Analysis and Modelling

Given the significant potential losses of both time and equipment due to vibrations in

drilling, it is economical to seek out dampening solutions. However, the cost of the drilling and

testing is substantial, so modeling of the vibrations is worthwhile to narrow the scope onto

plausible solutions and elevating the process beyond simple trial and error.

The transverse vibrations, typically sourced by deviations in the path of the bit, are most

significant near the bottom of the borehole. However, due to the scale of the deviations

compared to the overall dimensions of a common drill string, and their tendency to diminish

quickly as they travel up the drill string, transverse vibrations can be treated as insignificant

while modeling the drill string as a whole [1]. Additionally, given the relative size and stiffness

of the balancing rod and top drive assembly, it can be assumed that they are rigid. [1] In other

words, torsional and axial deformations only occur in the string itself. Thus, string can be treated

as though fixed at its top and free to axial and angular motion at its bottom. Additionally, given

that the torque experienced by the bit is linked to its downward pressure, the torsional and axial

dynamics are coupled.

Based on the assumptions above, this work only approximates the coupled axial and

torsional vibrations of the drill string. The drill string can be simplified to a flexible rotation shell

about a straight center axis, as shown in Figure 1.

(u1) and angular (u2) deformation. [1]

To begin the calculation of strain within the string, an arbitrary point is selected and defined [2]:

u1=u , (1a)

z (1b)
u2=v + v
R

where 𝑢 and v are arbitrary axial and angular displacements of the drill string on the middle

surface (z = 0) and R is the middle radius of the drill string. Using on the nonlinear shell theory

from “Nonlinear Vibrations and Stability of Shells and Plates” [2], the relationship of the

stress/displacement at any point on the drill string is defined:

( ) ( ) ( )
2 2 2
∂u 1 ∂ u 1 ∂v z ∂v (2a)
ε xx = + + +
∂ x 2 ∂x 2 ∂x R ∂x

( ) ( ) ( )
2 2 2
1 ∂ v 1 ∂u 1 ∂v 1 2 z ∂v (2b)
ε θθ= + + 2 + 2v + 3
R ∂ θ 2 R2 ∂ θ 2R ∂ θ 2R R ∂θ

( )
2
∂v ∂u 1 ∂u 1 1 ∂u ∂ u 1 ∂ v ∂ v (2c)
ε x θ= + + + 2+ + + z K xθ
∂ x R ∂ x 2 R2 ∂θ 2R R ∂ x ∂ θ R ∂ x ∂θ

where
 1 ∂ v 1 ∂u 1 ∂u ∂u 1 ∂v ∂ v (3)
K xθ= − − −
R ∂ x R2 ∂ θ R2 ∂ x ∂ θ R2 ∂ x ∂ θ

where 𝜀𝑥𝑥 and 𝜀𝜃𝜃 are linear strain, 𝜀𝑥𝜃 is shear strain. Assuming the drill string is of a singular

material and ignoring imperfections, the stress, relative the above strains, is [1]:

σ xx =E 1 ( ε xx + K ε θθ ) + σ xx ,0 (4a)

σ θθ=E1 ( ε θθ + K ε xx )+ σ θθ ,0 (4b)

σ x θ=E2 ε xθ (4c)

where 𝐸1 = 𝐸/(1 – K2 ), 𝐸2 = 𝐸/2(1 + K), K is Poisson’s ration, and E is the elasticity modulus.

Expanding upon (2a,b,c) and (4a,b,c) using Hamilton’s principle, the partial differential

equations of the strings axial and angular deformations are defined as follows [1]:

( ) ( )
1 ∂2 u 1 1 (4a) ∂2 u C 1 1
ρ ü= Rh σ xx , 0 E 1+ RhK E1 ε θθ + Rhv E1 ε xx 2
+ h σ θθ, 0 +h E ε
1 θθ +h K E 1 ε xx 2
− u̇+ Rh
2 ∂x R 2 ∂θ 2 πL 2

(4b) ∂ 2 v C 1
( ) ( ) h ∂ σ θθ ,0
2
1 ∂ v 1 1
ρ v̈ = Rh σ xx ,0 + Rh v E 1 ε θθ+ Rh E1 ε xx 2
+ h σ θθ , 0 + h E ε
1 θθ + hK E 1 ε xx
v 2
− v̇ +
2 ∂x R 2 ∂ θ 2 πL 2 ∂θ

where ρ is the density of the drill string and C1 and C2 are damping coefficients to the axial and

circumferential deformations.