USMS

015975 An AnalyticalStudy of DrillStringVibrations

C. Li, JiangHan Rock Bit Plant

Copyright 1987 Society of Petrcileurn Engineers

This manuscript was provided to the Society of Petroleum t%gm?ers for distribution
and possible publication inan SPE journal. The material is subject tocorrectlon
by the author(s). Permission to copy is restricted to an abstract of not more than
300 words. Write SPE publications
Dept., P.O. BOX 833836, Richardson, TX
75083-3836 U.S.A. Telex 730989 SPEDAL.

------

,..-

. ..------

. . ..-

----

.Jicu@f3z3
Ho+- Ei.t

.
$

.
,

P:~t which introduces roc~ blt J@xKafaGtzln~,~

A-tI ; ~..I
techniques frorniKJGHEi3
TWIJ UIMPAIW,UaSo
graduated from Jiangha.nI%@L~leuRIns+~,,
$n 1~ 3i
.1
. .
. .. .
,. .,,.,,., ~.;-q,..:. .
.
.,.
.
,..-.
.
!.
: ,;i..
v<
,.,. ... ..
. .. ..
. ,.,
.
c.-,
.. . .. .. ....,::
. .....
..:
..,:,
. . . . .,.....
,

f.
.,:.,
i.,...i~
. ..

.1

..

. . ,),. . .
. . . . .. .
-.,

~~-t~o~uct~c)~
Althowh rollsr cone bits have bean.used Scr ab:ut 8fljeera,
their
vikr+ticms have no< been investigated thoroughlydk.re~ng end
IJivsmy (1) preseuted an exact mat.kuatl.calsolution for an idealized, Cxe-dimer.
sio.nal,~ill string with sinusolida2 bit
dis~i,:cs~:nt.In
soue cases,the bit displacementsare no% si.ausolidzl, so the dziil string-metbcma%lcal solution csn fiotexplnimp the Xielddata entirely.
-r
.. recent years,? few a~thors(2--7).
lp.va
studied drill atrin~
vil:r~J_c:.
on9, but they all neglected the drill pipe and structura
of co:.
c kits. In practice, the drill pipe and s~cture
of cone

.
9

oi L :,x-e
01 ~~eat i.~port:.~ice
to drill string vibration.
.

Dril.I stl.ll:g
:.:1.
vibr~ t.esi:.thne

zodes:(1)

axial

or

long-

itud.inQ,(2) torsional ,and (3)txansverseor lateral. because

the drill stri:lgis confined by the wellbore,lateral vibrations
are not usually a major source of stress and are not covered
.,
i-nthis paper
As in any mechanical system,severe vibra%i~
b d!rillstring
are the result ~f resonance m frequency thmtig~es-ce
exists
whtm the frequency of the applied folwe is equal.to a natural

free vibration frequancy.The uatua?al~?requenciesof the drill

string d~pend on the length and crews-secti~l area of drill
pipe,drill collar,cable line sad derrick,mtt
the drill collar length.
Assumptions made h

the analysis are

depend only on

as follows.

1 The drill Btrkg is uniform and continuous r+ds in each

se~e~.t.
2Th13drill bit is a roller cone bit.
3 the system is a undaxq.wiforced vibr-ations.
4 Hole inclination and curvature do not affect drill stiing
vibrations.

..

5 There is not distance or velocity of slip between the

bit tooth md

the hole bottom.

6 The teeth which touch the hole bottom share the bit weight.
The goal of the paper is to give exact mathamatj,calsolutions for a drill string vibrations with objective bit displacements~ad determti design criteria and opera,ttigspecification

for downhole took.

LQNGITUIIINALVI13M9!ION
Natural Frequency of Drill String
The longitudinal drill strjng vibrations are tie=ted as vibrations of continuous rods.The differential equation of motion
for ~ong~tudinal drill string vibrations is
coo+inata system)

(see Fig. 1 for

.
.

(1]

&E 1597!i
L

I
I

/..

,/

,/

//,,//

.
.

.,
,.
.,.
i:. . .

ff.&& ,

l?

1.

J!
I
r

j
I

.,

.:.

,.
,.
..
., ..

7 .,
.,.
.,

jr..
.....

,. 3

[..

L
$,. ;
,.

~:

i---

where

(2)

c=

-?-

The solution to equation(l) is in the form of

.

u(x,t]:z(Bl*sb(ti*)+B*cos(%)]sti(@.#*y)

(31
The coefficiante B!l,Bp L&

end ~

are to be wluated

by the

boundary and the initial condj.tions.The boundary for the

drill string longitudinal vibra;ionaat the end x=O Ia(see
I?if.1)

la(o,t)=o
and

(4)

x=#+2Hd is
~ti
ah.
m
*ata=-EA~

(5)

The first condition requires E=O.Substituttig the secoud condition in the solution above. We obtati the frequency equation
Wc@wtg(

~\HfL%EA

(6)

f*d= (Jnti
27

(7)

Acoording to the law of a drill collar(l) equivalent spring kl=2&/ll,a drill collar(2) equivalent k2=EA2/M?,a drill
pipe equivalent spr@3=M3/(H-11-12),ud
cable line ad derrick spring k4 n series .The equivalent area of drill string
is
x
A=
(8)
~

I&ill String Longitudinal Resonance and Critical Speeds

Will

strfilgresonsnce octie

when the frequency of the source

of ~xcitation is tuned to a natural frequency of longitudinal

mod~~ccordtig to Eq.6 and Eq.7 the natural frequency(axkl
mode) of drill string for various drill string length is shown
iJmg.2.@t&54,.
--- -:,..
~~
the details of the borehole geometry and drill ~titiig

. ,;i; ;i i..
: lil;!i~~
... . ?i.i,i

,
it,\I,

ii
..L

Ii!.!i I

i. .

Fii[,.():

1$\t~\

1(, . b:!lijz
Ncc= 937.7ti5.i
7.0.11827
NCU= 422.5036
.].5447~(j
NCU= 272,6835
3,355007
NCU= 201.3004
2.658!J4tj
NCIJ= 159.5368
z.~~~~g,~
NCU= 132.125
1.s7!1197
NCU= 112.7519
1.638891
!CU= 9tl.3331f3
1. lr1307b
NCU= 87.18453
1.305105
NCU= 78.30628
1.1844B5
NCU~ 71.06S!1
1.084275
NCU- 65.05648
.9grjfj979
NCU= 59.98188
9273609
NCU-- 55.64165
:8647859
NCU= 51.88716
&l101218
NCU= 48.60731
:7f5i9576
Ncu: 45.7174LJ
.71!31!391
NCu= 43.15195
6809845
NCU. -lo.h590L
1646626
NcIJ- 35.79756
,Ncu- 3ti.:J:$.
fu::
.6155681
.58735;
NCL :jc.2-l]ii
.5blGlUl
NCU- 33.697(J!~
.5380406
Ncu= 32. 2824.!
.51E{62Y
NCI! 30.9};177
.I!JL;G44
N(JU. 2i).781H(j
.17;!3571
NclJ: 28,GiJ4:#
.4606803
NCU= 27,640}{2
.Jl~fjgfj6
NCu 26.6::1-/-4
..1.!!-)7}13
NC1. 25.73LSij
..11583[{ Ncu 24.:)50?8
.4027(3!3!5
NC[J= 211,l[;
(;17

.-#

!
I

.. .
4,

.-

1-

ril,

w:

!
I
,

I
I

I
--

;
I
I

Cn:
;
I
I
I
I
. .

)-m

corifigur=
tion see Eigej)
Critical rotary speede for various depthsof holebore can
be &otter.from Eq.7
=60f.u

~.

rpm

(9)

Itts shown in l?ig.2too.Crztical rotary speeds are based on ~

depth of wellbore(or total drill string length) ahd dont only
drill collar length .Eqs.6,7,8, a~dg should be used to determi.aecritical speeds for various depth$of holebore.This reco:~mendedmethod di.[fersfrom previous Papertso
,
.
SWIVEL.
BLOCK.
KELLY
36.4o0
,.m

...

If We treat the drill string as a continuous long

k=2,c161tJ1

//,

-n

rod with me end fixed(marface) and the other end free

k~
j!

:1.

860,

r TELEMETRY
4.503.64

1!

0.0.
I.D.

w
T -0.5

.>

(bottom).We CSJ:get the natural frequencies of longitudinal drill string vibration,

;+
I

.980 (t

HEFIvY

WCILL

ORILL

PIPE

4.s02.75-

0.0.
1.0.

7 .0.5

-r-

]70F

r DklILL
7.00-

COLL

QQS

1:

O.D.

2.81
1.0.
? =4. o

Ibef
!
I
d

. . SENSORS
+1925

fr

14.

F!9.3D,lMIw
schema[c

(lo)

Note Eqs.6 and 10,We can

get the approximate solutions
Ofnfttur~lfrequencies of
lwgitudtial drill string

,,&sLR%%lcm)

u&=im#( 2x)
(i=l,2,3.....)

vibration,that is Eq.(10).
DEPIH

The critic?l Speeds are

0121F?I
Test 2

Nc=6@i*c/(i$x)
(i=-l

,2,30..)

(11)

The computer calcul~tions

of critic~l speeds from solution above are shown in table 2.

*CI-4?
&
**

CRITICAL
SPEEDS
RPM
.-. . .-.- --- ----- ------------ ------- ---- ---- ---------- ---- ---- ----- - __ ____
IS?
IIRPTH M
2ND
4~i
5TH
3RQ.
. ._
f357(j
u
939
2818
4697
8455
100
423
1269
2116
2963
3809
200
273
819
1366
1912
2458
309
201
605
1008
1411
1816
400
479
159
799
1118
1438
500
132
39?
661
926
1191
600

112

33%

564

79(I

1016

700
98
295
689
886
492
800
87
262
611
436
786
900
78
235
392
649
706
;]
1000
213
356
640
498
1100
65
195
325
456
586
1200
60
180
300
420
540
1300
55
167
278
390
501
1400
51
155
363
259
467
1500
48
146
243
340
438
1600
45
137
229
320
412
1700
43
129
302
389
216
1800
40
122
368
2(I4
2a6
1900
38
116
194
272
349
2000
37
111
185
259
333
2100
36
i05
317
176
247
2200
33
101
168
303
236
2300
32
!37
161
226
291
2400
31
!33
155
217
279
2500
29
89
149
208
268
2600
28
86
.
143
268
201
2700
27
83
138
249
193
2800
26
80
133
187
240
2900
25
77
129
180
232
3000
24
74
124
174
224
3100
24
72
121
217
169
32(?0
23
70
117
211
164
-------- --------- _______________________________ _____ ______ _____ _____ _______

sources

of

Excitation

Possible sources or means of exciting the longitudinal drill

natural modes inculde timevarying longitudinal forces

s~r~l~

which can be applied to the drill string

from various source$auch aR pump pressure,~dewall friction,
and drill-bit/formation interaction-The stud~jo.fpump pressure, and sidewall friction are beyond the scope o~ t$.ispaper.
We only study roller ccme L-ill bito different l@3ing condtions to the bottom end of the &ill string and determinehow
interactive dynamic force between bit and formation are generated.
Now,We consider a simyle and ideal condition of restraint
of roller motion,such as a roller rolling on me plane and
level bottom of the hole without slipping(which sometimes approximates the actual conditions of the rock.bit).This conditionals~ can be defined as follows(see F&*~).when single
tooth
A touc#s the bottom ,the center of the cone sta~
at
01 which is origia of the roller cone bits longitudinal di.splacemel.t.Aft@rtime t the center of the cone run to o.Yrojectting potilto on line o~A intersect at cc@&

bit displacement

ul is
Ul=olc*cos#
=(Rc-Ac) CO*
=2Rcsti2(3$) COf3#

(12)
Note the domain of the polar angular of teeth is from -m/z
to
W/z(where z denotes equivalent teeth which are the total
number of teeth prejected on the bottom plane of a cone).Excitation (12) is a periodic but harmonic,the Fourier series
expansion of ul is
ul(Hi2Hd,t)=-&

+~(a., cos(nzdt)+bn,sin(nzwt))

(13)

where

.
.

(14)

(15)

..

..-

C.

~
-----1d

->
,. .-J/

I
1

---

. ..

SPE 1 975,
b~,=0

I
n is a positive integer, anl nnd ~nl are the coefficients of
the tiftiitee~eries
When the5 ~ormation iB very hard the bott~ole
craters
are very shallow, It &
ktzgjum~
~
thebottom of the
hole is a level or a pkne.somettiefl the bottom of the hole
very rough so we must consider the objective bo%tm
!
tionso
is

condl-

Tests indicate that recorded panetratj.m ds~th Veysus the

revolution of bit or time is not a smooth str8.j.@tflltiebut
a stepped broken line as shown in Figo5.A~ter r$volvtig

turns, the bit suddenly drops down a dj.s%~ce,Dp~ then it aatually reuains at the same ~?lght and revolves un~il the next
*OP(ll)O
I
I
Dp=Rp*n nO
X/
(16)
where
Rp=axate of pene-trati.an,

Q/%
:
=average
speed
of
the
bit,

o
thi~ means the average depth of the crate$a on the bottw

hole

is Dp Wd once all Me crater over the bottom hole are formed,

the depth of the wellbore
!.
will increase a distance
Dp.This is another bit
displacemetlt u2,that is
o

()<@te2&~

U2=

(17)
{ Dp .2.tIXT<@Ut<4flX7
Zt is a periodic, The Fourier

se,rie~ expansion of ;2 is
~=R

*n@ l&71x *
Z. ~,1
+no
ncn

FyD&
Note Eqs.l?-159the Rc is not a constantcthe reasons is single
tooth a],d two teeth touch the bottom of hole &mnately

and the
6

teeth are not in the szme row.fi other wo.rds,

the Rc is a functior.of structu--eof cone.If the cone has three rows the Rc
cm

be simplified; as

R.

vig@7
The F ouzier series exPansion of Rc is

+-l-l-%
where

. h

(19)

,.

(20)

(21)

(22)

(24)

(25)
?deasureme~tsof drill string vibrations (12,13)~ho~ thfitbill
bit displaceme~.
t frequencies are three cycles per bit revolufor three-cone bits.C6res taken from rock formations show
a tmee-lobed pattern(Fige$
).This
is another bit displ~ceaent
tiofJ

u3,hence
u3=uo*si@.314no)

(26)

where
~ i];.
u = -&._A
o

SPE159757

apart from the bit displacements :/e

just said above,another
static bit displacement must
be considere:,it comes from
weight o~.bit and jetting$
hence
(27)
where
il=wei~ht
on bit

Kg

eombtiatlon of all bit

displacements are the
source
of exciting the
longitudinal drill string

Flg

bottomhole core Mum from a hard

dolomilic limestone formation (courtesy of A, Scovil

fl-Three.lobed

ue-=al+u2+u>u4

(28)

Longitudinal Drill String Motion

Since u(Hk2Hd,$=uejB=0.FromEq.(3) We have
ue*sin(~x)
(xst)-sin(~(H+2Hd))

(29)

This is solutim of drill string displacsmen%.Wi-thit We cam

calculate displacement of differential drill string section.
From Eq.(2g) :/e
can get velocity and acceleration of drill
string.Hence

s~(*x)
Vu(x,t)=
sin(~(H+2Hd))*~

Jde

(30)

(31)

SCme

likam~les

of Theoretical maculations
and Tests Datum
Example 1. Details of the borehole geometry and drill string
configurciti.
on ara shown in Iig.3.Computationsindicate that
115.2 cycles/nin is the f-undafilental
natural frequency of the

..

..!

-.

,.

G.= 53.45903
,C.
,-& @.3.332e?
-,.
>>,
= s~o ~f37515
.-2/
:= 65.07033
3.<=&2. 95013
.=
.\/
- eo. 51747
d.
5X= 57. 7a444
.-..
.+= 54.76453
W= 51.47293
~xs 47.92577
~xzfrz
44.14073
SX= 40.13136
5A= 35.93325
5X= 31.55155
SY.= 27. 01325
%= 22.340f36
m= 17.557!59
Sx= 12.6s716
Sxu 7.753759
%= 2. 7elf3el

(WIAL
,-------

, I 5 PLACEW3-JT

---.-..-

------

-----

raND

5~F!ES5

-------

MIPLTUDE

--------

MN/M*Fl

(MM)

----------------------t

+
4

+
+

-t+
t

*
..

.
.

+
+
..

+
+

.,

I
4

25975,

drill string.Fig.9 shows the amplitude of lcmgitudin~l drill

strhg

motion from the bit to the surf:]cealong with the stress

\(#

mplitude.
The bit displacement UI can be ne.gle ed for this example
because thek~jzmations are soft and high bit penetr~tion.in
this case the bit displacemerlts U2 and U3 are main sources of
exci
% tions.The drawingsof theoretical calculations of bit longitudinal motion with the aid of computer are shown in Fig.
10.Eig.11is dom~hole data ~YoM.- the field test(4) .They are
very aimilar,so it indicats ~
analytical stud:es ~yi ng/td/@.
J

.For hard k%~

tormation the three-

z~~
2

lobed bottom-hole core

~:
.
:
Z .1
.:
.?

no longer exist.The
maxn sources of exc~fition are UI and u2.

.)

l?ig.12 presents bit

~f[~
~e ,,M
RO!ABT

WFIGM1

0)+

I,r

So.m

)displaceme;lti
printed

lb,

10

by computer(

Es
jo

,Fig.13 is
downhole data (991?),
)

$
10 I

They conform each other

(all calculations neglect effect of cone
r~dius Rc).

z
=
f
f. :,,,
q 100

~.
o

J
rlmf

bM-Amlm moIjonwIIetiav

BIT WEIGHT

~
g 1~

-.

($)

~w

dnllmgOunngTeS

. U. .

z
s

---

--

--

;0

...-.

INDICATED

TIME

.. . .

.,, ,. RJ.L.3. .b .

..

**+44

--=---

----

----

BIT

DIWLMEME1

.----

--

IT

FCF

bl~Rf3

.. .--

F13PI-lP+T I Cl 1

*?+++

- -. - .---

- --

-------

.--.

U12== 2.469441
U12=-. 5061216
U12= 1.123047
U12 .914a489

lJl~=-.

8923S42
1.5921812
1. 49635L
2=95638
7.55603
3553038

lJlz=-~

. 86~IJ35

lJl~=-.

u12=
u12=U12=-.
IJIZ=

---

U12=-2.
184748
U12=-I.
388915
IJ12=
1.525893
I 112= 1.593432
i-il~=l- .35fJf3~,

IJ12=Z.
230503
u12=- 1.950504
U12=- .3776536
U12= 7. l&367e
U12=-I .242324E02
IJ12=-1.660045
1.
J12=-1.3:37632
;!l~=-1.~77741
}11:
,j~:..l
[)~~~
!I14:.
-5.1ilb:l
34
I11~-=-.
~.3&l;71335
Ill,-,
- .1 <,1.~j@
11,... I , ;,
II).$
!
1-11
<.. i. ,1 ,IJ
l,,!
..._ :Jt:~ I 1:,:.
l-l

L ~

-.

lJ~~=..-

.j:,~;+

1.

fl-

G(J

057771

~413155
L!12= .. I . .36085

lJl<,.:-~.

l-l ~ ~:= --,-. Q25398E

u 1::=EI.
3$33842

- u<

TORSICNAL V1131L4rnION
07 DRILL LlRIXG
Natural Frequency of Drill String
.

The differential equation of motion for to~siorialdrill.ctril;g

~::~tem$j
]
vibrations is(see Fi~.1 and B?]C,14for coortij:i~t,+
(32)
where
b=j~
!?!he
solution of equation

(33)
is
(34)

Boundary conditions for Fig.14

are

qu,t)=o

$.
(35)

OL?,r;.,u
ff*of {

10~1 (H+FZ;$-W*6~i,,+~f)

~+

;
\.

Substituting the boundary

conditions in the solution,

II

We obtain the frequency equation

H
Iob@,dg(tin,(H+Hf
)/b)=
Jp*G

(37)

I
x,

J,;

(3e)
The dnrick and cable line dont affect
the tarsional drill
string vibration because the input torsion Mo is ap~lieclto
the rotary table.
According to t@e law of
sional spring kgl=GJ /ll,a
pl
al spring ko2=GJ 2/12,and a
spring ke3=GJ /~H-11-12) hi
P3
of intertia Of drill dtring

a drill.collar(l) equivalent tordrill collar(2) equivalent torsiondrill pipe equivalent torsional

series,the equi;nlentpolar moment
Jp is

.-

~p~

..

15975
10

Drill String Torsional Resonance and Critical Speeds

!f!he
dril: string resonance occurs when the frequency of the
source of exci%tlon is tuned to a natural frequency of torsional
modes .
:~ot@Eqs.57 -39 the approximate solutions of the natural
frequencies,critical rotary speeds of torsional mode areYs%me
to the l~~~itudinal modets.They ere shown in tables 1 and 2.

Sourses

of Excitation

,.cwdgtemittent

,0

1~ A
sodrce of excitation,
ntact of bit teeth,and assume a roller rolls on the plane and
level bottom of the hole without slipping~#he schematic of
roller is shown in Fig.15.
EA%
The torque Ml exerted by
the vertical vj.brstionon
.
the bit body is
k!? ):&

!, >.<
/ *.
/ ;!
\

?3U
ottom*Rmtgp
It

M1=EA=

IJ
\

=cbn&4 Ueilmctg(
T
~;@-2Hd)/c) tg;

L
;,

......(4(1)

@,=HGk.ueRmctg(&n,,
(H+2Hd)/C)

,,

,i

tg$/(

CJPG)

(41)

;Aeninput torsion MO is applied to drill stringanother

angular displacement of the bit is
MO*X

94=
GJp

(42)

Two anGu.Iardisplacementxof the bit are the sources of excitation

the torsional drill strL.c vibration.Hence,The sourcesof excitatian of the bit are

S?z

Torsional

Drill

String

Motion

Substituttig the boundarJ conditions and the source of excitation in the solutioa(34),We obtaiu the Eqa. of angular difiplacement,a,l~ar velocity and (anbtiaraccelerati~,a(x, t),

ve(x,t) and ae(x,t)

O(X, t)--.-%

sin(tdtix/b)

(44)

si.rl(~~H+Hf
)/b)
Gin (c@#b )

@/e,
Vo(x, t)=-----------______
* dt
Stil(~@
(H-tFf)/b)

(/+5)

si.n(~O#b]
L. (x,t)=-----------------* 0/;,
sin(dno(H+Hf)/b) z

(46)

An Zxaaple of Theo$
tical Calcula~ioCa
Torsional Vibration and Test Bata

of

If formatiun is hard the three-lobed bottom-hole core no longer

exist. 1(.this case the main sources cf exc~ttion are %1(u
(12)
doesr.!tinclude U3 ir.2q.41) and ~4.Fig.16 is downhole data.
bit angular
rep%se~ts
lSEC
* Fig.17
z 10
k
n
A
displacement~prtited by comi
/
2
:5
puter.They are very sfilar.
w
5
$
00
*

~@.f6-Dynamtc
bII
resonance (rotal,t~ral

T-

torque caused by drill collar

spaed IS 110 rev/mm).@

Vibr!~tioncontrol

R/atei

co

dynamic forces h

drill string,

Frenatu;e bit failure 8nd penetration rate,itts very import~nt

to the iri: lti.coperations.
Four casictechniques for reducing the magnitude of mechanical viurationsare:(1) charge nc.-al
frequericy,
(2) charge

7?

w?

15975,

,
#
,

I
#
I
I

v
I
I
I
#
1
,
#

,
,
t

o
,
,
,
I
t
,
t
I

I
*
1
,

,
1
,

,
,
,
,

k
:\
:.$
:)-l,
I
,

,
I
,
,
,
t
1

t
,
,
,
,
,
1
,
I
,
I
,
I
I

.._._---.--+____------__.-------------_---------=---->=---*****

r4011Lvswodawm

?30d

9752

fcmctiigfrequency,(j) increaee or apply mechanical damping,

and (4) eliminate source of excitation.Tables 1 and 2 will
be used as a refere~ce to evaluate the different alternatives
for alleviating rough running.
The frequency response diagmm shows how responds to different axinl.drill bit displacement frequenc#es(Detail of

the drill string configuration se. I?ig.a),l?or

rotary speeds
stripping out about 115.2 RPM,the drill string moves-up and
do~i~l~ttle relative movement.Up to about 115.2Rl?M,the hill
string section responds with a large amount of stretching
with the ma.xiinum
amount of dynamic stretching occuring at
the critic[~lrotary speeds of 115.2 RIJM.Beyc@d115.2 l?PM,&ill
string stretching is relatively low until j45.6 Rl?M9whentl~e
second axial mode of vibration becom~ active.The first mode
usually falls with the range of mo8t rotary speeds.Large dynamic hi:.forces can develop at around rotary speeds of 115.2
RPM orspeeds that excite the first mode and around 34.5.6
RI?M or spe~d~ that excite the second mode.
SHOCK ABSORBi.1.l
For deep holebore the equivalent spring con-stant of drill pipe is much smaller than drill collars.So the
drill string can be simplified as springs -d mass system.
If the value of spring const~nt of drill collar(2) and drill
pipe~e a(iti?$:ff~$ie stiplify the collar(l) as rigid mms
qcl*ll and the drill collar(2) and drill pip? in series as a
massless spring.l!hei~~ertial effect of the bill collar(2)
and drill pipe can be accounted for by adding one-trod of~ z?a~<
of the drill collar(2)
weight of swlvel,block
can then be calculated
massless spring and an

and drill pipe to the rigid mass Msb(#&

and kelly)(8),The natural frequency
as if the system were to consist of a
equivalent rigid mass of (Meb+(qc2*12

i-qp(H-11-12)
)/3).Hence
k ~ql=E/((H-II-3? 3+12/A2)
#

(47)

meql=M~~+(qc~*12

(48)

+qp(H-11-12) )/3

.*
.

where

13

159758

flc.,)qcp$~p

=mass per unit len~;thof drill collar(l),Heavy drill

pipe (drill collar(2)) and drill pipe
Kg/m
Considering the spring of
derrick and cable.This is a
system with one degree of
freedom,it~s simiiar to the

--f----

f
T

fotmdation(base) excitation
system(see Fig.18)(sysiem
attached to moving support).
t

The natural frequency for

this system is
r
Ivl.+ke,
(49)
@ nu=
eq 1
If the value of equivalent
spring constant of drill

/lq

the collcrs(~) ad

pipe and drill collar(2) $:~mfic;d d;ffwu,We

simplify
collars(2) as rigid mass qc1*ll+qc2*12 and

the dril~ pipe as :1massless spring,tiltfis case

k~q1=XA3/(H-11-12)

(50)

meql=Msb+qp(H-*ll
-12)/3

(51)

The drill string for deep

holebore can be simplified
as a spring and massless
system with two degree of
freedom if We use a shock
absorber directly above the
bit(the spring conatan~ of
shock absorber ka is much
less than drill collars).
It$s ahovm in I?ig.19.
The equation of motion
for this system can be derived
by applying Newtonls second

law to each of the mass,We get

Fjf? /f

WE

15975,

14

M sb

;l-

1[1
kfl-tk

eq2

-%3q2

xl

-t [

or

e q2

22

-keq2

a+keq2111=[
2

a1

Id~i]+K[x]=[F(t]

(53)

Assume the e:~citationis harmonicpthe characteristic deteminEd2t is

A(wrlu) = IK-@..~ I=0

(54)

From linezr el~ebra,the solutions to equation

id;.,= ml*k22+m2*kll

_ ,

W%z

+-2-

2ml*m2

are

ml*~22+~*~ll
2
1
kll*k22-k12*k12

/[

where

_f$i+

(55)

mlm2

mlm2

ml=ld~b,
weight of swivel~block and lsehly
a2=Meq2
kll=k4tk

eq2
k22=k
+ka
eq2
k12=-keq2
Tf the value of spring constant of drill collar(2) and drill
pipe ~ave a little dtffweme
keq2=E/((H-11-12)/A3+12/A2)

(56)

M f3q2=% *ll+(qc2*12+qp(M-11-12))/3

(57)
If the value of spring constant of drill collar(2) and Drill
pipe differ too much

k~q2=EA3/(H-l1-12)
(58)
*12+qp(H-11-12
)/3
id
(59)
eq2=qc~*11+qc2
According to Eq.(55) the fiaturalfrequencies of drill string Wi~
will decrease.In other words , a shock absorber lowers the natural freque::ciesof the tiil.strl~lgand shift the resonant
peak to the left of drill bit excitation frequency,aco($e
tati.
The d~.=aic force amplitude at the drill.bit for using R
shock ::bsorberdirectly above the drill.bit is(see Fig.?$l)

ba=ka(X2~e)

(6o)

where: X2 is :.mplitudeof harmonic response for mass M

eq2

SHE 15975,

15

(klI-a$qb)kaue

X2=

(61)

(kll-tiM*b )(k22-@;Meq21-k&2
.

where
~1=

drill bit excitation frequency, ~=0.314no for soft

formation,snd til=Z@ (product of the equivalent te~th
and average rotary speed of the cone)for hard formation
Ce=drill bit excitation amplitude
If a shock absorber LS no t
used the dynamic force amplitude
at drill bit is (see Figi18)

yem~

bb=(xwe)k~ql+
where: X. is response amplitude of ~~a
(kQke@e
==ETTE;;;-$:$j;;l

(62)
M

eql

(63)

Computer calculations show that a shock absorber(spring constant ka of 7MN/M tab~e 3 ) reduce dynamic bit force amplitude
from 70.2T to -f@.7T.
If ka=17.5MN/M,axial displacement of three-lobed patte~n
is 8,5 mm peak to paak,the dynamic forae on bit is negative
It indicates that dri~;l-ld:ollar
and base excitation U3 move
@@i tu4
opposite directions:the dynamic forcesl on, the bit highe~
k
Qtw
than hj;;;~~
.In this case the peak force im4&oYJa
pacts the bottom d ole patterm the high poi.nts,,the
three-lobed
bottom hole pattern and thus the source of excitation U3 may be
completely eliminated.
If spring constant ka-26.27,the dynamic force on the bit
is much higher tha~.if no shock absorber were used(actual value
of dynmnuc force 011bit ie lees than these value because amplitude of U3 is ~limti.:~ted
to a little).When choosing a shock
absorberin~ tool,the user should be careful to determinethe
effective sprir.gco:,stantat the depth,remember not all shock
absorners cm reduce dyn:uni~force on bit.

.
.

Note Fig.lS a~(~Eq.60,when phase angle of drill string

dis~lacemen-tequatim is eqwl to base(foundation) excitation
and X2=Ue the dynamic bit force is zero.In this case We can
get o?ti~:~:shock absorber spril:gconst~rit,hence

SEE 15975,

. .

..

fu6/t3
.,[[(Jck.

i:
,s,

1.

I :;.,

(,()(:
:,,

/:(,

,;

H
U(J(J
1{- l(JUU

ii lLGU
:1 lLIJ;J
H= 1300
H Ifl
O(l
}! 15011

11 I
1700
i,!)(J

i!

11= 1800

H= 1900
H- 2000
11-L 2100
H 22(.)0
H- 2300
11. :~luu
u 2500
[! 2600 .
H: 2700
}1: 2800
H= 2900
H- 3000
H 3100

LNA

,~~~>()~{~i-i{
{1!>[, -)). :;!1
.2.!.);

.,,i

1:*;,

:);.;:/.,,!)

Fti:l

5010! J.ltj

[r
J?, 1!ll
.11.()!)
FNA 4332LJ.54
F.V
A l/[:::
u.:,/
FNA
FNA

470(.)5.71
464.14.4
!-)

FNA .~~g~~.~~
INA 4:)4GU .57
FNA. 4502:i.o:
FNA 44614.U3
FNA=-44232.2G
rNA -43872.3
FNAT -43532.52
FNA- 43Z1O.89
FNA=-42905.il
FNA-4261!\.52
lNA=-4233Y.u6
l~NA.-42W+.w.-
FNA=-41823. 1
FNA= -41581.78
ENA=-41350.52
FNA=-41128.67
FNA=-40915.57

ABSOl{liLIi
I 1:11;G.:1

172775. 1
]!1:;27.1.7
212754.1
2:32174.1
25215]
273165.2
295623.2
31!3940
346561
:{75997
4of1860.G
445$409
488103.5
536695.3
59334!3.1
660340.8
740870.9
839592.7
963547.8
1123928
1339675
1645585
2113304
2917693
4627304
FNA- 1.073928E+07

NO Ll{OCKA~SOl{~E}i
{7..1:3
ru[} 72:);
l~BJ 72419.53
Fnli 72077.46
F~fi.7iU50.54
FBD. 71690.36
FUB= 71572.3U
Fl;u 71482.81
FBIJ- 71413.35
FBB: 71358.6!3
FBB= 71U1L.26
FRII 712130.61
FBBz
71252.S)7
FBB.
71231.06
FBB= 71213.93
FBB= 71200.85
FBB= 71191.25
FRB 71184.7
FBB= 71180.87
FBB= 71179.49
FBB= 71180.35
FBB~ 71183.3
FBB= 71188.21
FDB= 71194.98
FBB= 71203.55
FBB= 71213.87
FBB= 71225.93
FBII 71239.73

,
I

(64)
.
.

Computer calculations of

optimum shock absorber spring corL-

stants for various depth of holetore are shown in table4.(detail

of the drill string configuration and drilling parameter see
Fig.3).Ifkao is neg::tiveand thus the bit axial displacement
and drilling b-se excitation move h opposite direction,the
shock absorber spring constants can~t reach optimum.Adjusting
rotarying speed and drill striug configuration can reach shock
absorber spring constmts
timum.Eq.64.can be used for drilling en,;ineerand driller t select shock absorber spring cmnstants.In this case the fJ e actted on drill bit is weight on
I
bit.
Conclusims
I.The na~al

frequency or critical speeds are depend on depth

of wellbore or total drill string length and don~t only drill
collar length.Drilling engineer should pay attention to drillstring configuration in vibration control.The solution to vibration control is basically frequency detuning either with
a shock absorber,ed$ustments h bottom assembly length)or rotary speed selection. After determination of bottom assembly
the natural frequency or :ritical speed vary with depth of
the wellbore.This is very important to driller.In other words$
the driller have to understand that drilling a~ different depth
of weilbore has different natural frequenc~or critical speeds.
2.Critical speeds (table 2) should be avoided during selecting
an operating rotary speed.

3 The shock absorber is an effective vibration control tool.

Select the shock absorber

spring constant according to Eq.64

the dynamic bit force will be minimk$ed,but ~r

not all shock absorber can reduce

dynamic force on bit,

4 The displacements,velocitj~a.ndaccelerations of drill string
and drill bit are expres8ed explicitly by Eq.2$1though 31 and
44 to 46.They zre the first set of thorough answers in this
area and have contributedto the research on drill string vibration ar.drock bit design
5 From Eqs.13 to 15 ile
get,~hen Z-the bit excitation U1
=O,the screw cone drill bit(Z-~
) can mtitiize the dynamic

SPE 15975,

1+

N-:

.
.
..

-,

1:1

.4!11!;

)[.!

.,1,

.1

II

II

!!

#l

.,

.,

1!

II

..

II

1,

,,

s,

,,

. .

. .

,,

,.

bit force(see Fig.20).

6. From Eqs. 13 to 15)

,
whenRc~~
<3
the bit excitation U1
is zero too,the dynamic
bit force cah be mini-

;
.

mized by using PDC and

).SO
drag bit(Rc=?*
uing
screw bit and
FDC,drag bit are a basic techniq~ $or reducing
the magnitude of drill
Btring vibraticim.

.._ . - -. .
7 From Eqs.1~ to 15 We can find the excitation U1 f~equen-cy
equals or approximately equals the product of the equivalent
teeth and the average rota$!ingspeed of the cone.Adjustixigthe
teeth position of a c~rtati row can charge the excitation frequency.This is a basic technique foxreducing the magnitude
of mechanical vibrations too.
Nomenclature
A=equivalent area of drill string ,m2
= constants of titegration
Al,13,1Yl,lW,
b=the speed of a shear wave in chill strti.g,
(3246n/s,10650ft/s).
c=the speed of a compression(tension) wave in drill string (
5136m/s, 16580f~/s) .

E,G=compression and shear modulus of elasticity N/m2

fnu,f,m=natural frequency of longitudinal and angular drill
string vibrations,FIZ
H,Hd,HY=depth of!holebore ,derrick, and floor,
i=natmal
vibration mode,firstt~econd?etc.
Iosthe moment of jnertia of the bit body

KgTU2

m4
Tp=polar moment of in$lertiaof equivalent drill string
ki(i=l,2,3J@=spring
constant of drill Collfqldrill CO1lU(2)
.
,.
.

drill pipe,cable

and derrick,

shock Pbsorber

N/m
li(i=l$2,3...)=length of drill(1),rlrillco]l~e(2),drill pipe
m
mo=mass of roller cone bit

Kg

Ice= Lnput torsion applied by rotary table, Nm

N(n)=positive integer,1,2,3....etc.
Rcl,Rc2,Rc3=radius of the top tooth cycle of heel rowtfi.rst
,!

iner row,and second iner row,

m
Rm=distance from center of cone to the axle of bit,
t=t~e vairable

u=dynamic longitudinal displacements

m
ul,u2,u3,u4=bit displacement excited by intermittent contact
of bit teeth,three-lobed pqttern$bit penetration
and weight on bit , m
W=weight on bit,
N
x=position variable,
m
Zl,Z2,Zj=total number of teeth at heel row, first iner row,
second iner row
C%=poplar angle of contacting teeth
@=cone journal angle
~ 1,L%l=bit
angular displacement excited by titermittent contact

of bit teeth and torsion exerted by rotary Isble

~= friction angle
~ =mass density
=angular

Kg/m*

natural

frequency of longitudiml md
drill stri~,gvibration ,
rad/s
W=average an~lar velocity of roller cone,
rad/s
@o=average angular velocity of bit ,red/s
~u,~m

torsional

Acknowledgment
The auther thanks computer stations of our plant and oil production Co.i~rovidedexcellent guidance$andQgi:tance.1am indebeted to~

~;n-tao for

assistance in the translation of

this paper.
References
(1), Dareing,D;ll., and lLivesay,B.J., Longitudinal
Drill String Vibrations with Damping,

.
-.
.

Journal

and Angular
of Engineering

for fidustry ,Trans.AS~,Nov. 1968,pp.671-679.

(Z). Willcox,M.G., Kurle,A.??.,and Chavez,H.R., Shock Abeorbing Tools Speed Drilling,Oil& Gas Journal,March 21 ~1977,
PP.149-159.

~~~ ~~

97%

Shells High-IiataDrilling Telemetry System

;3)
asses
en:S~,E.BO,
Fxrst Test,tOil & Gas Journal,june 13%19?7,PP,63-66.
I

19

 High Data-Rate
(4). Denson, J3.13.,
Journal

of Petroleum

Drilling

Telemetry

System~

Technology,Feb.19?9,
pp.155-163.,

k $tor in ~
(5).Dareing,D.W.,Dril~ Collar Length is a:~jor
Vibratio~: Control, Journal of Petroleum Technology,Vol.36,Apr.
..
1984,PP.637-644.
I
(6). Dareing,D .W.,Guidelines for Controll&g Drill $tr~
Vibrations, Transactions of t@ ASME,Jtu.e$l
@4,pp.272-277.
(7).Darein&?,D.W.,1$Vibrations Increase Avaflable %werat
the Bit, Transactions of the ASME,March 1985,pp.138-141.

t
*
$

(8). Francis S .Tse,Ivm E.Morse,end Roll.andT. Hinkla, Mechanical Vibrations Theoryand Applications~*$SecondEditlon,Allyn
and Bacon,Inc.1978,pp.449.ISBN 0-205-0594-6.
(9). MaPD.K., and Yang S.L.~t~Kinematicsof the Cone B1t,!$Society of petroleum Engtieers Jo~al,Vol.25,No.3~hne
1985rpP.
321-329.
(10). Erontii,I .d., Somerton,W.H., and Auslander,I1.M.,A
Dynaic Model for Rotary Rock ll~illing$ Transactions of the
ASME, Journal of Energy Resoumes Technology~June 1978,voI.
I
104~Pp.108-120.

(11). Ma,D., and Azar,J.J., Dynamics of Cone Bits,nTmnsactions

of the ASME,Journel of Energy Resources Technolo~,Dec.1985.
(12). Daily,l?.H.,Dareing,D.W.
,Paff,C.H., Ortloff,J.E., and
LynngR.D.p Downhole Measurements of l)~illSlming Forces
Motions,Transactionsof the ASME 1968$pp.217-225.

snd

(13). Garrett,?/
.R.,The Effect of a Downhole Shock Absorber
on Drill Bit and Drill Stem Perfommnce,l?aper~SME
62-Pet-21 presented at the ASME 1962 Petroleum and Mechanical
Englneeri~igConference,Dallas,Sept.23-26.

1
.
*