A contribution to efficient calculation of complex drill string dynamics for deep hole drilling

This paper presents a hybrid model to describe drill string dynamics for deep hole drilling. Generally, a typical rotary drill string has a length of several kilometers, but the diameter is less than half a meter. Due to the large ratio of length to diameter, a drill string is a very flexible system. Consequently, an operating drill string is always affected by axial, torsional and lateral vibrations, which potentially induce serious failures. In order to avoid fatal defects, simulations to forecast vibrations are necessary. The simulation should be capable to exhibit the complex dynamical phenomena, e.g. sick-slip, forward whirl and backward whirl, and interactions between drill string and borehole. Usually, these simulations are very time-consuming. In this work, a hybrid model consisting of lumped masses connected with weightless beam elements representing the drill string is developed. The interaction between the drill string and the borehole is implemented by unilateral constraints to describe the nonlinear contact behavior. It was shown that accuracy and simulating time were improved by this model with respect to classical finite-element models. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

一种新的大位移井钻柱几何非线性分析方法

提出了基于实测的井深及相应的井斜角和方位角来获得确保井内钻柱参考构形长度不变的井眼轴线插值方法．当以空间大位移井的井眼轴线为钻柱的参考构形时,钻柱内的初始内力可以由井眼轴线的曲率和挠率确定．利用基于在空间自然坐标系下的包含所有单元刚体位移和常应变模式的位移函数,严格地按虚功原理推出了具有初始曲率和挠率的钻柱单元内由初始内力所引起的等效节点力计算公式,为大位移井钻柱的几何非线性处理提供了理论依据．澄清了钻柱有限元分析中的若干基本概念．为随后进行的以井眼轴线为参考构形的小变形分析,计算钻柱的自重和基于自然坐标系下的线性刚度矩阵及一致载荷列阵提供了保证．     

Modeling of the dynamic phenomena “stick-slip” and “whirl” of a drill string demonstrator

Vibrations of drill strings in oil and gas well bores can reduce drilling performance or lead to damage of drill string components. These vibrations are neither optically observable nor measurable because of the geological formation. Hence usually simulations are used to understand the dynamic behavior. The test stand “OSTrator” adds more insight to this problem. The demonstrator represents a scaled drill rig granting direct access to the complex dynamic behavior of the real drill string. Two phenomena are of special interest: the stick-slip effect, a torsional oscillation, and the whirl effect, a periodic torsional-lateral movement with permanent wall contact. Since the OSTrator was built for showcase purposes, it has to be piloted in and out Stick-Slip and Whirl domains by a control algorithm. Therefore efficient multi-body-systems able to represent these two effects in faster than real time are demanded. In this presentation, the modeling of the stick-slip and the whirl effect are discussed. The models should be able to predict these effects and supply data to avoid or confront them. Key questions are the modeling of the wall contact and the resistance at the drill bit. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

环空钻柱结构三维非线性分析

应用有限元理论和牛顿－拉裴逊法对弯曲井眼中环空钻柱结构进行非线性分析．根据变形特点，提出了对不同参量采用不同形式的单元的描述计算分析方法。采用罚函数法处理待定边界问题。计算表明了井眼曲率对钻头侧向力的非线性效应。     

井下钻柱纵向横向耦合振动模型建立与数值分析

针对井下钻柱运动的复杂性,基于动力学理论,建立了井下钻柱纵向和横向耦合振动的数学模型,并进行数值求解及分析.根据井下钻柱的实际工况,以整个井下钻柱为研究对象,提出了钻柱纵向和横向耦合振动的动力方程,并利用解析法和无量纲法分别求解出其动刚度和动阻尼的表达式,以及钻柱前两阶振动的固有频率.分析结果表明:当井下钻柱振动频率增大时,其动刚度呈幅值衰减的周期性变化,而其动阻尼呈幅值增强的周期性变化;井下钻柱长度和横截面面积越大,其动刚度和动阻尼的幅值越小;井下钻柱的Poisson(泊松)比对其振动的动刚度、动阻尼和前两阶固有频率没有影响;同时,井下钻柱的第二阶固有频率始终大于第一阶固有频率.该文的研究方法和模型为井下钻柱钻具分析和结果优化提供了理论参考和实际意义.     

The buckling of a drill string in a curvilinear borehole with axial line imperfections

The problem of the elastic buckling of drill strings in the channels of deep curved boreholes with geometric axial line imperfections is formulated. Imperfections in the form of localized helices are considered. The relation between the forces resisting the motion of the string and the amplitudes, pitches and sites of localization of the imperfections is analysed. The distributed forces of contact and friction interaction between the drill string and the borehole surface are found and the effects of seizure of the drill string are established. It is shown that the resistive forces and their moments increase as the amplitudes of the imperfections increase, and as their pitches and the displacement of the zones where they are relocated from the lower most distorted parts to the upper least distorted parts, decrease.     

A Spatial Geometric Nonlinearity Spline Beam Element With Nodal Parameters Containing Strains北大核心CSCD

Many slender rods in engineering can be modeled as Euler-Bernoulli beams. For the analysis of their dynamic behaviors, it is necessary to establish the dynamic models for the flexible multi-body systems. Geometric nonlinear elements with absolute nodal coordinates help solve a large number of dynamic problems of flexible beams, but they still face such problems as shear locking, nodal stress discontinuity and low computation efficiency. Based on the theory of large deformation beams’ virtual power equations, the functional formulas between displacements and rotation angles at the nodes were established, which can satisfy the deformation coupling relationships. The generalized strains to describe geometric nonlinear effects in this case were derived. Some parameters of boundary nodes were replaced by axial strains and sectional curvatures to obtain a more accurate and concise constraint method for applying external forces. To improve the numerical efficiency and stability of the system’s motion equations, a model-smoothing method was used to filter high frequencies out of the model. The numerical examples verify the rationality and effectiveness of the proposed element. © 2022 Editorial Office of Applied Mathematics and Mechanics. All rights reserved.     

Non-linear dynamic contact of thin-walled structures

In many areas of mechanical engineering contact problems of thin–walled structures play a crucial role. Car crash tests and incremental sheet metal forming can be named as examples. But also in civil engineering, for instance when determining the moment–rotation characteristics of a bolted beam–column joint, contact occurs. Effective simulation of these and other contact problems, especially in three–dimensional non–linear implicit structural mechanic is still a challenging task. Modelling of those problems needs a robust method, which takes the thin–walled character and dynamic effects into account. We use a segment–to–segment approach for discretization of the contact and introduce Lagrange Multipliers, which physically represent the contact pressure. The geometric impenetrability condition is formulated in a weak, integral sense. Choosing dual shape functions for the interpolation of the Lagrange Multipliers, we obtain decoupled nodal constraint conditions. Combining this with an active set strategy, an elimination of the Lagrange multipliers is easily possible, so that the size of the resulting system of equations remains constant. Discretization in time is done with the implicit Generalized-α Method and the Generalized Energy–Momentum Method. Using the “Velocity–Update” Method, the total energy is conserved for frictionless contact. Various examples show the performance of the presented strategies. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

大挠度钻柱强度分析的平衡微分方程法

对小井眼、大曲率井中钻柱强度问题,以井轴为基准轴,在对井轴弯挠描述和钻柱微段三维受力变形分析的基础上,建立大位移钻柱平衡微分方程,采用Longe-Kutta法解之求内力,并依此求应力和建立强度条件.对H767侧钻水平井施工中钻柱应力计算分析,结果说明与有限元模型和弹性化软绳模型比较相吻合,该模型比有限元模型计算简捷方便;比弹性化软绳模型更完善可信;该井钻柱破坏事故愿因在于井眼曲率过大,兼有应力集中.     

Linear-time compression of 2-manifold polygon meshes into information-theoretically optimal number of bits

The polygon mesh is an important primitive used in representing 3D models. Its specification consists of topological and geometrical quantities; where the former describes the connection nodes, edges and faces, and the latter describes attributes such as node positions, face colors, etc. Our interest here lies with the encoding of the topology. Specifically, this paper presents a linear-time information-theoretically optimal compression algorithm for encoding a planar 2-manifold polygon mesh to a bit string X.     

Analysis of the Dynamics of Slender Continua Using Karhunen-Loève-Transformation

The dynamics of continua with very small diameter–to–length ratio, like bridges or drill–strings, has been object of mechanical analysis for a long time. While it is often possible to create a well–suited mechanical model, it is difficult to determine the exact current loads and the exact operational state. For drill–strings, the load of the drill–bit depends on the material of the rock, but also on other unknown disturbances like differential sticking which can occur along the drill–string without being noticed directly. Karhunen–Loève–Transformation (KLT) provides a possibility to describe the dynamics of a continuous system with few Characteristic Functions (CF), as long as the motion of the system is stationary. On the other hand, the resulting CFs of the KLT are sensitive to changes in the dynamic system behavior. These changes can result e. g. from the occurrence of stick–slip of the bit or differential sticking of the string. On the basis of a simple model, we show that this sensitivity can be used to detect and characterize such changes. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

弹性接触问题的一种新的力学模型

从机械系统的角度出发,描述了系统中构件间局部接触与构件弹性变形间的耦合关系;用多组坐标系描述机械系统中物体的位形;用分离接触边界法描述物体接触边界间的约束;通过接触虚功原理建立了更加广泛意义上的接触系统静力学模型．作为算例,将该力学模型应用于内啮合少齿差行星齿轮多齿啮合问题的研究,揭示了行星齿轮传动中有多对轮齿相互接触,获得了其接触应力分布状态．通过实验验证了力学模型、计算方法和计算结果的正确性．     

An Interactive, Similarity Increasing Algorithm for Random Strings with Applications to Key Agreement in ad hoc Networks

A central problem in distributed computing and telecommunications is the establishment of common knowledge between two computing entities. An immediate use of such common knowledge is in the initiation of a secure communication session between two entities because the two entities may use this common knowledge to produce a secret key for use with some symmetric cipher. The dynamic establishment of shared information (e.g., secret key) between two entities is particularly important in networks with no predetermined structure such as wireless mobile ad hoc networks. In such networks, nodes establish and terminate communication sessions dynamically with other nodes which may have never been encountered before to somehow exchange information which will enable them to subsequently communicate in a secure manner. In this paper we give and theoretically analyze a protocol that enables two entities initially possessing a string each to securely eliminate inconsistent bit positions, obtaining strings with a larger percentage of similarities. Our analysis involves the modeling of the operation of the protocol with a discrete random process amenable to approximation with a continuous differential equation belonging to the class of Abel's differential equations of the first kind, whose solution involves Lambert's W function.     

Global curvature and self-contact of nonlinearly elastic curves and rods

Many different physical systems, e.g. super-coiled DNA molecules, have been successfully modelled as elastic curves, ribbons or rods. We will describe all such systems as framed curves, and will consider problems in which a three dimensional framed curve has an associated energy that is to be minimized subject to the constraint of there being no self-intersection. For closed curves the knot type may therefore be specified a priori. Depending on the precise form of the energy and imposed boundary conditions, local minima of both open and closed framed curves often appear to involve regions of self-contact, that is, regions in which points that are distant along the curve are close in space. While this phenomenon of self-contact is familiar through every day experience with string, rope and wire, the idea is surprisingly difficult to define in a way that is simultaneously physically reasonable, mathematically precise, and analytically tractable. Here we use the notion of global radius of curvature of a space curve in a new formulation of the self-contact constraint, and exploit our formulation to derive existence results for minimizers, in the presence of self-contact, of a range of elastic energies that define various framed curve models. As a special case we establish the existence of ideal shapes of knots. Received: 19 January 2001 / Accepted: 23 January 2001 / Published online: 23 April 2001     

气体钻井钻柱气固耦合横向振动数学模型的建立与控制

根据钻柱力学和动量守恒基本理论,建立了考虑气体钻井液对钻柱内外耦合影响时的钻柱横向振动模型,此模型与一般的梁式结构的振动模型不同,它包含了钻柱轴力、钻柱内注入压力、环空压力和钻柱内气体对钻柱振动的影响.同时给出边界条件和初始条件.通过把系统外激励函数当作控制变量,利用Banach空间几何性质证明了此系统存在唯一最优控制元.     

Arc-Length Method for Frictional Contact Problems Using Mathematical Programming with Complementarity Constraints

A new formulation as well as a new solution technique is proposed for an equilibrium path-following method in two-dimensional quasistatic frictional contact problems. We consider the Coulomb friction law as well as a geometrical nonlinearity explicitly. Based on a criterion of maximum dissipation of energy, we propose a formulation as a mathematical program with complementarity constraints (MPEC) in order to avoid unloading solutions in which most contact candidate nodes become stuck. A regularization scheme for the MPEC is proposed, which can be solved by using a conventional nonlinear programming approach. The equilibrium paths of various structures are computed in cases such that there exist some limit points and/or infinite number of successive bifurcation points.     

Bridging the Gap Between the Dense and the Discrete: The Number Line and the “Rubber Line” Bridging Analogy

In two experiments we explored the instructional value of a cross‐domain mapping between “number” and “line” in secondary school students' understanding of density. The first experiment investigated the hypothesis that density would be more accessible to students in a geometrical context (infinitely many points on a straight line segment) compared to a numerical context (infinitely many numbers in an interval). The participants were 229 seventh to eleventh graders. The results supported this hypothesis but also showed that students' conceptions of the line segment were far from that of a dense array of points. We then designed a text-based intervention that attempted to build the notion of density in a geometrical context, making explicit reference to the number-to-points correspondence and using the “rubber line” bridging analogy (the line as an imaginary unbreakable rubber band) to convey the no-successor principle. The participants were 149 eighth and tenth graders. The text intervention improved student performance in tasks regarding the infinity of numbers in an interval; the “rubber line” bridging analogy further improved performance successfully conveying the idea that these numbers can never be found one immediately next to the other.     

Lifting problems and transgression for non-abelian gerbes

We discuss lifting and reduction problems for bundles and gerbes in the context of a Lie 2-group. We obtain a geometrical formulation (and a new proof) for the exactness of Breen’s long exact sequence in non-abelian cohomology. We use our geometrical formulation in order to define a transgression map in non-abelian cohomology. This transgression map relates the degree one non-abelian cohomology of a smooth manifold (represented by non-abelian gerbes) with the degree zero non-abelian cohomology of the free loop space (represented by principal bundles). We prove several properties for this transgression map. For instance, it reduces–in case of a Lie 2-group with a single object–to the ordinary transgression in ordinary cohomology. We describe applications of our results to string manifolds: first, we obtain a new comparison theorem for different notions of string structures. Second, our transgression map establishes a direct relation between string structures and spin structures on the loop space.     

Performance analysis of multi-frame message spreading in delay tolerant networks

Communication opportunities in delay tolerant networks are uncertain, so the message is transmitted in a store-carry-forward way, which depends on the contact between nodes. To use the contact efficiently, the message is often divided into many bundles, which are very small and can be transmitted successfully in one contact. Such multi-frame spreading algorithm is very important, but state of the art works just assume that the message is very small and has only one bundle. This paper proposes a theoretical framework based on mean field limit to evaluate the epidemic-like multi-frame spreading algorithm for the first time. In addition, the selfish behaviors can have certain impact on the store-carry-forward communication mode, so we extend our model to the case that nodes are selfish. Simulations show the accuracy of our model. Numerical results show that the more bundles the message has, the lower the average delivery ratio will be. In addition, the selfish behaviors can make the performance be worse.