.

SPE
So13EtU Psstde.n of
ErSLWWWS

SPE 16658 Prediction of Drilling Trajectory in Directional Wells Via a New Rock-Bit Interaction Model
by H-S.Ho, NL Petroleum ervices S
SPE Member

COPvt,ghl Th,s papeI

Dallas

1987. &ICIW

0! PLWOlt

E ng,necrs al Ihc 62~d An,waf TP< nn,L COIIICICIICC and E xnm:l,on of Ihc SocIcty of Pettolcum Eng,ncors holcl ,n

,ka> ptc,parefl to! ptescntal,on 27 30 1987

TX SePlembef

Th.s paper was sclech?a lor PICXWII.SI.C.. ,IY in SPE Ptogtam Comnl,llcc !a!,o*.ng fem% 01 ,nlotmal on conlamed ,n 2n at)shacl Submmed aulllO, ($) Conlents of the Pam? as presen!cd nave nOl been fev,ewed hy lhe SOCICIY 0! Pi?holeum Eng,nco!s and arc SUbjecl lo corrcchon aulh0t{51 The malcrml as ptcscntcd aoes not nccessar,iy Icllcct my posmon of me SOCICIY of Pelroleum Engrncers IIS OIIICWS or members prescntca at SPE mmwnqs ,Irc Sutsject m publtcal,on rcv.mv by Ed,tot,al Cemmrllc,cs 01 lhc SOCIOIY 01 Peltoleum Eng,neets Pctm,ss,on 10

by IIw by !he P3pefs COPY IS

Ies!IIc Ic!cY ml atmhacl of no! mole man 300 words lllu$l, MOnS may not be Coptea The JbJlfacl shoula conlam CG.ISPICUOUS acknowlcagmcnl 10 o! rjhete ana bY wnom mo IMpof IS ptcswm?a IVIIIL>publ,c,llton> h!onagm SPE P O BOI 833836 R,charrIson TX 750!33.3836 TCIQX. 730989 SPEDAL

AssIRAcr . This par presents che basicconcepts met!x+ and dolc$ of a new general reek-bit interaction tie useful in predictingrilling d trajectories in directional(and deep vertical)wlls. ~is mdel is a generalizationf existing o similar drilling aodels. accounts for theanisotropic It characteristics koththe fonestionti the bit. of lhe mdel is developedin a 3-Dgecsretry. l%erefore, it is ca*le of predictingthe walk tendency and the build/droptendencyof a given MA (bottomhole assembly) under any drilling condition,ie mdel can & usedas follws: in f the forward mde to predict the drilling the direction; n the inverse mode to generate i rock and bit anisotro~ indicesf in the log-generationde to generatedrilling m logs, suchas a drilling dip log.Exmples of tne first two usesare shown. The drillingdirectionspredictedusingvarious &ices and theories compared thoseusi:g are to general theory in parametric Significant differences can be seen,not onlyii the predictedwalk tendency,which is often missed, but also in the predictedbuild/drop of tendency the BHA.
Ibis

more emphasiswill be placed on directional drilling. t the sem tiax?,he increasedostof A t c such rigshas also heightenedthe needto reduce drilling costs(including the tripping timewhile drilling)and avoid drillingtroublesdue to unwanted holedeviations, Recognizing these dual econrseic constraints, the ptrolem !rdustry has recentiy evoted d aajor ~fforts develop capabilities batter to to understand and control drillingtrajectories. ~ese efforts fallinto @m categories: active downhole directionalontrol c tools, and analysis xxiels and ccmpter programs. Thispaperwilladdress onlythe latter, Canprehensiveirectional d drilling analysis program will eventuallyhelp predict and/or control the drilling trajectory, In addition,theycan also help to better understandhe behavior t ofdcrmhole directionalontrol tools, and to iuprcwe c their accuracy and reliability. Sincethe ioneeringorkby Lubinski w [1,2]in cularly the last10 years,there m 1953,and part !/ havebeenmsnypublishedmrkson thissubject [322],With the recent deveiopmt of fm tools, programs have taken on rester these analysis significance, theycan be usedat the r!g site as to helpthedirectional driller micetimalydeci.Gions No longer are they regardednwrelya~ . qualitative well-planning aids. B. ~1.ments a Predictive of Directional Drilling
Prozmun

paperalsoshowswhy a 3-D analysis essenis A tialto properly predict the drilling direction, not only cmpletelyignores thewalk 2-D analysis tendencyofthe BHA, it alsoincorrectly predicts the MM/drop tendency.

INTACWCTICN
A.

Roleof a Predictiveirectional D Drilling Prcs&m

worldoil reserves,uture f Due to diminishing explorationor fossil fuelswillgradually hift f s to mre difficultreservoirs, requiringeeper d and/or offshoredrilling,In qither case,rig costswill h mch higher thanin conventional landdrillingof verticalw1ls. l%usamreand
03

Acrqxehensive directional drilling analsis program will contain the fcUOWin ?lenumts:Y ) A ( MA (Sottmhole AsseJutdy)nalysspr rarnl2)A a ( predictlvemdelwhichrelates Y thedrilingdirecc tion to the bit used, the operatingonditions, the borehole geawtry, A the fomationdrillad) analysis feature. leE and (3)A drill ahe~Vpost ments(1)and (3) will onlybe briefly discussed in tic following, The capabilities existing of directional drillingprqrams are stilllimited, ~rticularly with respect the predictive to aspect

PREDICTIONF DRILLING O TRAJECTORY... . HISLWKALPERSPECXVES .

SPE 16658

rock-bitinteraction mdeling),elemmt z (the (2),whichis the subject ofthis~per. MY BHA analysis pxqraias havebeendeveloped [1-17]. gOCd BHAprOgrL%M theheartofacomA is prehensiveirectic.aal d drilling analysis progr?mh and can serve th~ followingfunctions See[13) ( 14]): a. Quantitatively describe thedeforumtion of the BHA, includingthe total bit force (hild/dropand walk) components, the and bit tiltdirection.Thesedata,aloneand/ or in conjunction witha rock-bit interacti~nnmdel,canbe usedto inferthebuild/ drop and, for a 3-D program,thewalk trend(s). b. Determine the locationsandzmgnitudesof contcct forces between the BRA and the borehole wall. These data are usefulin estimatinghewear rates of tooljoints, t stabilizers,u~$gs, and boreholes.lhey in torque and drag are also computations (See(e)below). c. Compute the stresses theBHA,whichcan irr be used to locate the critically stressed sections. ?ris s partiwlarly l i valuable for the expensiveownhole d toolsubs. d. Calculate thedifferenceetween b the survey sub axialdirectionand the borehole centerline direction,eading to a correction l of FSTO survey data. e. FormI partof a torque-drag a modelprogram to enablemore accurate computation the of torque and drag in a directional deep and vertical well. Such rmdels are usefulin optimum well planning;in thedesigns of surface equipoent, drillstring, casing; and and in the diagnosisand avoidanceof drilling troubles. The existing BHA programsuce different approaches(semi-analytic method, finite-element zethod, finite-difference or method), and contain different features.Thepros and consof these approachesavebeen discussedin [141, h andwill not be repeated here.Some of themare 2-D analysis program.

Hany drillers.~ve scm?tiuw obse.vedrath?r severedeviatiorv. Deviationangles of up to b: have swtims be~tioim~sc~in ~8sy . vertical Wellm qualitatively explained try several concepts; including miniature the whipstock heory, hich t w attributedthem to the effect of different forzmtiond rillabilities. A. Practices the control directioml in of drilling Improvements in our uw%zatendingof the of various BHAShavecane deviation tendencies slowly. Fig.1 showsthe key features a predicin tivedirectional drilling problem. t the present, A there is a heavy relianceon trialand error, ttmughonecan use any oneof the follwingexistfor control: ing practices di~ectional 1. Prior experienceand standardBHA types (larilding, droning, or holding):his s l i themst crsmnon approach~ 2. Bit sideforceas a qualitative rmasure of deviation tendency ([8]); 3. Resultant it forcedirections the actual b a drilling direction [18-201; 4. Borehole curvaturethat induces zeroside force as the actual drillingcurvature [3,91; 5. Rock-bit interaction modeling definethe to drilling direction [1,15,21,22]. Additionally, canuse the follcming: one 6. Bit axisdirectionas theprojectedrilld ingdirection. r$ethode (2-6)reguire the use ofa suitablelm analysis program.

Inzethod (l), a suitabletype of BHAis selected fora depth region to matchtheplanned borehole curvature, e.g., a larildingHA for a B building section of the borehole.ough sirqle, ~ suchan approach MS do genera~s&&~ble~* as erqmcted ti,mgh First, :, a The usefulnessof a BHA analysisprogram straighthole, their drillingtendencies are depends its inherent eatures capabilities. on f and strongly influenced theborehole w curvaturend a Selectionf a BHA analysis o program should bemsde inclination, and,toa lesser extent, ~theVKM by matching the user$s needs withprogram fea(waight bit). A kmilding on BHAwillbecaaea tures. Other considerationsncludethe quality i dro ingassembly a hole thatbuilds a sufin at and rigorin the methodology usedin theprogram, fic ent curvature,nd viceversa[13,14].econd, F a S user-friendliness, the speedof corrgnrtation, sucha practice and for the effects does not account wirichecomes b critical if the progtam is tobe of forzution, boreholegecxnatry, ardoperating usedat the rig sitefor real-time operations. As conditions. a result,what worked in onewell or depthinteivalmay not work in anoth , Xhe r conse o?:*is that frequentcorrectionunsare Adrill-aheadp rogramallmm repeated alculac tionsat differentprojectedbit locations, thus neede . r leadin to a predicteddrilling trajectory, a AS Math& (2)is an izprovezoent overmthod (1) !on ccerpan feature,post drilling analysis allows Mans in thatit rovidesa semi-quantiative of for a more detailedcomparison of actual vs. predicting e deviation endencyf a BHA, t o 8 predicted rilling trajectories,nd can provide d a zutch theruseful information o about thewellin ?lethoda (3-6) provide a quantitative predicrMswill the formof generateddrillinglogs. tionof the actual drilling direction, Theydiffer be discussed laterin thispaper. in how the actual drilling trajectorys defined i the knwn~rameters, i.e., by how the rockof b t interaction modeled, degree success ? is The 84

SPI{ :6658

HWA-SHANHO

of, eachsuchmethod lies in hm welleachmodel accounts ffir the relevant arametersffectinghe p a t drillingdirection.Scme of these mthcds are clearly inadequate Because importantarameters p are neglected. B. Research Quantitative on Predictionf Deviao tionTendency Drilling deviation the result rockremois of val underthe mrglex action the bit.Research of on the fundamental problemsof rockrenmval and deviation involve threeapproaches: (1)laboratory studius, (2)*tress callcula,ions, (3)simpliand fiedanalytical rock-bit ( interaction) ~elin9. he firsttwn approaches examine the actual, if simplified,ock removalmd drilling r deviation a w,r given bit loads,whichmustinclude deviationsideforce. Results of Vie testsor analyses hopefully ill leadto useful(evenif empirically w fitted) relationsthat descri~ tie deviation tendenciesf bitsin any particularituation. o s In termsof the firstapproach,arlier e exp+?rimental worksdealtprimarilywiththe effects of various drilling conditions on thedrilling rate of various bits [23-32].cLarnore M [33]and Bradley [34]were the first to address the sideforce ganeratedat a single bit tooth under axial impact. Theirresultsconfirm,at leastqualitathattrothhebit t tively, the cccmmn observation and the foruationexhibit anisotropic drilling characteristics. rhedeviatbntendency as found w to depend on the bit gecm?try and dip angle. Millheim andWarren[351 carriadoutvaluebleab l drilling testsusinga rock cradlethatwas S* the sideand jettedtoa sideforce, and measured axialpenetrationrates. Using isotropicocks, r theyconcluded hat bitsindeed t dzillanisotropitally. The effect of frictionbetween theguide railsand the cradle was not measured,nd may a influence he datainterpretation. t In terms of the second approach,lasticity p theory was employed [33,36-401 studythe limit to (failure)tressstate under a single s bit tooth, whichwas idealizeds a 2-Dwedgeor punch. a Furong these, Mcranore [331, Bradley [34,391 Sndth and and Cheatham [401considered sideforce generthe atedon the bit tooth, usingsimplified (upper 2-D bound)analysis in plasticity. Though usefulin providing ~wnonaig~~klaeseac~~~ic analyses d drilling clearly conditions. he results are also not easily deviation interpreted in terms of quantitative trends. More recently,a large scalecanputer program was developedto carry out numerical analyses [41,421 to study the simulatedynamic d and solution response PIX bits. The ntieling of processes are extremelycumbersome and require detailedapriori knowledge of all parameters affecting system. the Most of thesedataare not for a longtiinc available t present(and perhaps a to ccme). l%isapproach clearly is not yet practical, lhe abovediscussionshows thatrational nd a t t usefulways of describinghedeviation endencies of a drill bit will not be pmsible at sucha fundaasmtal level, leastforquitesometime to at come. Mis makes the las~eapp~ro~h,rock-bit appealing interactionmodeling, approach,

Iff.RODUCXI@4 !IO ROCK-BIT INIERACTICN IK)DELI,NG Relevant parametersthat affecc t~e deviation tendency a given BHA My be grouped of intothe following:(1) thv MA configuration (wither withoutstabilizers); theborehole (2) trajectory andgearetry; (3) the operatingonditions; c (4) the bit;and (5)the formationaingdrilled. b Each of these groups furt!!er contain many rtmters. The essential features are illustrated Fig. 1. rn Because of the large numbers of parameters involved, more fundamental a understanding be can *thieved onlyby raducingthenumber inmdiate of -paramtersy rationalsynthesissnd groupingof b the contributing effects.A rock-bit interaction xodelrelates the drillingdir~ctionto the follcwingvector!i, shownin Fig.1: thebit orienas tation, tk bit korce, and the foruationnorual. The parameters listed in groups (l-3) are implicitlyonsideredhrough theirinfluences c t on the bit orientation the bit forcevectors. d use of a BHA analysis prv~mm is required. ~e pioneeringwork in this respct was by Lubinaki andwoods[1,2](andrecently, Williamson and Lubinski [15] with the ~ tiel), The Lubinski ndel includestwo elements:a 2-II w analysis program using a semi-analytic methodto predict the side (builwdrop) forceon thebit in slick assemblies, and a formationanisotropy effectZxMelto accoun+. for theccmonly experienced up-dip tendency in directional drilling. Theydefined rock anisotropyindexto account a for the differentdrillabilitiesarallel% p perpendicular the formationcMing plane. to & lLs model assumes bits to be isotropic. hiswas recently disputed HO [43], by anci illbe further w discussed Append~x in 111. Nevertheless, since its inceptionin 1953,the Lubinski modelhas stood for a longtim as the only rationally derived rock-bitinteraction model. Recently, Brettet al [21]developed bit effect a mdel, usir,ghe test data obtained Millheim t by and Warren [351. Their model accountsfor the of the bit, ht assumed the anisotropic effects formation o be isotropic, t Ma & Azar [19]and Brakel& War [20] also developeda bit effect modelthatis coupled with Blifi analysis,hough t assumes thedrilling directheirmodelin effect with thebit force. tion to be coincident ANE%?RDCK-BIT IN1QtAClX~ MODEL AmOre general 3-D rock-bit interaction mdel was recently developed t M ~chnologySystems, l%is a nmdelaccountsfor the simultaneous ffects e of rock and bit anisotropieson the drilling direction the followinganner(SeeFigure in m 1). Thedrillingd ircctionvector#r is thoughtof as a linearfunction the followinghreevecof t tors: the resultantit force if, b the bit~is ~al and the nornal vectorto the formationedding b 84, as fol:.ows: rN*&ll Ib * ~r * ~f + Ir * (l-Ib) * COSAaf * la + (l-~r) * rNCOSArd * &. (1)

85

*
&

PREDICTION JJRILLIIW OF TRAJECTORY .....

SPE 16658

Here,

I and Ib are the the rockand bit anistropy ~ndiceswt.ich describethe anisotropic ~:il~g characteristics the rock~-~ bit;rN of no~lized drillingefficiency under general situations) and Ad is the an le betwen directionarJ the fo-t ?on normal. the drilling For definitions, seeAppendix I.

dip lqwill provide ixkh the truedip angle and the trnwdip direction. Jheccmputerprogramwhich runs the rock-bit internctionzcdel be usedin standalonemode, can or linked, a 5 as programs. ~in program any of r . DXXIJWtine 0a as The firsttwo of these a@ications willredemonstrated the following. in APPLI@TI~CF INVERSEP12DELI~:_TIffiROCK G AND BITANISUIROPY INDICES The firstapplicationof hisrock-bit t interaction zuxielas beenthat of inverse h xdelingby evaluating some oldwelldata.WY limited a~lication has beenmade so far.
for lb thisend, well data mre first6creened suitability. follwinginformation needed: The are

lwo degenerateases of thisnmdelare de~cribed c in Appendix 71. First, if the bit is isotropic (Fig.2), the mrx3elin effect reducesto the Lubjnski model[1,2,15) thebit force, if bit axis Wd formationorud all lie in the samevertical n Seplaneof the borehole (i.e., the 2-D case). if condly, the rock is isotropic(Fig. 3), the model &en reduces to the BreutIrcdel [2i! $or a linearly dependent rillingefficiencyn tile d o bit
form.

Sincethiszmdel&ccounts for both the bit and the fonaationffect, has t!!e otentialo provide e it p t accuratepredictions of drillingtrajectories. Otheroperatingparametersare consideredmplii citlyby carrying out theBHA analysis program (to generate the bit force and the bit axisvectors). of RPM and hydraulicsre a In addition,effects both the deemed as unimportant. These affect latmal and forward drilling andwillEe csncelled of out,, sincetie anisotropyindices are ratios two drilling efficiencies. (SeeAppendix I). The normalizeddrillingefficiencyfactor as r defir,?d thismodel id usedto definethe vrue in baserockpenetration rate.It is dimensionless, and ind~lpendent the unitsof zssasurements of used. XhiS should rN not be confused iththe nOCZHliZSd w drillinq rate[44]used to definetheD-expnent, e etc. In cozum practice,ffects of deviation from sucha base conditionare not accounted or.In f tact,rN is the additio~lno~lization one ne.~s to carryout in orderto filter out the effects of forzationip and bit on the drilling d rate. Bradley[45]previouslypostulatedsuchan rN to lx lessthanunity, and haingdifferentpetterns for roller conebits and PLX bits (Fig. 4),According the present zwdel, rN is merelydesto cribedby the bit SniSOtrO~indexIb (ifI - 1), and has thepattern shcrdnn Fig.5. The si~uation i Interestingly, Bradleys when I > 1 is unlikely. mdel !or the PEYJbits~oincidesiththepresent w modelwhen tb- 0. APPLICATI@lS THE RCCK-BIT OF INTEPACTIONI@DEL %ie rock-it interaction b model can be usedin tho fOl19@dngways, When a true 3-D BHA analysis program usedto define the bit forceand bit is axis: 10 Inverse Mrsiellng: Withknownformationip and d instantaneousrillingdirection,thezmdel d indices. computes the rock and bit anisotro~ ~is process is requiredto generatethe anisotropyndices i for the nextapplication. 2, Forward Modeling/With known formationip, d and rockand bit anisotropyndices, hemdel i t predicts the instantaneous drilling direction, 3. mdeling toGeni XeDrillingmgs: Withkntnm .ardsotropy indices and the instantaneous drillingdirection,we can, in principle, generateadrillingdip log,Ihisrilling d 86

1. Detailed inforzbstion abouttheBHAasserebly; 2. Surveydata; 3. @crating conditions: (weight bit),~ W2B on (tome on bit),ad A weight; 4. Bit type/sizeand bit trip (and/ordai~y) report; 5. Formation ip. d In addition, lithologylog and calipx logare a useful. siuitable th d~ Data are first.ecreenedto select points. Foreash depth point, NLs3-DBHA anayf sis program DIDRXL-X (13,14] us%dto definethe is bit forceand the bit axis.The actual drilling direction definedby the tangent is vectorto the hrehole centerline, whichis obtained frominterarc polating the survey data (u6ing the circular K&hod) . Finally,the normsl to the formtion balding provided is by 3-D formtiondip inforztation.The rock-bit interaction zndelis thenused to generate the rock and bit anisotropyndices. i requires scmecare. U~e of the dip information Dipneter logs, which directly rovide thedip angleand dip direction,are avaiableonlyfora r fewwlls. Even then, many depthsections exhibited erratic dip data. In ttds case, only sectionswith reasonably smooth dip datawere used.In other wells, onlyregionalip informad tion was avsilable.In the GUlf CmSt, 6UCh i regional datame be acceptablef no localdip izedstructures, K as saltdomes, suc are present in the particular well (or depthregion) being analyzed. therwise, esults not he reliable. O r may Anotherizportantfactor that can significantly influence he data interpretation the borehole t is A caliber(and similarly,the stabilizer wear). be due to change in kmreholedianmter, itovergage washouts inatebilit or underqageue to boreor , d holecreep, can sign ficantly influenceheBHA t r deformtionwhichmy not be accmntedfor in the if nearthe biter mrxiel, particularly thisoccurti the Firstcouple of stabilizers,. suchsituaIn tions, the bit axis and thehit xce directions frcm the BHA analysis ZMybe inaccurate. obtained
*

DIDRILSM a service markof NL Petroleum is Services

.
SW 16658 HWA-SHANHO 5

In this case, unreasonable anisotropyindices (suchas negative numh+xs)maybe obtained.his T problem pointsout the importance knowing of the tarehole conditionsaccurately. The use of MWD surveys willalleviate thisproblem someextent to due to more timely and nwe frequent data collection. Our limited results show the follriingverage a values: Ib= .194; Ir m .999.

CCMPARIBtX4 PRR)ICTI~MEXHODS OF In thissection, comparisons willbe madebtween thedrilling directionspredictedusingseveral p different approaches. The followingarameters are heldconstant: ~B. 41)K;
1t)B -

5-K;

MUDWT.

= 10 ppg;

IicuIwIMTIm-

45;HoLEAzI}m7rft at bit. - 90

rhc bitsusedare soft-fomration roller conebits, and are shownto IX veryanisotropic. fornwThe tionis only slightly anisotropic. Table1 summarizes portion of the data upon whichthe a averages are based. These tiata re obtained the a in depthintervalusing the same buildingBHA as described Table1. in APPLICATIONOF FCWMD ~NDIR5mI~fi MODELING:PREDICTION OF

alongwith the same typicaluilding b BIiA. Threedifferent ell trajectories examined: w are (Table 3): straight well; (Table 4): 2-Dwell buildingat2/100; (Table 5): 3-Dwell additimallyw alking at 2fiOOI the right. to For each situation,five prediction methods are presented: l.~r=~f (~r-xb=l); 2. tr= da (Ir=l, Ib= O);
3. NLmxiel

The mcdelcan alsobe used to predict the instantaneous drilling direction itha single w analysis, or the drilling trajectoryith repeated w analyses. fromthe Usingthe average Xr and I obtained P inverse modeling, the rock-bitnteractionrogram p recomputeshe predictedsurvey data,usingthe t sameBHA for the same deptn interval in the as example above. Table2 summarizeshe result. In the table, t the actual borehole deviation azimuth and angles are computed through survey inter@ation usingthe circular arc method. x can be seen,themodel predicts the drilling directionsverywell.The ~f average differencevera depthinterval about o 3(0etm.sn b the predictedand the actualsumey data are: Deviation angledifference:.037; (Variance:020). . Azimuthangledifference: .031; (Variance:0360). . IMPORTANCEBCY1H OF THEROCK ANDBIT ANISOTROPIES ,tithouqh rockis found to be muchlessanisothe tropicthanthe bit, this does not meanwe can arbitrarilyet it to be unityand use thedegens eratemodel for isotropicrocks (AppendixI). I Thereare two reasons: (1) The anglebetween the bit force and the bit axis is limited the by borehole confinementand drillstring deformation, and is therefore ery small(onthe orderof a few v degrees), the otherhand,the anglebetween On the bit forceand the formation ormalis quitearbin trary,and may be as large as 90, (2)The deviation (measured rom the bit force) is muchmore f sensitive changes to in the rockanisotropyndex i t Ir thSnin Ib, Fig. 6 and Fig.7 illustratehese sensitivities. Furthermore, because the angle between the bit forceand the bit axis is generallyery small,it v is importantto have a reliableBHA analysis program, Small rrors in the computed bit force and bit axisvectors may causelargeerrorsin the generated anisotropy indices.
,

(Ir- .99,Ibm .2);

4. Isotropic it Wdel (Ib- 1, Ir - .99); b 5. Isotropic rocktiel (It = 1, Ib= .2); Results are independent of the forumtion dip,and ehownonlyonceundereachtable. Tables(3-S)show results for dategroups:
the

folltingdip

a. Dip anglesat O, 20, 40and 60~;

For O clip angle, resultc are independent of &laimth angle, and are ehcwn under the
q

b,

Fonr@tion ormal n Asiuwthsat 90 {holenearly perpendicular Hi;lg), -90 (holenearly to ~g~llel to bedding), (Out-of O planedip)and

For isotropic rocks(.?r 1), results D are independentof dip variation.Ther@forenlyone caseis o shownin eachof the tables. In the tables, the predictionetbd numberis shownin parenthesis. m

A deviation nglefran hole axis of .3willbe a mild,while1.will be strong. Sine;thisdeviationan le is the instantaneous drilling deviation angle,i! is not directly t translated intothemore lb ccmon notion of change in hole curvature. canpute that?one needs to car~ out s.cceasive calculations after each finite llingdistance, dr and thentake ttm average Cuwature.Thisincrementalapproach is probablymorerealistic%n t as itmtxe closely duplicates the ccusm notion, the actualdrilling p!ocess, In Table3, we Ree the bit forceto be strongly building,hilethe bit axiais actually w slightly droppin. M a result,wthod (2)wouldpredict a verymi!d dropping trend, whileall other methods predict mild to strong lmlding trends,M expected, thodE 3 & 4 predict similar m leftwalking, but differ very significantlyn the i imildtrendprediction.

PREDICTIONF DRILLING O TWJECTORY .....

. -

SPE 16658

In Table 4, the inherentholecurvature causes both thabit force and the bit axistobe dropo ping.lhis due to the stiffnessf the MA, as is pinted cut previously[13,141.~ereforelall methock predict droppingtrend. Methods 6 4 a 3 of alsopredict left-we.king a trend. The severity t Cle dropping trend varies rcccordingo the M@mda, Note that, once drillin is allcwed to ! proceed accordingto the predcted direction (dropping), the hole cumature is reduced, and therefore the inherentdr~ing tendency the of BHri willalsc be reduced.%iswillthenc!!ge the future drillingdirectirzio be eitherZess t dropping, even return to slightly acilding. or L Such repetitivecsrgmtetione casestudies c and will be presented laterpapers. in In Table 5, the right-walkingole curvature h further causesleft-walking trends boththe bit in forceand the bit -is. AS a result, cnethcds all nm predict rmderate to strong left-walking tendencies. In both2- and 3-D holes, we see thatusingthe bit force(method (2)) as the predictorf drillo ing directionactually providesthe greatest scatter. Most current practicesare in factbased
on this cezthcxl.
CmXLUsxcm

rmmcLAnnw
I-ASAI

Vector withmagnitude, and unit A, A vector Bat

(X,Y,Z)

(JU,A2,A3): Cucponentc of vector 3 in diiecr.inns;

diUnitbasevectors along(X,Y,Z) (~l,~2,f13): rections;

3 ;: i!f: 2r: ?:
Aa~, etc.:

Unitvector alcagbit axisdirection UrCit ector v nornulto formationed. b ding~ Unitvectoralongthe resultantit b force on formatioru Unitvectoralongthe drilling dSrection$ Resultantit forceon the forumb tion; Anglebetween Snd ~f, etc. $a Lubinskisockanisotropyndexr i 1 - Ir~ Bit anisotropyndex; i Rockanisotropy!miex 1 - h; i = Drilling ratealongdirection ();

h: Ih: Ir: R():

In suzmury,the followingconclusions may be drawn: interaction udel 1. A new rock-bit

ts now available. It is a generalization existing of crcxlels.

2.

3.

4. 5. 6. 7.
~s

Drilling efficiency alongdirection Itce rock-bit interaction mdel sinr.lltaneously ro: ();-R()/F. accounts for both$herockand bit anisotrow effects in 3-D spacm. subscripts ): ( 3-DBHA analysis X+iecuodel requires a reliable Basequantities, referringo situat o: program generate to thebit forceand bit axis tionwhenbothrockand bit are isodirections. tropic; orwhen~f, i!a, %811 coinThe mcdelcan be used in the forward mcde to cide; predict the drilling trajectory. Bitsaxialdirection~ a: The modelcan be used in the inverse de to generate rock and bit a.lisotropy indices. The modelcan also be usedto generate other drilling logs,suchus a drilling diplog. Ccmplete and accuratefielddatais important for-generating anisotropyndic.-the i d: f: 1: n: For&ationnomal direction; Bit forcedirection; Bitslateral direction; Beddingsnocmd direction; Beddings parallel direction? Nornuclized quantity;. Drilling direction. * m~e * When two subscripts appear, that ~;~ins to bit directioncomas o
(X,Y,Z):

pl N: r:

The

author wishes to expreLs his appreciation to the followingpersons: IU Paul Rodney, John s rontenot and Vik RSO for theirsustainedupport of the directional drilling service programs NL at Ewadley of Standard Oil, Industries; Wilhm TO fordiscussionon thec!mdclwhile was atNL; a he McFarland and Mary Fouts fortheirtyping Carolyn s~pprt and finally,the author thanks theNL cwnagementfor the prmission to publish this papr.

Fixedglobalcoordinateystem, s X> East,Y -> North, Z -> Verticalup; Inclination angle; Azimuth angle, cm?asured .W.from C

e: +:

88

SPE 16658
RMmmcEB [1 ]

HWA-SHAWPO

L@inski, A. and kods, H.B.: Factors tifectintheAngle of xr.clirJationDogand leggingnRota f . .-. Prd . p~ct., 1%~~ ~~$, Drilling 6 #o*s, H. B. & Lubinaki,A.: Useof Stabilizers in Controlling Hole Deviation, API Drill. & Prod. Pratt., 1955, pp.165-182.

[16]Jogi,P. N., Burgwss, M. & Bowling, P.: T. J. Three-Dimensional Bottahnle Aase*ly IMO1 Improves Directimal Drilling,SPg/2ALW Conf.,Dnlias, 1986.SPE Papar#14768. [s7]Birades, M.: ORPHEE 3D: Stitic Snd-C TriclismsimalBHA Coeg!uterodels,SPE M C Wt. 1986, Annual lWchnical mf. and M., NewOrleans, SPE paper15466.
[ ld Sutb, A. A., Kyers, M. and GastonP D.: 0, J. Directional Drilling- A ~rison of Meaamsd and Predicted (%anges in Hole Anglem, SPE Paper8336, 54th Ann. SPE Conf., 1979,ep.

[2 j

J. IQqhy, c. R. & C!heatham, n, Jr.: Pole [3 ] 1 1 htiatienSnd DrillStriIIg Behavior, SPE J., 1 Her.1966,p. 44.
(4
F. 1 Fischer, J.: AMlysisOf DrillStrins in .xmed Ekmholes, SPE W. COnf., ?974, 1 Rouston. Paper45071. SPE

HurF41y, C. E., M&SIOOre, . R l. Dickson,L. L.: Mvantages Heavy & of Kotal Collars in Directional Drilling and rntg.,allas, D Deviation ontrolSPE -1 C 1975.SPE Paper#554). Walker, B. H. & riedman,M. B.: Three[6 ] 1 Dimensional Force?!rdDeflection Analysis of B variable Cross-sectionrillstring,. D J press. Veesel~ch,, Trans. ASME, my 1977, pp. 367-373. W Bradley, . B., [5 ] 1

[19 Ma, D. &Asar, J, J.: ASWdyof ock-Bit R Interaction and Wellbore Deviation, J. Trans. Mm, v. 108, SWrgy ReBcs. lWchn., Sapt.1986,~. 228-233.
[20]

Brakel, D. & Azar, J. J.: Prediction J. of Considering Bottcsnhole Wellbore Trajectory and DrillBit WCS, SPE/IALm7.Conf., Naw 1077..IO9G. SPE Paper Oc2c~, 1987, pp. . Kl,Jh,F~.~~~ kth%;O!%$ii;~~ Directional Behavior Bott~gle Assemblies of Includinghosewith Bent Subsand ~ole T 140t0rSn, SPE/IALW conference, Feb. 1986, Dallas. SPE paper147v7.

i 21

[7 ]

Mllheim, R., JOrdSn, S. and Rittv, C. J.: Bottceahole Assembly Analysis Using the Finite Element 14ethl,JPT, Feb.197a,PPO 265-274. millheim, . R.: Eight partseries DirecR on tional Drilling,m., NOV. 1978 to Feb.
1979.
Callas, N, P. & Callas, R. L.: BOUndary ValueProblem is Solved,c%7.,DSC.1980, pp. 62-66.

[8

[22]Codling, J.: Heuristic Program -A Guideto Directional Drilling, ASME Drilling Pro& duction.Symp., Feb.17-21, 198S,pp. 127-137,
S?U@~ af Rock (231Scxnerton, W. H.: A Ldxxatory Breakageby Rotary Drilling,Pe;roleum Trans., AXriE,. 216,1959,pp. 52-97. V

[9

[10]Itillheira, & Apostal, K. K. I%: IIIe Effectof BottomholessemblyEynamicson the TrajecA toryof a Bit, JPT, ~C. 1981.~. 23232338. Drillstring Beha[11]Twtain, P.: AMlyZing vior, WorldOil, 1981. Part I: June;Part II: July;Part111:Sept.
[12]

N. [24]Gamier, A. J. & Van Lingen, H.? Pheno!w!naAffecting Drilling Rates at Wpth, ~&rol. Trans., AIME,V. 216,1959,pp. 232, [25](lJnningh,R. A.: Laboratory Studies the of Effect of Rotary Sped on Rock-Bit PerforUmce and DrillingCost, API Drill. Prcd, Pratt,, 1960,~. 7-14. [26]SiIW2n, %ergy Balance RockDrilling, R.: in SPEJ., Dec. 1963, pp. 298-306. Paper resented SPE- Univ. Taxas Symp. on Dr 11. at ! RockMach.,Jan.1963. N, C.: Expwimental [271Garner, E. and Gatlin, Study of Crater Formationin Plastically Deforming yntheticlccks, S l JFT,Sept.1963,
~. 1025-1030,

ounayevsky, A. 6 Judzis, V. A.~ Conservative and Nonconservative sucklingof mill Pipe, 5ath Annual Mtg. SPE of AXME,San Francs. 1983.

U.: APpli[13 F@fie,S., ho, H.-S.and Chandra, caga of a BHA A@ysis Program in DirecDrillingt, 2ADC/SPE conference, Dallas, 1986.SPEpaper #14765. [14 Formulation DrillOf string underLa:,;e Mfornbstion and ItsUse in BHAmalysis, SPE Ann. Tsch.Conf.,198b, New Orleans, SPE papar015562.
Ho, H.+.: GSn@tal

underllynamic N. [28]Burdine, T.: Rock Failure fiding Condit~ms, J., Nar.1963,pp. SPE -, [29]~irk, P. F. & Cheatham J. B. Jr.:Al ~periuental Studyof sln~le Bit-~th Penetration IntoDry Rockat Confining ressures P :37 5000 psi, SPC J., June1965,pp. 117q

A J [15]Williamson,. S. and Lubinski,.~ PredictSPE/ ing Bottomhole AssemblyPerformance, S?E paper XADC con~erence, Feb.1986,oallas, #14764. Also in SPUrilling mgng., mar. 1987,pp. 37-46.

[30]

Penetration under Xaurerl W. C.: Bit-lboth SimulatedBoreholeConditions, JPT, Dec.

1965, pp. 1433-1442,

89

,..

8
[31]

PREDICTION OFDRILLINGRAJECTORY. T .... APP~IX 1.

DSFINITSINS OFANISOIROPY

SPE 16658
.

Yang, J. H. & Gray,R. E.t Single-Dlou Bitrots on saturatedockstuxler R lbothIs@act Confining ressure: 11. EleVStSd POie PresP zwe, S2E J., Dec. 1967, pp. 389-408.

I~ICES

[32] Petersw~ C, R.: Roller Cutter Forces, SPE J.,Mar. 1979,pp. 37-65. [331McLemore, t. f T.~ The Roleof Rc:kStrength Anisotropy n Watural HoleDeviation~ i JPT~ NOV.1971,pp.1313-1321. [34]Bradley, W. B.: Deviation Forces From the Wedge Penetratkn Failure of Anisotropic Rock,J. Shgineering for Industries, Trans. ASME,Nov.1973,pp. 1093-1100. [35)Millheirn, K. and Warren, T. M.: Side R. Cuttingcharacteristics Rock Bits end of Stabilizers WhileDrilling,SPEpeper 7518, Fa,lnnuelSFEConf.1978,8p. A [>:] ?aul, B. & Sikarakie, L.: APrelinIinery D. lheoryof Static Penetrationby RigidWedge a intoa Brittle Material,rens.SME ofJmE, T 1965,p. 372. [37]Cheatham,J. B., Jr., PaSlaY/ p. R. G PUcher, G. w. G.: Malysisof the Plastic Flowof Rock under a Lubricatedunch, P J. %1. @iechenics, Trans. M4E, 1968,pp. 87* [38]Pariaeau,. G.: Wedge IndentationofAnisoW tropic @ologic Media, oynamic Rock14echanits,Ed. G. B. Clark, Proc.12thU. S. SyuIP. RockMechanics, AIHF,1971,~.529-546. [39]Bradley, B,: Factors Mfecting theCo+ W. trol of Borehole Angle in Straightand Directional Wells, JFT, June1973,pp. 679688. [40]Smith,M. B. @ChOathSIR, J. B. Jr.:DWiationrorces Arising From Single Bit2both of Porous Redia, Indentation an Anisotropic J. Press. Vessels rich., Trans. ASME,II18y
1977, pp. 362-366.

A.

Rock misotrcm

Irxkx iz

The rockaniuotto~ index Ir isdiractly if the bit is isotropic, or if the definable resultantit forceis along thebit axis.Under b theseactuations, w can define thenoruial and parallel drilling efficiencies, and rp, as: rn ~n - ~ . drilling ratenormalto bedding Fn bit forcenormaltobeddi ng
P -

(A-1 )

~ ~ drilling rate parallel bedding (A-2) to ~p bit force~rallelto beddig n index is then: (A-3)

Ihe rock misotro~ Ir =

r<rn.

It has the follouing angeb: r Ir = O: drilling cmlyperpendicular bedding; to < 1: faster drilling alongnormal bedding to (updiptetiency);
r = 1: isotropicork, no fo~tioneffect~

> 1: slower drilling along noml (dcnm4ptendency );

to bedding

-> .: drilling onlyparallel. L%dding, to B, Bit Anisotro IndexIb PY If an anisotropic is drilling bit intoisotr~ pic rock, w can define the axialand lateral drilling effic4.encies,end:rl, ra as: ra - ~ =
Fa

drilling ratein bitsaxialdirection bit force in bitsaxialdirection

(A-4 )

B. [41]Baird, J. A., Tinianow,M. A., Caskey, C. F & Stane,C. M,: GECDYN: GeologicalorTMA tio~rillstringOynamicsCoagmter Program, 59th Ann. Conf., SPE Of AIME, HOUStOtI, 1984. SPE Paper#13023. [42]Baird,et. al: %EODYN2: A Bottomhole Assembly~ological Formation Dynamic Interaction Ccmputer Program, PEAnn. Conf., Las Vegas, S 1985,SPE Paper(114328. on; PredictingBot[43] Ho, H.-s,: Discussion tomhole Assembly Performance by J. S. WilliSZWOn A. LubtnBkl,PE/DrillingEngng, & S Jt~ War. 1987#pp. 37-46) appear, to [44]Jordan, R. & Shirley, J,: Application J. O. Performance Data to @erpressure of Drilling Detection, JPT,Nov. 1966, pp. 1387-1394. [45]B 5h?y, w. B.1 Foruuation Characteristics on Oil/Gas l~ve a Key Effect HoleDirection, J,, Aug. 1975, pp,77-80.

R1 r19_. F1

drilling rateinbits lateral direction bit forcein bits lateral direction(A-5)

l%e bit anisotropyndexis then! i Ib = rl/ra. It has the followinganges! r lb= O: drilling onlyalongaxialdirection < 1: faster drilling along bits axial direc;ion = 1: isotropicit,no bit effect~ b > It slower drilling alongbitsaxialdirection; -> -: drilling onlylateral bitsaxis, to 11. SPECIAL CMES 0FTHEtiWERALl$3DEL
A, (A-6 )

Isotrordcits B his case degenerates essentially intothe

Yu

-.

.
SPE 16658 HWA-SHAN}[0 9

Lubinski ssxlel [1,2,151, thm9h the latter ~s for a 2-D SitUStiOTb derived s~rifica:ly cd Y namelythe bit force, dc llingdirection,nd the a tcmnwtionormal n vectors all lie in the samevertkzl planeas the -11 &rajectory. The Lubinski r.w.iel doesnot account for enywalk tendencies, ~%ilethisisotropicit modeldoes.Notethatthe b rock ard.sotro~ indaxh nsdafinedby Lubinski is zelated the current definitionIr by the folto hving relation:

dipengle 1s alwys smeller then the true dip In the extreme case when the rOlatiVe ~gh. strike angleis zero, the apparent ip angleifi d q lwayszero, even when the true dip angleic 90! differences i lustratedin the following n rin! ae omtim ffct * (Fig. v are 9), In a 2-D analsis, all relevant ectors vertical planel which to as.surnadlie on 4 e ccranon h the baseplane. The forsntienmmlvoctor is m ; the bit foiceisdec~Jed intothenora@ $ parallel c~nents Waand ASe.Bmisotropof the formationwouXd causethea~rentdril Y ing vectorEr to passthrough the pointCa. The ratio CO.SO~ $dscribes he degree of enisotr~ of the t formation, which is an anisotropyndex. Vector i i!ra alsoliemin the samebaseplane, *B no walk is predicted. Ina 3-Danalysis,ne usesthe trueformation o c nonml vector &, whichin thisparticularaee points ahve the base plane. xhe similar bit force ccsrponents os andAs~ are tho drilling directiOn#rpSsSOSthrough thepointC. he ratioCB/ AS is again the anisotropy$ndex, whichis also the saneas c@p@p (where the subscri tpdenotesthe pro ection onto the baseplare due to Y parallelprojections. can thenconclude We that 1 the lineCaCpisoaralleltotbe vector& , and therefore cannot parallel thevectortra.xn be to otherwords,thevector~r doesnot project into thevector~r,.Additionally, 3-Danelysis the alof & pointing so results i~ a walk c~ent abovethebaseplana. Using3-Dvectoranalysis,one canderivethe h(frcsn 2-D plane build/drop deviationangle % analysis) d (f run projected 3- analysis), % relative the it force vector, as follows: to tank= -r) (l-Ir sin (2*Af~) )
COS(2Af&) + (l+Xr)

COSAfd rN * ?r _ Ir * if + (l-Ir)

* &

(A-8)

This

relationis shownin rig,2 itithe general

VOPdC&Il

situationwhen~f and ~ do not lie in the same @LUN, Ond thUS requireca 3-D Sp?2Cial description.

Fig.8 shows a series of curves describinghe t deviation angle(measuredrrxnhe bit force) a f t as funCtiOII of the rock dSOtrOpy indexXr,~Ad, the anglebetwmen the bit force and the format fon normal. all cases, the rtaximzn eviationcmrs In d a whenAf~ is 459, while no deviations exist when Ac~ is zero (normal drilling)or 90 (parallel d~~lling). a. . Isotropicocks R In thiscase,equ. (1)reduces the followto ing:

.rN*i!r-Ib

i!f + (bib)

COS &

*+~b

(A-9 )

a and is illustrated Fig. 3. For Connallyniin 8@tropic its,Xb is lessthanUnity. b Curves similar to Fig. 8 can bo used if one re+ Ea respectively. phCFS Xr d~by IbUld III.
DIFmm mnmm

(A-lo)

2-DArm

3-D AWYSES
tan~-

Srme exifitingmdelsutilize a 2-D analysis, resulting only a tmild/drop in prediction. an AS the formationeffect, Ho example, in assessing showed thot, due to the difference [43 ] recently in the a rent dip angle (seen A the ccsmnon pane) and the true dip angle (tilting T vertical f rm the vertic~l plane), the predicted am (in the carawn vertical plane) dri r lingdirection of will change. lhiswill affect the result build/ drop prediction. Ray also aask the bitanisotropy qffect.

(I-xr ) sin (2*Af*) 2*Af@)+(l-Ir)+[ 2*Xr/sin2~] ( l-xr)cos(

(A--11)

minz~ < 1
Here Af .!s the the 2-D%orsmtion

>

~>~.

(A-12)

angle betwen thebit force and normal, and ~ is the angle vectors. between the 3-Dand 2-D fomtionnord
fie fact that%
halwaysgreater
where ~and~areth

than %

is also
angks

shown in Figure9, ht~n~fA!%l&a,

Parallelargumentsexist when one exasdnes and will not be repeated only the bit effect, here. Ina 2-D_el, Wherethe OntirOWlhOre and drillstringreamumeclto lie intAe eamevertta the formation dip is coon as the cal plane, apparent dip and not the truedip. lhese angles strike angleof are equalml when the relative
thedippingpene r in 90. otherwise,

and ilfand~w

r.specthely.

It is conceivable that the true drilling dircctionmi thavea buildin tendency hilethe w apparent rlingdirectionJ ght zhowadt~wing dri In anisotropic formatendency, r vice versa. o tions, there are only txm exceptionso the above t conclusion when the relativsstrike angle Ac is M or OO.

the apparent

91

.,.
10 PREDICTION OF I)RILI.ING TRAJECTORY . . . . . SPE 16658

1.

If

Ar

is

90:

then

the

2-D

and

3-D

analyses fact coincide.A subsidiary in caseof this isuhen the true dip angleis zero.Thenthe strike directionof the bedding nonoalis arbitrary,and can be set to 90. Thenformat.ion anisotropy causes only walk deviationbut no buiM/drop de~iation,
2. xfAr is
zero:

-3 mrmc?l ~m Sznrumr w
ieA

~~ 49

43*
bit:

64,

conclusion, in order to account for the interaction effect, orm needsto use a 3prIgrcun,nd to consider bit a the D SHAU@@a anisotropyffect at the aaw time. e
In
rock-bit

Cu@itlmatth

it: @ -47.2599
i:
e-44.992* 4-90*

+ - 90,0W

(Wit-

af

(2)+

ia

TABul uEuN4nLYsxs

SNmAQ

(1) %

- 10* $,

(2I ~--wv % 45,227 T

(3) ~90* % +r

(4)

45~ %

BIT

BsA

(3) 45.223 90.001 20 , (4) 47.025 40 , (4) 47.1B7 90.004 60. (3) 45.565 (4) 90.001 90.004

90.001 45.191 89.816 47.00s 89,633

45.207 89*W4 47.012 69.049 45.334 09,445 47.134 a9.7oo 45.479 89.612 47.261 89.626

47,053 90.004

(3) 45.391 90.001

45.400 90,001 45.277 89,720 47.231 90.004 45.s94 90.001 47.090 69.741 45.374 89.754 47.187 89.773

18.1

43.1

3E*3

47.322 90.W4

47.422 90,004 (4) Ib-1 46.972 90.W4

ANxsulmPr

Irmxcm

DIP
CWE D
: H : : 1::: 120 42.0 1::: 15.2 22.1

FtmE

DIP DIW51IUi
125.0 119.5 77.0 201.0 126.0 104.5 124.0 125.0

(IR)
1.0009 1.0006 0.9964 1.0002 1.0008 1.0001 1.0006 1.0006

BIT (18)
0.0689 0.3606 0.5500 0.1774 0.1261 0.0873 0.2873 0.2245
Q - 0! * +r

(3) m 45.156 eo.wi

(5) Zr-l 45.446 90.W1

mmImat&&tm3
2-9 w (+2~/lw9 aWAnJnz]

aditial

q tha t

bitt

TN3LB2

PRn3mxm
DEPln

AclwL m. 34.00 34.00 34.18 34.60 34.61 34.69 34.75 34.75 34.75 34.83 AZ3.R* -88.81 -s8.94 -89.00 49.41 -89.43 -89.75 -90.00 -90.00 -90.00 -90.00
%
200

?ccdictifmmttmd*r

lnprmttwh

(m)

mv. 33.97 33.97 34.13 34.56 i. 57 34.bL 34.71 34.72 34.72 34.77

A+um.

(11 ~ -909 % +;

(a) Q.-w % h

(3) ~mo* ec #r

(4= ~

45* t,

6166 6178 6218 6318 6318 6348 6372 6406 6410 6481

-88.76 -88.88 -89.00 -89.36 38 -89 q -89.69 -89.95 -90.00 -90.00 -90.00

(3) 44.266 90.000 44,362 90.000 44.351 a9,aia 44.370 09.833

(4) 42.956 90.001 90.000 42,931 90.001 42.910 a9.so3 42,935 69.027 44,499 69.678 a9.wia

400

(31 44.559

44.651 90.0$4

44,436 a9.7n

(4) 43.132 900W1 43.095 90.QO1 4a.9e5 608 (3) 44.752 90.OW 44.746

09,697 43,064

90.000 44.533 69.746

44,644 69.606

(4) 43,322 90.W1

43,29a 90.006

43,091 d9.734 43,211 69.594

(3) m
~ -

[4) Xb-i
42.076 W.wl

IC91 44.605 90.WO

(5)

Ot ~
$C

44.317 90.000

92



SPK 16(.58

IIWA-SIIAN

110

11

3+

Ku

(2/200

-:=mT---RmOxtu k 20$/200? mu3WJ R2Qm) 0-66.314 (1)1 ;E -; + -09.9739 (2): irr phrerrthesis (3) Q - O* % +, (4) Q -45 q +r ;r -L -r (2) Q --90 + +, 44.352 89.259 44.322 69.071 44.342 89,096

CmmUticm -t + 3f: + ~: e .43,066

th

bitt

@ = 44,%6s PruUctim MUd

(1) Q -90
% (3) 20 (4} 409 42.8s9 34.331 % or

44.359 t9.264

42.8324G.30542.01366.11142.841 %.149

(3) 44.531 B9.26i 44.S22 f9.260 44.404 89,944 44.472 34.941 (4) 43.035 66.348 42.996 66,309 42.899 85.994 42.979 85.996 60. (3) 44.723 89.270 44.717 89.263 44.305 89.001 44.618 66.669 (4) 43.225 66.366 (3) m Q -0: q +r 4s.156 90.001 43.192 66.324 (4) lb-i 46.972 90.W4 42.996 86.018
43.129 65.924

(5) It-l 45.446 90.001

93

.,.

_ --
M Form ~

___

.,

..-+

Drllllng

~;

Bll Axh

Dlr~cUon

EJ(lormWm fwrmnl)

FIQ. l-f s .ll,t,t~..

n IMXl m.t, [~,, I,,W

[h
N
u -.

Unll Clr91.

Rollor Cono 8119

/ /

/; cl)
11 i
* fN !

Et

Unit Clrolo

.. -.

IMamond

Bltm

Unll
Clro18

-q---+

\ N
ABI AaI v

(m .
lb

./

1,0 0.8 0.6

1.0

.-. \

lb

I 19.6-!<

.,,,s , ;,.llll.

1,.41<.,!,.,1

,,,,,. , I,.. k,

Q4 SK

1665$1

.,

to _--

1,06

If

~~,
0,
b

0.2

m .1*

t-

2~

-T
11m 140 Ir D 0.05 __ . -- -- 40 . . . . .

.!4.-33.

1
0 lb

Ir m o.90

&

- j !, 1:II 29
I
--
Ir w 0.96 I
I

h: AWARENTVECTORS (2-D MODEL) ( ~PROJECTEDVECTORS (&D MODEl,) /1

ii: P I

i -.
,~e. 1

--.
Ir m 1.10

L
flQ. ua,s,.b,&. ,(S9 PR0Jl!J2Ti0ANu AIVAIKN?VdCTOKB

Fig. 7

-<a.,.

A (\,,ictl,