A Wave-Based Approach to Adaptively Control Self-Excited Vibrations in Drill-Strings

Due to their small diameter-to-length-ratio, drill-strings are vulnerable to torsional vibrations. Moreover, the string is exposed to unknown or uncertain time-variant and nonlinear loads (e.g. friction with falling friction characteristics, contact with the borehole, differential sticking), which can result in severe torsional vibrations and stick-slip. The control law for the boundary controller at the top drive of the string needs to adapt to those unknown loads in order to stabilize the vibrations. The torsional vibrations of a drill-string are governed by the wave equation. Analytical solutions and control laws are often based on a separation of the dynamics into a time- and a space-dependent part (modal representation). Here, we decompose the vibrations into two traveling waves according to the D'Alembert solution, using only few measurements along the string. The wave which travels up the string is then compensated by the actuator at the top drive. With this compensation, the upward-traveling wave is no longer reflected back into the string and vibration energy is absorbed, thus stabilizing the torsional vibrations. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Model Order Reduction of a Drill-String-Model with Self-Excited Stick-Slip Vibrations

The dynamical behavior of a drill-string is defined by its small diameter-to-length ratio, which makes the string vulnerable to torsional vibrations. In combination with the nonlinear friction characteristic at the drill bit, this can lead to self-excited stick-slip vibrations which are detrimental to the drilling process. The string can be modeled by the Finite Element Method or as a Multi-Body system to represent the distributed character of the system. The analysis of the resulting high-dimensional model is, however, elaborate and time-consuming. We show that through Galerkin Projection onto the first two Characteristic Functions gained from Karhunen-Loève-Transformation, a reduced system can be obtained which reproduces the essential dynamical properties of the original system, e.g. the stick-slip motion. With the reduced system, the linear stability of the drill-string can be analyzed. We show that by reducing the inertia of the rotary table the system can be stabilized. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

微分本构粘弹性轴向运动弦线横向振动分析的差分法

给出了微分本构粘弹性轴向运动弦线横向振动数值仿真的一种差分法．文中建立了具有微分本构的粘弹性运动弦线的横向振动模型;通过对系统的控制方程和本构方程在不同的分数节点离散,得到一种新的差分方法．利用这一方法,弦线振动方程的数值计算过程可以交替地显式进行,且有较小的截断误差和好的数值稳定性．与通用的方法比较,新的方法计算简单、方便．文中利用方程的不变量检验了数值结果的可靠性,并利用这一方法给出了一类弦线模型的参数振动分析．     

Uniform stability of damped nonlinear vibrations of an elastic string

Here we are concerned about uniform stability of damped nonlinear transverse vibrations of an elastic string fixed at its two ends. The vibrations governed by nonlinear integro-differential equation of Kirchoff type, is shown to possess energy uniformly bounded by exponentially decaying function of time. The result is achieved by considering an energy-like Lyapunov functional for the system.     

On the nonlinear dependence of the optimal boundary control on the initial and terminal conditions

We consider the optimal boundary control of string vibrations and study the case of boundary force control at one end of the string, the other end being free. We show that if the initial and terminal data are arbitrary, then the dependence of the optimal boundary control on these data may be nonlinear. Conditions under which the dependence is linear are indicated. An example is considered in which the optimal control can be found in closed form.     

Necessary and sufficient existence conditions for a boundary control of vibrations of a string and a spherical layer for small times

We find necessary and sufficient conditions for the existence of a boundary control of vibrations of a string or a spherical layer for critical and subcritical times. We completely analyze the existence of a boundary control of vibrations of a spherical layer by a force on two spheres. We find necessary and sufficient existence conditions for the control. Along with the control problem for vibrations of a spherical layer, we consider a similar control problem for string vibrations.     

Computer simulation of transverse string vibrations

A new approach to the study of linear and nonlinear string vibrations is developed by means of discrete simulation. Computer examples using different laws of tension are described and compared. The method is exceptionally fast and allows for a wide range of parameter choices.     

Interference between the transverse and longitudinal vibrations in musical strings

Two problems of the vibrations of strings are considered using the approach described previously in [1]: the vibrations of the string of a plucked musical instrument, drawn out at one of the points and at rest at the initial instant of time (Problem 1), and the vibrations of the string of a keyboard musical instrument, the points of which are given an initial velocity at the initial instant of time by a hammer of small width (Problem 2). It is established that forced longitudinal oscillations of the string occur at frequencies of the transverse vibrations, the condition for possible resonance of the longitudinal vibrations is derived, and the nature of the vibrations at the point where the string is fastened due to elasticity and the related shift in the frequency of transverse vibrations is established.     

Optimization of a nonlocal boundary control of vibrations of a string with a fixed end for an arbitrary time interval that is a multiple of 2l

We consider the optimization problem for a nonlocal boundary control of vibrations of an elastic string with fixed right end for an arbitrary sufficiently large time interval that is a multiple of twice the string length. We prove the existence and uniqueness of a generalized solution of the first boundary value problem and indicate an explicit expression for the solution. The optimal control is found in closed form.     

State observability of elastic string vibrations under the boundary conditions of the first kind

We solve state observation problems for string vibrations, i.e., problems in which the initial conditions generating the observed string vibrations should be reconstructed from a given string state at two distinct time instants. The observed vibrations are described by the boundary value problem for the wave equation with homogeneous boundary conditions of the first kind. The observation problem is considered for classical and L ₂-generalized solutions of this boundary value problem.     

Reflection of short rectangular pulses in the ideal string attached to strongly nonlinear oscillator

The system under consideration is ideal elastic string attached to strongly nonlinear oscillator with cubic nonlinearity by two different ways – immediately and by weak linear spring. The reflection of short rectangular pulses from the oscillator is accompanied by excitation of vibrations. The type of mode excited determines the amount of energy transferred to the oscillator as well as the structure of the reflected wave.     

Magnetoelastic vibrations of an electrically conductive elastic layer in a longitudinal magnetic field

Based on the exact solution of a coupled problem of the magnetoelastic vibrations of an elastic electrically conductive layer (for a finite value of its electrical conductance) in a longitudinal magnetic field, we have established that, in the case of such vibrations of a thin plate, one can obtain correct results proceeding from Kirchhoff’s hypothesis and the hypothesis of magnetoelasticity of thin bodies.     

Unilateral Constrained Bending Vibrations on a Torsional String

Vibrations in long torsional strings result in spatio‐temporal dynamics. In order to actively damp these vibrations the system has to be analysed analytically, numerically and experimentally. Stick‐slip‐effects result in torsional selfexcited vibrations of the string. These vibrations are coupled with bending vibrations which are constrained by the borehole. The straight string was modelled in an experimental setup. The control of the straight string and the unilateral constrained bending vibrations were treated seperately. The dynamics of straight strings were controlled using three different approaches: firstly, a simple PD‐controller with the parameters calculated based on a one‐degree‐of‐freedom oscillator, secondly, the parameters were optimized using a simplex‐method, thirdly, the Karhunen‐Loeve‐transformation was used in order to reduce the dimension of the system. A controller based on the reduced system was implemented and the parameters were optimized with the same simplex algorithm. The unilateral constrained bending motion were examined at a cantilever beam which was assumed to be constrained in one direction in the middle of the beam. First, the beam was modelled analytically as a continuous system. The two states (contact and no contact) were described separately. The transition between these states were modelled with energy assumptions. Second, the beam was modelled as a Finite‐Element‐System. The numerical results of both methods were compared with experimental data.     

On Basis Properties of a Part of Eigenfunctions of the Problem of Vibrations of a Smooth Inhomogeneous String Damped at the Midpoint

The boundary problem is considered which occurs in the theory of small transversal vibrations of a smooth inhomogeneous string. The ends of the string assumed to be fixed and the midpoint of the string is damped by a pointwise force. The problem is reduced to a spectral problem for a nonmonic quadratic operator pencil. The spectrum of the pencil (i. e. the set of normal eigenvalues) can be presented as a union of two subsequences. One of the subsequences approaches the real axis. Under an additional condition the second branch approaches a horizontal line located in the upper half–plane. The basis properties of the sets of projections (onto the corresponding subintervals) of eigenfunctions corresponding to each of the subsequences are investigated.     

On a problem with a boundary condition of the second kind,a complex-valued coefficient,and a spectral parameter in the other boundary condition

We study a classical problem that arises in the analysis of natural vibrations of a loaded string with a free endpoint. We assume that the coefficient occurring in the boundary condition of the third kind with a spectral parameter instead of a physical parameter can take complex values. We discuss the traditional aspects of the completeness, minimality, and basis property of the system of root functions. Special attention is paid to the structure of root subspaces.     

On a classical problem with a complex-valued coefficient and the spectral parameter in a boundary condition

We consider a classical problem that arises when studying natural vibrations of a loaded string. We assume that the coefficient playing the role of a physical parameter can take complex values. We discuss the completeness, minimality, and basis property of the system of root functions.     

Nonlinear oscillation of a freely suspended string

We present a numerical-analytic method for solution of the problem of nonlinear periodic oscillation of a string pendulum (unstretched string suspended from a point in a gravitational field). The method is based on successive linearization of the problem with the Lindstadt-Poincare method, separation of time dependencies with Fourier’s method, reduction of differential equations to recurrence relations for the coefficients of power series in the spatial coordinate, and computer realization of the convergence of the power series. Translated fromDinamicheskie Sistemy, Vol. 12. pp. 44–51, 1993.     

Optimal boundary displacement control at one end of a string with a medium exerting resistance at the other end

We study a problem of optimal boundary control of vibrations of a one-dimensional elastic string, the objective being to bring the string from an arbitrary initial state into an arbitrary terminal state. The control is by the displacement at one end of the string, and a homogeneous boundary condition containing the time derivative is posed at the other end. We study the corresponding initial-boundary value problem in the sense of a generalized solution in the Sobolev space and prove existence and uniqueness theorems for the solution. An optimal boundary control in the sense of minimization of the boundary energy is constructed in closed analytic form.     

正弦电磁场中铁磁材料数学模型

将电磁场理论与弹性力学理论相结合,建立了描述铁磁材料在正弦电磁场中的数学模型,并对该模型一类的4阶非线性偏微分方程的解进行了讨论．给出其一阶近似后得到的线性偏微分方程的解析表达式和数值计算方法．计算结果表明,本方法是有效的．     

Subfunctions for second order ordinary differential equations

Explicit upper and lower bounds are constructed for a functional defined on the difference of solutions to a class of nonlinear hyperbolic problems modelling string vibrations. Such bounds indicate how solutions are affected by the input data over a finite time interval. The logarithmic convexity method is used to obtain two second order ordinary differential inequalities for the appropriate functional. These inequalities are then related to two systems of first order equations whose solutions are the desired bounds.