Friction-Induced Limit Cycling in Flexible Rotor Systems: An Experimental Drill-String System

Friction-induced limit cycling deteriorates system performance in a wide variety of mechanical systems. In this paper, we study the way in which essential friction characteristics affect the occurrence and nature of friction-induced limit cycling in flexible rotor systems. This study is performed on the level of both numerical and experimental bifurcation analyses. Hereto, an experimental drill-string set-up is used. The synthesis of these numerical and experimental results confirms that friction-induced limit cycling is due to a subtle balance between a velocity weakening characteristic of the friction (Stribeck effect) at lower velocities and viscous friction at higher velocities. Moreover, it is shown how these essential friction characteristics depend on physical conditions such as temperature and normal forces in the frictional contact in the experimental set-up.Copyright © 2005 by ASME

[1]  R. Ibrahim FRICTION INDUCED VIBRATIONS , 2001 .

[2]  Robert D. Russell,et al.  Numerical solution of boundary value problems for ordinary differential equations , 1995, Classics in applied mathematics.

[3]  Jan Dirk Jansen,et al.  Active damping of self-excited torsional vibrations in oil well drillstrings , 1995 .

[4]  Edwin Kreuzer,et al.  Analyse selbsterregter Drehschwingungen in Torsionsstäben , 1996 .

[5]  R. Ibrahim Friction-Induced Vibration, Chatter, Squeal, and Chaos—Part I: Mechanics of Contact and Friction , 1994 .

[6]  Henk Nijmeijer,et al.  Friction-induced torsional vibrations in an experimental drill-string system , 2004 .

[7]  Henk Nijmeijer,et al.  Analysis of Friction-Induced Limit Cycling in an Experimental Drill-String System , 2004 .

[8]  Henk Nijmeijer,et al.  Limit cycling in an Observer-Based Controlled System with Friction: Numerical Analysis and Experimental Validation , 2004, Int. J. Bifurc. Chaos.

[9]  Nathan van de Wouw,et al.  Friction compensation in a controlled one-link robot using a reduced-order observer , 2004, IEEE Transactions on Control Systems Technology.

[10]  L. van den Steen,et al.  Suppressing stick-slip-induced drillstring oscillations: a hyperstability approach , 1997 .

[11]  U. Galvanetto,et al.  Dynamics of a Simple Damped Oscillator Undergoing Stick-Slip Vibrations , 1999 .

[12]  Emmanuel M Detournay,et al.  Self-excited stick–slip oscillations of drill bits , 2004 .

[13]  M.J.G. van de Molengraft,et al.  Friction induced hunting limit cycles: an event mapping approach , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[14]  K. K.,et al.  Stick-slip vibrations and chaos , 1990, Philosophical Transactions of the Royal Society of London. Series A: Physical and Engineering Sciences.

[15]  van Dh Dick Campen,et al.  Stick-Slip Whirl Interaction in Drillstring Dynamics , 2002 .

[16]  R. A. Cunningham Analysis of Downhole Measurements of Drill String Forces and Motions , 1968 .

[17]  Nenad Mihajlovic,et al.  Torsional and lateral vibrations in flexible rotor systems with friction , 2005 .

[18]  A. I. Krauter Closure to “Discussion of ‘Generation of Squeal/Chatter in Water-Lubricated Elastomeric Bearings’” (1981, ASME J. Lubr. Technol., 103, p. 413) , 1981 .

[19]  Leon O. Chua,et al.  Practical Numerical Algorithms for Chaotic Systems , 1989 .

[20]  R. Leine,et al.  Bifurcations in Nonlinear Discontinuous Systems , 2000 .

[21]  Christoph Glocker,et al.  CURVE SQUEALING OF RAILROAD VEHICLES , 2005 .

[22]  H. Nijmeijer,et al.  Dynamics and Bifurcations ofNon - Smooth Mechanical Systems , 2006 .

[23]  Karl Johan Åström,et al.  Friction generated limit cycles , 1996, Proceeding of the 1996 IEEE International Conference on Control Applications IEEE International Conference on Control Applications held together with IEEE International Symposium on Intelligent Contro.

[24]  Carlos Canudas de Wit,et al.  A survey of models, analysis tools and compensation methods for the control of machines with friction , 1994, Autom..

[25]  J. F. Brett The genesis of torsional drillstring vibrations , 1992 .

[26]  Rha Ron Hensen,et al.  Controlled mechanical systems with friction , 2002 .

[27]  C. A. Brockley,et al.  Quasi-Harmonic Friction-Induced Vibration , 1970 .