J. Non-linear Mech., Vol. 42, No. 1,
pp. 118-131, 2007.
23. Meirovitch. L. Analytical Methods in
Vibrations, New York, Macmillan, 1967.
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Vibration Handbook, Fifth Ed., McGraw-Hill,
New York, 2002 .
25. Nayfeh, A.H. and Mook, D.T. Non-linear
Oscillations, John Wiley, New York, 1979.
26. Nayfeh, A.H. and Balachandran, B., Applied
Non-linear Dynamics: Analytical, Computational,
and Experimental Methods, John Wiley, New
York, 1995.
" " .. .27

.1387

13.

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14.

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15.

16.
17.

18.

19.

20.

21.

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31

...

n2

'
n

'
n

'
n

{ Z C i Z ( x)Z ( x)Z ( x)dx}


=
{ Z 2i Z ( x) 2 Z ( x) dx}
1

n3

2
n

'
n

{ Z [e ] dx}
1

n4 =

{ Z 2i Z ( x) 2 Z ( x) dx}
1

'
n


2 ''
'
1 i 0 Z n ( x) 0 Z n ( x)
2
dx
0 Z n

'
''

+n 0 Z n ( x) iZ n ( x)

n5 = 1
'
Z n 2in Z n ( x) 20 Z n ( x) dx

Ar

ch

ive

n 5 = iA n (T 1 ) Z n'' (x )

''
n

of

A n (T 1 )
A n (T 1 ) '

2i n T Z n (x ) 2 0 T Z n (x )

1
1

q1 (1 x * )A n (T1 ) Z n'' (x ) + q1A n (T 1 ) Z n' (x )

2
''
2
''
n 1 = +n A n (T1 ) Z n (x ) J n A n (T1 ) Z n (x )

2
C D i n n A n (T1 ) Z n (x )A n (T1 ) Z n (x )A n (T 1 ) Z n (x )

1
2
''
'
'
*
+ A n (T 1 )A n (T1 ) Z n (x ) 0 Z n (x ) Z n (x ) dx

1
2

''
'
i A (T ) Z (x ) 0 A n (T1 ) Z n (x )
n2 = 0 n 1 n
2

A (T ) Z ' (x )

n 0 n 1 n

2
''
'
i 0 A n (T1 ) Z n (x ) 0 A n (T1 ) Z n (x )
n3 =
2

+ A (T ) Z ' (x )

n 0 n 1 n

''
n 4 = iA n (T1 ) Z n (x )

{ Z Z ( x) Z ( x )Z ( x ) dx dx}
=
{ Z 2i Z ( x) 2 Z ( x) dx}

SI

1 q1 (1 x* ) Z n'' ( x) + q1Z n' ( x)


dx
0 Z n
2 ''
2 ''
+n Z n ( x) J n Z n ( x)

n1 =
1
'
Z n 2in Z n ( x) 20 Z n ( x) dx

www.SID.ir