Title: An intuitive and efficient approach to integrated modelling and control of three-dimensional vibration in long shafts

Authors: D. Geoff Rideout; Ahmad Ghasemloonia; Farid Arvani; Stephen D. Butt

Addresses: Faculty of Engineering and Applied Science, Memorial University, St. John's, NL A1B 3X5, Canada ' Faculty of Engineering and Applied Science, Memorial University, St. John's, NL A1B 3X5, Canada ' Faculty of Engineering and Applied Science, Memorial University, St. John's, NL A1B 3X5, Canada ' Faculty of Engineering and Applied Science, Memorial University, St. John's, NL A1B 3X5, Canada

Abstract: A nonlinear three-dimensional bond graph-based shaft model is presented, in which axial, torsional, and lateral vibrations can be predicted along with contact with external objects. Rigid lumped segments with six degrees of freedom are connected by axial, torsional, shear, and bending springs to approximate continuous system response. Parasitic springs and dampers enforce boundary conditions, contact forces are generated with stiff springs, and sliding friction forces during contact are incorporated using coordinate transformations and dynamic Coulomb friction. The model is easily reconfigurable for different boundary conditions, and the bond graph formalism facilitates the inclusion of (semi-)active control submodels such as electromechanical actuators or dampers. Simulations of a rotating 80-metre oilwell drillstring show realistic axial, torsional and lateral vibration. Active lateral vibration control is implemented, with a proportional controller acting on strain gauge output to attenuate vibration and reduce wellbore contact.

Keywords: multibody dynamics; bond graphs; lumped segments; oilwell drillstring; shaft vibration; simulation; shaft modelling; active control; long shafts; vibration control; wellbore contact; oil and gas industry; axial springs; torsional springs; shear springs; bending springs; dampers; contact forces; stiff springs; sliding friction forces; coordinate transformations; Coulomb friction.

DOI: 10.1504/IJSPM.2015.070468

International Journal of Simulation and Process Modelling, 2015 Vol.10 No.2, pp.163 - 178

Received: 24 Jan 2014
Accepted: 25 Aug 2014

Published online: 07 Jul 2015 *

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