Coupled axial-torsional dynamics in rotary drilling with state-dependent delay: stability and control |
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| Authors: | Xianbo Liu Nicholas Vlajic Xinhua Long Guang Meng Balakumar Balachandran |
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| Institution: | 1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai?, 200240, China
2. Department of Mechanical Engineering, University of Maryland, College Park, MD?, 20742, USA
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| Abstract: | Nonlinear motions of a rotary drilling mechanism are considered, and a two degree-of-freedom model is developed to study the coupled axial-torsional dynamics of this system. In the model development, state-dependent time delay and nonlinearities that arise due to dry friction and loss of contact are considered. Stability analysis is carried out by using a semi-discretization scheme, and the results are presented in terms of stability volumes in the three-dimensional parameter space of spin speed, cutting depth, and a cutting coefficient. These stability volume plots can serve as a guide for choosing parameters for rotary drilling operations. A control strategy based on state and delayed-state feedback is presented with the goal of enlargening the stability region, and the effectiveness of this strategy to suppress stick-slip oscillations is illustrated. |
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