Tesis Completa M Belem Saldivar

CENTRO DE INVESTIGACION Y DE ESTUDIOS AVANZADOS DEL
INSTITUTO POLITCNICO NACIONAL

UNIDAD DISTRITO FEDERAL
DEPARTAMENTO DE CONTROL AUTOMTICO
Modelado y Anlisis de una Barra de Perforacin:
Enfoque de Ecuaciones Diferenciales en Diferencias
Tesis que presenta
Ing. Martha Belem Saldivar Mrquez
Para obtener el grado de
Maestro en Ciencias
En la Especialidad de
Control Automtico
Directores de Tesis:
Dra. Sabine Mondi Cuzange
Dr. Jean Jacques Loiseau
MXICO DISTRITO FEDERAL AGOSTO DE 2009.
Agradecimientos
A la Dra. Sabine Mondi Cuzange,
por su gran disposicin, generosa paciencia
y valiosa asesora brindadas.
Al Dr. Jean Jaques Loiseau,
por su importante colaboracin durante el
desarrollo de este trabajo.
A los Dres. Vadim Azhmyakov y Moiss Bonilla,
por sus atinados comentarios y correcciones de este trabajo.
A mis compaeros de estudio,
por su apreciable amistad y apoyo moral.
A todos los investigadores y personal de apoyo
que forman parte del departamento
de Control Automtico.
Al CONACYT,
por el otorgamiento de la beca de posgrado nacional.
Al CINVESTAV,
centro de investigacin y posgrado lder en Mxico y el mundo.
Dedicatoria
A Dios,
por la maravillosa vida en que me toc vivir
y por las personas con las que me toc compartirla.
A Gustavo Nez Moreno,
mi fiel compaero en la fortuna y adversidad,
por su invaluable apoyo en todos los aspectos de mi vida,
por su entera comprensin y entraable compaa.
A Martha Mrquez Franco y Julin Saldivar Pacheco,
mis admirables padres,
a quienes debo lo que soy.
A Lizeth Esmeralda, Karina Yareli e Ileana Nallely,
mis hermanitas,
porque mi amor hacia ellas es siempre retribuido.
A Erick Dan Jared Acosta Saldivar,
mi pequeo sobrino,
que con apenas 3 meses de edad llena mi espritu de felicidad.
A Luisito,
por todas las alegras vividas y por vivir.
Solo triunfa en el mundo quien se levanta y busca a las circunstancias
y las crea si no las encuentra.
Bernard Shaw
Resumen
En este trabajo se presenta un modelo de parmetros distribuidos para el sistema de perforacin
de pozos. Este modelo es descrito por una ecuacin diferencial parcial hiperblica con
condiciones de frontera.
El modelo inicial motivado fsicamente puede reducirse a un sistema con retardos en el tiempo
de tipo neutral a travs de la transformacin de DAlembert y tcnicas de la transformada de
Laplace. Este nuevo modelo facilita el anlisis y simulacin del sistema en comparacin con el
modelo diferencial parcial.
Durante el proceso de perforacin aparecen vibraciones torsionales a lo largo de la barra
causadas por la interaccin del dispositivo de corte con la superficie a perforar. Estas
oscilaciones se conocen como fenmeno atore-deslizamiento. Este fenmeno representa una
fuente de fallas que reduce la tasa de penetracin e incrementan los costos de operacin.
En una primera etapa el fenmeno atore-deslizamiento se modela como una perturbacin
acotada en el extremo inferior. Se obtienen cotas ltimas para algunas variables de inters del
sistema. En el contexto de ecuaciones en diferencias las cotas se obtienen por medio de
evaluaciones directas. En el marco de ecuaciones diferenciales parciales las cotas ltimas se
obtienen mediante solucin de desigualdades matriciales lineales (LMIs).
En la segunda parte del trabajo el contacto del dispositivo de corte con la superficie a perforar
se describe mediante una expresin no lineal conmutada. Este contexto de modelado da lugar
al fenmeno atore-deslizamiento. Los resultados de simulacin muestran que este modelo
refleja satisfactoriamente el comportamiento observado en pozos reales. De esta manera se
valida el modelo propuesto.
Finalmente, a partir del modelo anterior se evalan algunas estrategias basadas en la
experiencia con el objeto de reducir las oscilaciones torsionales.
Abstract
In this work a distributed parameter model of the oil well drilling system is presented. This
model is described by a hyperbolic partial differential equation with boundary conditions.
The physically motivated initial model can be reduced to a neutral type retarded system
through the DAlembert transformation and Laplace transform techniques. This new model
leads to more simple analysis and system simulation in comparison to partial differential
model.
During the drilling process, appearing torsional drillstring vibrations caused by the interaction
of the cutting device with the surface drilling. These oscillations are known as stick-slip
phenomenon. This phenomenon represents a source of failures which reduce penetration rates
and increase drilling operation costs.
In a first stage the stick-slip phenomenon is modeled as a bounded disturbance in the bottom
end. Ultimate bounds for some interest system variables are obtained. In the context of
difference equations the bounds are obtained by direct computations. In the framework of
partial differential equations ultimate bounds are obtained via the solution of linear matrix
inequalities (LMIs).
In the second part of this work the contact of the cutting device with the surface drilling is
described by a switched nonlinear expression. This modeling framework leads to stick-slip
phenomenon. The simulation results show that this model satisfactorily reflects the behavior
reported in real wells. In this way, the proposed model is validated.
Finally, based on the above model, some experience-based strategies are evaluated in order to
reduce torsional oscillations.
IndIce generaI
1 IntroduccIn 1
1.1 Ilanloamionlo ool pioLloma . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 OLjolivos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.8 Oiganizacion ool liaLajo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.4 IuLlicacionos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 AodeIo deI sIstena de erIoracIn 6
2.1 Inlioouccion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Mooolo oo paiamolios oisliiLuioos . . . . . . . . . . . . . . . . . . . . . . . 6
2.8 Mooolo con iolaioos oo lipo noulial . . . . . . . . . . . . . . . . . . . . . . . 8
2.8.1 1iansfoimacion oo DÀlomLoil . . . . . . . . . . . . . . . . . . . . . 8
2.8.2 Analisis on ol oominio oo la fiocuoncia . . . . . . . . . . . . . . . . . 11
2.8.8 LslaLilioao foimal . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.4 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3 AcotanIento \ItIno 18
8.1 Inlioouccion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
8.2 Mooolo noimalizaoo oo paiamolios oisliiLuioos . . . . . . . . . . . . . . . . 10
8.8 Analisis oo la ocuacion on oifoioncias . . . . . . . . . . . . . . . . . . . . . . 20
8.4 Analisis oo la ocuacion oo onoa . . . . . . . . . . . . . . . . . . . . . . . . . 2
8. Ljomplos numoiicos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8..1 1uLoia oo poifoiacion . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8..2 Collaios oo poifoiacion . . . . . . . . . . . . . . . . . . . . . . . . . . 82
8.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
i
4 Fenneno atore-desIIzanIento 34
4.1 Inlioouccion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.2 Mooolaoo oo la fiiccion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4.2.1 Cuiva oo SliiLock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.8 Mooolo ool loiquo soLio ol Lil . . . . . . . . . . . . . . . . . . . . . . . . . . 88
4.8.1 Lfoclo ool poso soLio ol Lil on ol fonomono
aloio-ooslizamionlo . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.8.2 Lfoclo oo la volocioao on la supoilcio on ol fonomono
aloio-ooslizamionlo . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.4 Lslialogias paia iooucii las oscilacionos loisionalos . . . . . . . . . . . . . . 48
4.4.1 Manipulacion ool poso soLio ol Lil . . . . . . . . . . . . . . . . . . . . 48
4.4.2 Manipulacion ool amoiliguamionlo on ol oxliomo infoiioi . . . . . . . 44
4. Mooolo oo paiamolios conconliaoos . . . . . . . . . . . . . . . . . . . . . . . 4
4..1 Lvaluacion oo las oslialogias paia iooucii las oscilacionos loisionalos . 40
4.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
5 ConcIusIones generaIes y ersectIvas 53
A ArtIcuIos 58
A.1 Ullimalo Lounooonoss of lho iosponso of a oiilling pipo moool . . . . . . . . 8
A.2 Iooucing slick-slip oscillalions in oilwoll oiillsliings . . . . . . . . . . . . . . 6
ii
CaItuIo 1
IntroduccIn
Ll mocanismo oo la Laiia oo poifoiacion juoga un iol impoilanlo on la inousliia oo oxliaccion
ool polioloo. Lslo sisloma consliluyo un sisloma oinamico complojo con paiamolios ooscono-
cioos y vaiianlos ooLioo a quo sus caiacloislicas camLian mionlias piogiosa ol piocoso.
La inloiaccion oo la Laiia oo poifoiacion con ol pozo oa lugai a una amplia vaiiooao
oo oscilacionos no oosoaoas quo puooon clasilcaiso ooponoionoo oo la oiioccion on la quo
apaiocon. Iuooon oislinguiiso lios oifoionlos lipos oo viLiacionos: loisionalos (fonomono
aloio-ooslizamionlo, conocioo on la liloialuia inglosa como 'slick-slip phonomonon'), axialos
(ioLolo ool oisposilivo oo coilo, 'Lil Louncing') y laloialos (iolacion anoimal ooLioa al
oosLalanco oo la Laiia oo poifoiacion, 'whiiling').
Las viLiacionos loisionalos suolon piosonlaiso ooLioo a las conoicionos oo foimacion oo la
supoilcio a poifoiai. Lslas puooon piovocai quo ol oisposilivo oo coilo (conocioo como 'Lil')
so aloio on la foimacion mionlias quo la mosa iolaloiia conlina giianoo. Cuanoo la onoiga
loisional aliapaoa alcanza un nivol on ol quo ol Lil ya no puooo iosislii, ioponlinamonlo so
suolla iolanoo y azolanooso a muy allas volocioaoos. Lslo compoilamionlo puooo gonoiai
una onoa loisional quo viaja a liavos oo la Laiia oo poifoiacion hasla ol sisloma oo iolacion
on la supoilcio, la mosa iolaloiia acla como un oxliomo ljo ooLioo a su inoicia oo gian
magniluo y ioloja la onoa loisional nuovamonlo al oxliomo infoiioi. Ll Lil puooo sollaiso
nuovamonlo y ol ciclo oo onoa loisional so iopilo [16[.
Los azolos y las allas volocioaoos oo iolacion on la faso oo ooslizamionlo puooon gonoiai
sovoias viLiacionos laloialos y axialos quo puooon oiiginai pioLlomas como: ooLililamionlo
oo la Laiia oo poifoiacion (causanoo oiioios on la conoxion onlio sogmonlos oo la luLoia)
[0[, avoia oo los compononlos oo la Laiia oo poifoiacion [12[, inoslaLilioao on ol piocoso oo
1
poifoiacion ool pozo [22[ y oano on ol oisposilivo oo coilo.
No os iazonaLlo una oosciipcion complola quo cuLia looos los fonomonos oscilaloiios
quo ocuiion ol piocoso oo poifoiacion, poi osla iazon los auloios usualmonlo osluoian lalos
fonomonos inoivioualmonlo y comnmonlo so ulilizan simplilcacionos paia pioposilos oo
analizai la oslaLilioao [8[, [18[, [24[.
Los fonomonos no linoalos piosonlos on ol oxliomo infoiioi oo la Laiia ouianlo ol piocoso
oo poifoiacion so consiooian como oisluiLios oxloinos y so mooolan anaoionoo un loimino
oo poiluiLacion al mooolo oo paiamolios oisliiLuioos piosonlaoo on la piimoia pailo oo oslo
liaLajo, con osla consiooiacion no os posiLlo logiai oslaLilioao asinlolica o oxpononcial, poi
osla iazon so oncuonlian colas llimas oo la solucion [8[.
Ioi olia pailo, so piosonla un mooolo paia ol loiquo al quo osla sujolo ol oisposilivo oo
coilo, oslo mooolo poimilo oosciiLii ol fonomono aloio-ooslizamionlo y ovaluai oslialogias
quo poimilon iooucii las viLiacionos loisionalos on la Laiia oo poifoiacion.
La ioouccion oo las oscilacionos piooucioas poi ol fonomono aloio-ooslizamionlo puooo lo-
giaiso mooianlo la coiiocla soloccion oo oifoionlos paiamolios como la volocioao oo iolacion,
ol loiquo al quo osla sujolo ol Lil y ol poso quo oslo sopoila, oslos paiamolios comnmonlo
so conliolan oosoo la supoilcio.
La gian impoilancia piaclica ool analisis oo la Laiia oo poifoiacion ha inloiosaoo a
vaiios invosligaooios. So han usaoo muchos onfoquos quo lialan pioLlomas oo mooolaoo y
oo conliol, la mayoia oo ollos hacon fionlo al compoilamionlo loisional y la supiosion ool
fonomono aloio-ooslizamionlo.
Algunas locnicas oo conliol clasico paia la oliminacion oo las viLiacionos loisionalos son:
la implomonlacion oo un sisloma iolaloiio oo loiquo suavo (sofl loiquo iolaiy syslom S1IS)
on ol oxliomo supoiioi oo la Laiia [2[ oonoo la iooa os hacoi quo ol sisloma iolaloiio on ol
oxliomo supoiioi longa un compoilamionlo suavo oo manoia quo las onoas loisionalos quo
lloguon a la supoilcio soan aLsoiLioas iompionoo as ol movimionlo cclico, la inlioouccion
oo un aLsoiLoooi oo viLiacionos on ol oxliomo supoiioi oo la Laiia [7[, ol oisono oo un
conliolaooi IID paia conliolai la volocioao iolaloiia on la supoilcio [21[ y la inlioouccion
oo una fiiccion aoicional on ol Lil [21[.
1.1 IIanteanIento deI roLIena
Ll mooolo oo paiamolios oisliiLuioos ool sisloma oo poifoiacion voilical oo pozos osla ooscii-
lo poi una ocuacion oifoioncial paicial oo sogunoo oioon oo lipo hipoiLolica con conoicionos
2
oo fionloia.
Los mooolos oo paiamolios conconliaoos poimilon ioalizai oo manoia mas simplo ol
analisis y simulacion ool sisloma on compaiacion con mooolos on ooiivaoas paicialos. Ioi
osla iazon, los auloios pioloion ulilizai mooolos oosciilos poi un sisloma oo ocuacionos
oifoioncialos oioinaiias paia ol analisis y conliol oo los sislomas oo poifoiacion. Ln oslos
mooolos so consiooia la Laiia oo poifoiacion como un ponoulo loisional con vaiios giaoos oo
liLoilao. Ln [26[, [16[ y [7[ so pioponon mooolos oo oos giaoos oo liLoilao y on [17[ ulilizan
un mooolo oo cualio giaoos oo liLoilao.
Sin omLaigo, paia analizai oo manoia mas piocisa ol compoilamionlo loisional ool sis-
loma oo poifoiacion os convonionlo ulilizai un mooolo oo paiamolios oisliiLuioos ya quo los
mooolos oo paiamolios conconliaoos onvuolvon impoilanlos simplilcacionos mionlias quo
on un mooolo oo paiamolios oisliiLuioos ol ospacio oo oslaoos os inlnilo-oimonsional.
Las ocuacionos oifoioncialos oioinaiias noimalmonlo iosullan oo consiooiai sislomas on
los quo su compoilamionlo ooponoo oo una sola vaiiaLlo. Ioi ojomplo, ol movimionlo oo
un sisloma masa-iosoilo oonoo ol iosoilo liono masa oospiociaLlo, ol cual solo ooponoo oo
la vaiiaLlo liompo. Ll compoilamionlo oo los sislomas ioalos noimalmonlo ooponoo oo mas
oo una vaiiaLlo. Ioi ojomplo, ol movimionlo oo un cuoipo olaslico ooponoo lanlo ool liom-
po como ool punlo ool cuoipo quo so consiooio, poi lanlo las ocuacionos quo goLioinan ol
compoilamionlo ool sisloma son ocuacionos oifoioncialos paicialos.
Iosulla inloiosanlo la oLloncion oo un mooolo quo ovaoa las oilcullaoos oo los mooolos
on ocuacionos oifoioncialos paicialos y quo a la voz oosciiLa aoocuaoamonlo las vaiiaLlos oo
inloios ool sisloma (on oslo caso, las vaiiaLlos on ol oxliomo infoiioi oo la Laiia). Lslo mooolo
pooia logiaiso conviilionoo ol sisloma oo paiamolios oisliiLuioos a un sisloma con iolaioos
on ol liompo a liavos oo la liansfoimacion oo DÀlomLoil (solucion gonoial oo la ocuacion
oo onoa).
Un piocooimionlo alloinalivo paia oLlonoi un mooolo oosciilo poi una ocuacion con
iolaioos on ol liompo oo lipo noulial os ol molooo oo la liansfoimaoa oo Laplaco. Ll molo-
oo consislo on aplicai la liansfoimaoa oo Laplaco a la ocuacion oifoioncial paicial y a las
conoicionos oo fionloia, iosolvoi la ocuacion iosullanlo y oLlonoi la liansfoimaoa invoisa.
8
1.2 OLjetIvos
Los piincipalos oLjolivos son:
OLlonoi un mooolo con iolaioos oo lipo noulial a pailii oo un mooolo oo paiamolios
oisliiLuioos quo oosciiLo ol compoilamionlo loisional on la Laiia oo poifoiacion. Ls im-
poilanlo iocalcai quo los mooolos oo lipo noulial facililan ol analisis y las simulacionos
on compaiacion con mooolos oosciilos poi ocuacionos on ooiivaoas paicialos.
OLlonoi colas llimas oo la solucion consiooianoo ol loiquo soLio ol Lil como una
funcion linoal oo la volocioao y conconlianoo on un loimino oo poiluiLacion acolaoo
los fonomonos no linoalos on ol oxliomo infoiioi oo la Laiia piosonlos ouianlo ol piocoso
oo poifoiacion.
Valioai ol mooolo oo lipo noulial oonoo ol loiquo al quo osla sujolo ol oisposilivo
oo coilo so oosciiLo poi una oxpiosion no linoal conmulaoa. Voiilcai la apaiicion oo
oivoisos fonomonos oxpoiimonlalos iopoilaoos on la liloialuia ospocializaoa.
1.3 OrganIzacIn deI traLajo
Ln osla momoiia, so piosonla on ol Caplulo 2, ol mooolo oo paiamolios oisliiLuioos quo
oosciiLo ol compoilamionlo oo la Laiia oo poifoiacion ulilizaoa on la inousliia oo oxliaccion
oo polioloo. So ooiiva a pailii oo oslo, un mooolo con iolaioos oo lipo noulial mooianlo
oos locnicas: la liansfoimacion oo DÀlomLoil paia la ocuacion oo onoa y ol analisis on ol
oominio oo la fiocuoncia.
Ln ol Caplulo 8, ol mooolo paia la Laiia oo poifoiacion oosciilo poi la ocuacion oo onoa
con conoicionos on las fionloias so ioouco a una ocuacion on oifoioncias y so oLliono una
cola llima paia la volocioao on ol oxliomo infoiioi oo la Laiia. Ioi olia pailo, so piopono
una funcion oo onoiga paia ol mooolo oo paiamolios oisliiLuioos quo poimilo onconliai
una cola llima paia una mooioa oo las vaiiaLlos oisliiLuioas quo oosciiLon ol sisloma. So
piosonlan ojomplos numoiicos iluslialivos.
Ln ol Caplulo 4, so ovalan algunas oslialogias paia iooucii ol fonomono inoosoaLlo
aloio-ooslizamionlo piosonlo on ol piocoso oo poifoiacion omploanoo ol mooolo con iolaioos
oo lipo noulial ooiivaoo on ol Capilulo 2. So oomuoslia quo la manipulacion oo vaiiaLlos
como la volocioao angulai on la supoilcio, ol loiquo al quo osla sujolo ol oisposilivo oo coilo
4
y ol poso quo oslo sopoila lionon un impoilanlo ofoclo on la ioouccion oo las viLiacionos
loisionalos oo la Laiia oo poifoiacion.
Finalmonlo on ol Caplulo 6, so piosonlan las conclusionos y poispoclivas ool liaLajo.
1.4 IuLIIcacIones
Los iosullaoos oLlonioos on oslo liaLajo oo losis oioion lugai a las siguionlos puLlicacionos:
1. Lolom Saloivai, SaLino Monoio y Lmilia Fiioman, Ullimalo Lounooonoss of lho ios-
ponsoiosponso of a oiilling pipo moool. Acoplaoo on: 11 1:|h n J.n 1|nj
5jn ;J15 .uu:), Sinaia, Iumania, 1-8 oo SopliomLio oo 2000.
2. Lmilia Fiioman, SaLino Monoio y Lolom Saloivai, Lslimalos of lho iosponso of a
oiilling pipo moool suLjocl lo Lounooo oisluiLancos. Acoplaoo on: 11 1:|h n
n:| J 1.:.h&J 1n:nn: 5jn ;115 .uu:), 1oulouso, Fiancia, 20-24 oo
Julio oo 2000.
8. Lolom Saloivai, Joan Jacquos Loisoau y SaLino Monoio, Iooucing Slick-Slip Oscilla-
lions in Oilwoll Diillsliings. Somolioo a: 1n:nn.nn| nJ:n n 1|:.n| 1n-
j.n:.nj. n&.nj 5.n nnJ &nn. n:| ;1-.uu:), 1oluca, Moxico,
10-18 oo NoviomLio oo 2000.
CaItuIo 2
AodeIo deI sIstena de erIoracIn
2.1 IntroduccIn
Ln oslo caplulo so piosonla un mooolo oo paiamolios oisliiLuioos quo oosciiLo ol compoi-
lamionlo loisional oo la Laiia oo poifoiacion.
Con ol oLjolo oo simplilcai ol analisis y las simulacionos ool sisloma so oLliono un mooolo
con iolaioos on ol liompo oo lipo noulial a pailii ool mooolo oo paiamolios oisliiLuioos, so
piosonlan oos oslialogias paia logiailo: la liansfoimacion oo DÀlomLoil y un analisis on ol
oominio oo la fiocuoncia.
2.2 AodeIo de arnetros dIstrILuIdos
Ll piocoso piincipal paia la oxliaccion oo polioloo os la poifoiacion oo un pozo quo so ioaliza
mooianlo una hoiiamionla oo coilo oonominaoa Lil capaz oo liiluiai la ioca. La Laiia oo
poifoiacion consla oo oos pailos piincipalos: un onsamLlajo localizaoo on ol oxliomo infoiioi
(LHA, Lollom holo assomLly) y sogmonlos oo luLoia onioscaoos oxliomo a oxliomo.
Ll onsamLlajo compionoo ol oisposilivo oo coilo, oslaLilizaooios quo piovionon ol La-
lancoo y una soiio oo soccionos oo luLo iolalivamonlo posaoas conocioas como collaios oo
poifoiacion.
Mionlias la longiluo ool onsamLlajo poimanoco conslanlo, la longiluo lolal oo la luLoia
oo poifoiacion so inciomonla mionlias piogiosa la poifoiacion ool pozo.
Un olomonlo impoilanlo on ol piocoso os ol looo oo poifoiacion o luioo, oslo liono la
funcion oo limpiai, onfiiai y luLiicai ol oisposilivo oo coilo.
6
Los sislomas oo poifoiacion con ol acluaooi posicionaoo on la pailo infoiioi oo la Laiia son
olcionlos poio oxislo un allo iiosgo oo quo so pioouzca un colapso ooLioo a la acumulacion
oo maloiial liiluiaoo a lo laigo oo la Laiia sin movimionlo, poi osla iazon on poifoiacionos
piofunoas so pioloio quo ol mocanismo giialoiio (mosa iolaliva) so localico on la supoilcio.
Un Losquojo oo un sisloma voilical oo poifoiacion oo pozos simplilcaoo os mosliaoo on
la Fig. 2.2.
Fig. 2.2. Sisloma oo poifoiacion oo pozos.
La Laiia oo poifoiacion so consiooia como un ponoulo sujolo a loision. Una inoicia
conconliaoa 1
1
so oscogo paia iopiosonlai ol onsamLlajo on la pailo infoiioi. So asumo a lo
laigo oo la osliucluia un amoiliguamionlo , _ 0 quo incluyo lanlo ol osliucluial como ol
viscoso. La volocioao on la supoilcio ( = 0) so iosliingo a un valoi conslanlo !. Ll olio
oxliomo ( = 1) osla sujolo a un loiquo 1 quo os funcion oo la volocioao angulai.
Ll sisloma mocanico so oosciiLo poi la siguionlo ocuacion:
GJ
J
2
J
2
(. t) 1
J
2
Jt
2
(. t) ,
J
Jt
(. t) = 0. (0. 1). , _ 0 (2.1)
7
con conoicionos oo fionloia:
(0. t) = !t. GJ
J
J
(1. t) 1
1
J
2
Jt
2
(1. t) = 1
_
J
Jt
(1. t)
_
. (2.2)
oonoo (. t) os ol angulo oo iolacion, 1 os la inoicia, G os ol mooulo oo iigiooz y J os ol
momonlo goomoliico oo inoicia.
La oxisloncia y unicioao oo la solucion so asumo paia looas las conoicionos inicialos.
La solucion oslacionaiia oo oslo sisloma os:
0
(. t) = !t
_
1 (!)
GJ

,!
GJ
1
_

,!
2GJ
2
. (2.8)
Con ol camLio oo vaiiaLlo .(. t) = (. t)
0
(. t) so oLliono un sisloma aulonomo
oquivalonlo paia ol cual la funcion .
0
(. t) = 0 os solucion.
GJ
J
2
.
J
2
(. t) 1
J
2
.
Jt
2
(. t) ,
J.
Jt
(. t) = 0. (0. 1) (2.4)
con conoicionos oo fionloia
.(0. t) = 0. GJ
J.
J
(1. t) 1
1
J
2
.
Jt
2
(1. t) = 1 (!) 1
_
!
J.
Jt
(1. t)
_
. (2.)
Ll oxliomo = 0 os ahoia ljo y la ocuacion oo piopagacion oo la onoa no camLia.
La oslaLilioao oo la solucion liivial .
0
(. t) os oquivalonlo a la oslaLilioao ool oquiliLiio
0
(. t) [8[.
2.3 AodeIo con retardos de tIo neutraI
Con ol ln oo simplilcai ol analisis ool sisloma, so oLliono a pailii ool mooolo oo paiamolios
oisliiLuioos una oosciipcion paicial ool sisloma quo liono la foima oo un sisloma con iolaioos
oo lipo noulial. Iaia oslo, so haco una simplilcacion quo ioouco ol mooolo a la ocuacion oo
onoa. Dospuos so ulilizan oos oslialogias: la liansfoimacion oo DÀlomLoil (solucion gonoial
oo la ocuacion oo onoa) y un analisis on ol oominio oo la fiocuoncia con la liansfoimaoa oo
Laplaco.
2.3.1 TransIornacIn de DÀIenLert
Ln lo suLsocuonlo so asumo nulo ol amoiliguamionlo (, = 0) oo manoia quo ol mooolo oo
paiamolios oisliiLuioos so ioouco a la ocuacion oo onoa unioimonsional
J
2
J
2
(. t) = j
2
J
2
Jt
2
(. t). (0. 1). (2.6)
8
oonoo j =
_
1
GJ
. con conoicionos oo fionloia (2.2).
A conlinuacion so oosaiiolla ol molooo oo DÀlomLoil quo poimilo onconliai la solucion
gonoial oo la ocuacion oo onoa unioimonsional (2.6) quo mooola las viLiacionos a lo laigo oo
la Laiia.
So inliooucon las nuovas vaiiaLlos = t j, j = t j y so aplica la iogla oo la caoona
paia oLlonoi
J
J
=
J
J
J
J

Jj
J
J
Jj
.
= j
J
J
j
J
Jj
. (2.7)
J
Jt
=
J
Jt
J
J

Jj
Jt
J
Jj
.
=
J
J

J
Jj
. (2.8)
So usan (2.7) y (2.8) paia oosaiiollai ol laoo izquioioo y ooiocho oo la ocuacion (2.6) como
siguo
J
2
J
2
=
_
j
J
J
j
J
Jj
__
j
J
J
j
J
Jj
_
.
= j
2
J
2
J
2
2j
2
J
2
JJj
j
2
J
2
Jj
2
. (2.0)
J
2
Jt
2
=
_
J
J

J
Jj
__
J
J

J
Jj
_
.
=
J
2
J
2
2
J
2
JJj

J
2
Jj
2
. (2.10)
As, susliluyonoo (2.0) y (2.10) on (2.6) so oLliono la ocuacion oifoioncial paicial
J
2
JJj
= 0
cuya solucion gonoial os:
(. t) = c() (j). (2.11)
(. t) = c(t j) (t j).
0
oonoo c, son funcionos oo valoi ioal oo una vaiiaLlo conlinuamonlo oifoionciaLlos.
Iaia ooiivai la iolacion onlio la volocioao angulai on la supoilcio y la volocioao on ol
oxliomo infoiioi oo la Laiia so uliliza la solucion gonoial (2.11) oo la ocuacion oo onoa.
J
Jt
=
J
J

J
Jj
.
J
J
= j
J
J
j
J
Jj
.
Las conoicionos oo fionloia (2.2) puooon ioosciiLiiso como
` (0. t) =
`
c(t)
`
(t) = !(t). (2.12)
J
J
(1. t) = j
Jc
J
(t I) j
J
Jj
(t I) =
1
1
GJ
_
J
2
c
J
2
(t I)
J
2
Jj
2
(t I)
_
1
GJ
1(t) (2.18)
oonoo I = j1. 1omanoo como salioa ol oosplazamionlo oosoo la posicion no oxcilaoa hasla
ol oxliomo infoiioi so oLliono
n(t) = (1. t) = c(t I) (t I). (2.14)
Do acuoioo con la ooiivaoa oo (2.14) y consiooianoo c y como funcionos ool liompo t,
siguo oo (2.12) y (2.18) quo
c(t)
(t) = !(t). (2.1)
c(t I)
(t I) =

n(t). (2.16)
j
c(t I) j
(t I) =
1
1
GJ
` n(t)
1
GJ
1(t). (2.17)
La ocuacion (2.16) implica
c(t I) =
(t I)

n(t).
Con la suslilucion oo osla llima ocuacion on (2.1) y (2.17) so oLliono
(t)
(t 2I)

n(t I) = !(t) (2.18)
y
2j
(t I) j

n(t) =
1
1
GJ
` n(t)
1
GJ
1(t)
osla llima puooo ioosciiLiiso como
(t) =
1
2
n(t I)
1
1
2
_
1GJ
` n(t I)
1
2
_
1GJ
1(t I).
10
Susliluyonoo la ocuacion anloiioi on (2.18):
1
2
n(t I)
1
1
2
_
1GJ
` n(t I)
1
2
_
1GJ
1(t I)
1
2
n(t I)
1
1
2
_
1GJ
` n(t I)
1
2
_
1GJ
1(t I)

n(t I) = !(t).
Lnloncos ol mooolo con iolaioos oo lipo noulial paia ol sisloma oo poifoiacion os:
` n(t) ` n(t2I)
_
1GJ
1
1
n(t)
_
1GJ
1
1
n(t2I) =
1
1
1
1(t)
1
1
1
1(t2I)
2
_
1GJ
1
1
!(tI).
Lo anloiioi so iosumo on la siguionlo pioposicion:
IroosIcIn 1 5n | .nn j& J:.h | n:nn.n :.nn| J |n hn::n J :-
J:n.n .n nn:.j&nn.n
GJ
J
2
J
2
(. t) 1
J
2
Jt
2
(. t) = 0. (0. 1).
n nJ..n J J:n:n:
(0. t) = !t. GJ
J
J
(1. t) 1
1
J
2
Jt
2
(1. t) = 1
_
J
Jt
(1. t)
_
.
JnJ (. t) | nnj&| J :n.n. 1 |n |nj.&J J |n hn::n. 1 |n .n:.n. G | nJ&| J
:.j.J.. J | nnn jn:. J .n:.n. , | nn:.j&nn.n n | |n:j J |n hn::n. ! |n
|.JnJ nnj&|n: n |n &:].. 1
1
&nn .n:.n nn:nJn j& j n:n ::nn:
| nnnh|n] n |n n: .nJ:.: j 1 | :j& n| j& n &] | J... J :. 1n
:|n.n J |n |.JnJ n | r:n .nJ:.: J |n hn::n j |n |.JnJ n |n &:]. n
JnJn : |n &n.n n :n:J J . n&:n|:
` n(t) ` n(t2I)
_
1GJ
1
1
n(t)
_
1GJ
1
1
n(t2I) =
1
1
1
1(t)
1
1
1
1(t2I)
2
_
1GJ
1
1
!(tI)
(2.10)
JnJ I =
_
1
GJ
1 j

n |n |.JnJ n | r:n .nJ:.: J |n hn::n.
2.3.2 AnIIsIs en eI donInIo de Ia IrecuencIa
A conlinuacion so piosonla una piuoLa alloinaliva oo la pioposicion anloiioi on oonoo so
ooiiva ol mooolo (2.10) a liavos oo la oLloncion oo la liansfoioncia onliaoa-salioa usanoo
locnicas oo la liansfoimaoa oo Laplaco.
11
DehnIcIn 2 1n :nnJ:nnJn &n.|n:n| J 1n|n J (. t) J]n n
((. t)) =
_
0
c
ct
(. t)dt = (. :).
j & .n:n:
1
( (. :)) =
1
2:i
ci
_
ci
(. :)c
ct
d: = (. t).
Lena 1 5n &nn : [0. ) 1 &nn J&n.n n.n&n : Jn. n nJn .n:n| [c. /[
nn.J n [0. ). 5. r.n nnn `. t
0
0 j :
0
1. n| j&
[(t)[ _ `c
ct
n:n J t t
0
;n n J. j& J :Jn rnn.n| n:n t t
0
). nn |n :nnJ:nnJn
J 1n|n J (t) r.. 1 J.:. r. &n n4n: :
0
n| j& ((t)) r. n:n : :
0
.
La piimoia ooiivaoa paicial oo con iospoclo a la vaiiaLlo lompoial t puooo liansfoimaiso
aplicanoo la oolnicion anloiioi,
_
J
Jt
_
=
_
0
c
ct
J
Jt
dt.
inlogianoo poi pailos con
n
= c
ct
d
= d
dn
= :c
ct
=
so liono quo
_
J
Jt
_
= [n
_
0
d
dt
c
ct
dt
=
_
c
ct
0
:
_
0
c
ct
dt
= :
_
0
c
ct
dt (. 0)
12
_
J
Jt
_
= : (. :) (. 0)
oonoo oonola la liansfoimaoa oo Laplaco oo .
La sogunoa ooiivaoa paicial oo con iospoclo a t lamLion puooo liansfoimaiso,
_
J
2
Jt
2
_
=
_
0
c
ct
J
2
Jt
2
dt =
_
c
ct
J
Jt
_
0
:
_
0
c
ct
J
Jt
dt.
onloncos,
_
J
2
Jt
2
_
= :
_
J
Jt
_
J(. 0)
Jt
= :
2
(. :) :(. 0)
J(. 0)
Jt
So aplica la liansfoimaoa oo Laplaco oo con iospoclo a la vaiiaLlo lompoial como siguo
_
J
J
_
=
_
0
c
ct
J
J
dt.
aplicanoo la Iogla oo LoiLnilz so liono
_
0
c
ct
J
J
dt =
J
J
_
0
c
ct
dt.
as,
_
J
J
_
=
J
J
() =
J (. :)
J
.
Similaimonlo,
_
J
2
(. t)
J
2
_
=
_
0
c
ct
J
2
(. t)
J
2
dt =
J
2
J
2
_
0
c
ct
dt =
J
2
(. :)
J
2
.
Iosumionoo lo anloiioi,
_
J
2
(. t)
Jt
2
_
= :
2
((. t)) :(. 0)
t
(. 0) = :
2
(. :) :(. 0)
t
(. 0).
_
J(. t)
Jt
_
= :((. t)) (. 0) = : (. :) (. 0).
_
J
2
(. t)
J
2
_
=
J
2
((. t))
J
2
=
J
2
(. :)
J
2
.
_
J(. t)
J
_
=
J((. t))
J
=
J (. :)
J
.
18
Consiooianoo quo las conoicionos inicialos son nulas, la ocuacion (2.6) puooo ioosciiLiiso
como
GJ
J
2
(. :)
J
2
= 1:
2
(. :). (2.20)
La solucion gonoial oo (2.20) os:
(. :) =
1
(:)c
_
1
C
c

2
(:)c
_
1
C
c
(2.21)
oonoo
1
(:) y
2
(:) son solucionos pailiculaios a soi ooloiminaoas. Do las conoicionos oo
fionloia (2.2) so liono quo:
` (0. t) = !(t). (2.22)
Do acuoioo con (2.22) las conoicionos oo fionloia so puooon ioosciiLii como
!(:) = :
1
(:) :
2
(:) (2.28)
GJ
J
J
(1. :) 1
1
:
2
(1. :) = 1(:). (2.24)
La ooiivaoa oo (2.21) os
d (. :)
d
=
1
(:)
_
1
GJ
:c
_
1
C
c
2
(:)
_
1
GJ
:c
_
1
C
c
. (2.2)
susliluyonoo (2.2) on (2.24),
GJ
_
1
(:)
_
1
GJ
:c
_
1
C
c1
2
(:)
_
1
GJ
:c
_
1
C
c1
_
1
1
:
2
_
1
(:)c
_
1
C
c1

2
(:)c
_
1
C
c1
_
= 1(:)
o on foima maliicial
_
: :
c
c
(
_
1GJ: 1
1
:
2
) c
c
_
_
1GJ: 1
1
:
2
_
__

1
(:)
2
(:)
_
=
_
!(:)
1(:)
_
oonoo I =
_
1
GJ
1. Lnloncos, las solucionos pailiculaios
1
(:) y
2
(:) son:
_

1
(:)
2
(:)
_
=
1
1(:)
_
c
c
_
_
1GJ: 1
1
:
2
_
:
c
c
(
_
1GJ: 1
1
:
2
) :
__
!(:)
1(:)
_
14
oonoo
1(:) = :
_
c
c
_
_
1GJ: 1
1
:
2
_
c
c
(
_
1GJ: 1
1
:
2
)
_
.
siguo quo
1
(:) =
c
c
_
_
1GJ: 1
1
:
2
_
!(:) :1(:)
:
_
c
c
_
_
1GJ: 1
1
:
2
_
c
c
(
_
1GJ: 1
1
:
2
)
_
=
c
2c
_
_
1GJ: 1
1
:
2
_
!(:) :c
c
1(:)
:
_
c
2c
_
_
1GJ: 1
1
:
2
_
(
_
1GJ: 1
1
:
2
)
_.
2
(:) =
c
c
(
_
1GJ: 1
1
:
2
)!(:) :1(:)
:
_
c
c
_
_
1GJ: 1
1
:
2
_
c
c
(
_
1GJ: 1
1
:
2
)
_
=
(
_
1GJ: 1
1
:
2
)!(:) :c
c
1(:)
:
_
c
2c
_
_
1GJ: 1
1
:
2
_
(
_
1GJ: 1
1
:
2
)
_.
Soa la salioa ol oosplazamionlo oosoo la posicion no oxcilaoa hasla ol oxliomo infoiioi:
n(:) = (1. :) =
1
(:)c
c

2
(:)c
c
.
susliluyonoo las solucionos pailiculaios
1
y
2
so liono,
n(:) =
c
c
_
_
1GJ: 1
1
:
2
_
!(:) :1(:) c
c
(
_
1GJ: 1
1
:
2
)!(:) :c
2c
1(:)
:
_
c
2c
_
_
1GJ: 1
1
:
2
_
(
_
1GJ: 1
1
:
2
)
_
simplilcanoo la oxpiosion anloiioi,
n(:) =
2
_
1GJc
c
!(:) 1(:) c
2c
1(:)
c
2c
_
_
1GJ: 1
1
:
2
_
(
_
1GJ: 1
1
:
2
)
o oquivalonlomonlo,
n(:)
_
c
2c
_
_
1GJ: 1
1
:
2
_
(
_
1GJ: 1
1
:
2
)
_
= 2
_
1GJc
c
!(:) 1(:) c
2c
1(:)
so oLliono
:
2
n(:) c
2c
:
2
n(:)
_
1GJ
1
1
:n(:)
_
1GJ
1
1
c
2c
:n(:) =
1
1
1
1(:) (2.26)
1
1
1
c
2c
1(:)
2
_
1GJ
1
1
c
c
!(:).
1
Finalmonlo, la ocuacion oo lipo noulial (2.10) so oLliono a liavos oo la liansfoimaoa
invoisa oo Laplaco oo (2.26),
1
_
:
2
n(:)
_
= ` n(t).
1
_
c
2c
:
2
n(:)
_
= ` n(t 2I).
1
(:n(:)) =

n(t).
1
_
c
2c
:n(:)
_
=

n(t 2I).
1
(1(:)) = 1(t).
1
_
c
2c
1(:)
_
= 1(t 2I).
1
_
c
c
!(:)
_
= !(t I).
2.3.3 EstaLIIIdad IornaI
La oslaLilioao foimal ool opoiaooi oifoioncia os una piopiooao ciucial oo los sislomas con
iolaioo oo lipo noulial.
Si un sisloma os foimalmonlo oslaLlo, las poiluiLacionos aiLiliaiias ool iolaioo no alloian
la oslaLilioao ool sisloma. Ln ol caso oo la Laiia oo poifoiacion, ol iolaioo pioviono oo
liansfoimacionos malomalicas quo ooponoon oo la goomolia ool sisloma. Ioi ollo ol iolaioo
no osla sujolo a vaiiacionos.
DehnIcIn 3 ]11]n.J: &n .nn J |n J:nn
r(t) =
q
I=1
1
I
r(t /o)
q
I=0
I
r(t /o)
q
I=0
1
I
n(t /o) (2.27)
JnJ r(t)
a
| nJ j n(t)
n
| n:|. 1n &n.n J.J:n.n| J&n.nn|
:n:JnJn ||nnnJn J . n&:n| . 1
I
,= 0 n:n n|j4n /. 1 J:nn|nn nh| .
1c:/(1
a

1(:)) = :
n:n J : n| j& 1c(:) _ 0. JnJ
1(:) =
q
I=1
1
I
c
Ic0
.
16
Nolo quo ol sisloma (2.10) so puooo ioosciiLii on la foima (2.27)
` n(t) =
_
0 0
0 1
_
` n(t 2I)
_
0 1
0
1GJ
1
T
_
n(t)
_
0 0
0
1GJ
1
T
_
n(t)
_
0
2
1GJ
1
T
_
!(t I)
_
0
1
1
T
_
1(t)
_
0
1
1
T
_
1(t 2I)
con
1 =
_
0 0
0 c
2c
_
.
Iaia : = 0,
oci(1

1) = oci
_
1 0
0 1 c
2c
_
= 1 c
2c
= 0
onloncos, so concluyo quo ol sisloma (2.10) no os foimalmonlo oslaLlo.
2.4 ConcIusIn
Ln oslo caplulo so piosonlo un mooolo oo paiamolios oisliiLuioos quo oosciiLo ol compoi-
lamionlo loisional oo la Laiia oo poifoiacion oo pozos voilicalos. Lslo mooolo coiiosponoo
a la ocuacion oo onoa cuanoo so consiooia nulo ol amoiliguamionlo a lo laigo oo la Laiia.
Ll mooolo oo paiamolios oisliiLuioos so liansfoimo on una ocuacion con iolaioos on ol
liompo oo lipo noulial ulilizanoo oos locnicas: la solucion gonoial oo la ocuacion oo onoa y
la liansfoimacion oo Laplaco. So oomoslio quo oslo sisloma no os foimalmonlo oslaLlo.
17
CaItuIo 3
AcotanIento \ItIno
3.1 IntroduccIn
Ln oslo caplulo so aLoioa un impoilanlo lopico on ol maico oo sislomas poiluiLaoos: ol
acolamionlo llimo (ullimalo Lounooonoss) [8[.
Consiooio ol sisloma
` r = )(t. r) q(t. r)
oonoo q(t. r) os una poiluiLacion quo pooia iosullai oo oiioios on ol mooolaoo ool sisloma
no linoal o oo incoilioumLios y oisluiLios quo oxislon on un pioLloma ioal.
Ln una siluacion lpica no so conoco q(t. r), poio pooia conocoiso una cola supoiioi oo
|q(t. r)| . Ln un sisloma oo oslo lipo no so puooo ospoiai quo la solucion so apioximo a coio
cuanoo t . lo mas quo puooo ospoiaiso os quo ol loimino oo la poiluiLacion soa poquono
on algn sonlioo onloncos r(t) aomilo una poquona cola llima; oslo os, |r(t)| soia poquono
paia un liompo t sulcionlomonlo gianoo. Lslo conouco al concoplo oo acolamionlo llimo.
DehnIcIn 4 ]]. 5n | .nn :&:hnJ
` r = )(t. r) q(t. r)
JnJ ) : [0. ) 1
a
j q : [0. ) 1
a
n n.n&n n Jn. n t j
|n|nn 1.h.. n r h: [0. ) 1. 1
a
&n n]&n nh.: nnJ j&
n.n n| :.jn r = 0. |q(t. r)| nJn. &nn n &:.:. 1n |&.n J ` r = )(t. r)
n &n.J:nnn 4|.nnnn nnJn . r.n nnn / j c. j n:n nJn c (0. c)
r. &nn nnn 1 = 1(c) n| j&
|r(t
0
)| < c ==|r(t)| < /. \t t
0
1 (8.1)
18
1n |&.n :nn j|hn|nn &n.J:nnn 4|.nnnn nnJn . ;.1) &n|
n:n c n:h.:n:.nnn j:nnJ. |n nnn / n ;.1) Jnn.nn n 4|.nn.
Ls iazonaLlo aoicionai al mooolo oo la Laiia oo poifoiacion (2.4)-(2.) una sonal oo
iuioo acolaoa n(t) on ol oxliomo infoiioi puoslo quo aunquo los paiamolios oimonsionalos
oo la planla so conocon, una linoalizacion omploaoa on ol compoilamionlo ool loiquo on
ol oxliomo infoiioi inlioouco incoilioumLio, aoomas oo oslo, os nocosaiio consiooiai los
oisluiLios oxloinos y posiLlos oiioios on ol mooolaoo.
Lajo oslas ciicunslancias, no puooo logiaiso oslaLilioao asinlolica o oxpononcial, on voz
oo oslo so Luscan colas llimas oo la solucion.
1ias apiopiaoas simplilcacionos, ol mooolo oo paiamolios oisliiLuioos so convioilo on
una ocuacion on oifoioncias quo oosciiLo la volocioao angulai on ol oxliomo infoiioi oo la
Laiia, osla os la vaiiaLlo mas impoilanlo oosoo un punlo oo visla ingonioiil.
Ioi olia pailo, ol pioLloma so aLoioa on ol maico oo sislomas oo paiamolios oisliiLuioos
como un caso ospocial oo la ocuacion oo onoa. So piopono una funcion oo onoiga oo la quo so
ooiivan conoicionos on foima oo oosigualoaoos maliicialos linoalos (LMI`s) paia acolamionlo
llimo siguionoo con las iooas inliooucioas on [18[, [[.
3.2 AodeIo nornaIIzado de arnetros dIstrILuIdos
Ll mooolo ool sisloma mocanico oo la Laiia oo poifoiacion quo so consiooia on osla soccion
os ol oosciilo poi las ocuacionos (2.4)-(2.).
So inlioouco una linoalizacion ool loiquo 1:
1 (!) 1 (! .
t
(1. t)) = 1
(! o.
t
).
t
(1. t). o (0. 1).
Noimalizanoo ol sisloma (2.4)-(2.) so liono:
GJ
1
2
J
2
.
Jo
2
(o. t) 1
J
2
.
Jt
2
(o. t) ,
J.
Jt
(o. t) = 0. o (0. 1). (8.2)
.(0. t) = 0.
GJ
1
J.
Jo
(1. t) 1
1
J
2
.
Jt
2
(1. t) = 1
(! o.
t
).
t
(1. t) n(t). (8.8)
oonoo o = ,1. [n(t)[ _ n. t (0. ) os un oisluiLio oxloino con ol quo so apioximan los
fonomonos no linoalos quo sucooon on ol piocoso oo poifoiacion.
10
Las conoicionos inicialos son:
.(o. 0) = (o). .
o
(o. 0) =
`
(o) 1
2
(0. 1).
.
t
(o. 0) =
(o) 1
2
(0. 1).
(8.4)
Cuanoo ol loimino n(t) no os ioonlicamonlo coio, no puooo oslaLlocoiso oslaLilioao a-
sinlolica y no puooon ooloiminaiso oslimaoos oxpononcialos, sin omLaigo so puooo pioLai
acolamionlo llimo oo las solucionos.
3.3 AnIIsIs de Ia ecuacIn en dIIerencIas
Ln osla soccion so consiooia un caso pailiculai ool mooolo (8.2)-(8.8).
So asumo quo ol amoiliguamionlo y la inoicia conconliaoa son nulos (, = 1
1
= 0), poi
lo quo ol mooolo so ioouco a:
J
2
.
Jt
2
(o. t) = c
J
2
.
Jo
2
(o. t). o (0. 1). t 0 (8.)
.(0. t) = 0:
J.
Jo
(1. t) = /
J.
Jt
(1. t) :n(t) (8.6)
oonoo c =
GJ
11
. / =
1T
(U0:I)
GJ
. : =
1
GJ
1.
Ln oslo caso os posiLlo convoilii ol mooolo oo paiamolios oisliiLuioos on una ocuacion
on oifoioncias a liavos oo la liansfoimacion oo DÀlomLoil. So uliliza paia oslo pioposilo la
solucion gonoial oo la ocuacion oo onoa unioimonsional:
.(o. t) = c(t :o) (t :o). t _ 0.
oonoo c, son funcionos oo valoi ioal conlinuamonlo oifoionciaLlos, y : =
_
1
o
. So liono
quo
J.
Jt
(o. t) =
`
c(t :o)
`
(t :o).
J.
Jo
(o. t) = :
`
c(t :o) :
`
(t :o). (8.7)
Las conoicionos inicialos lionon la foima:
.
t
(o. 0) =
1
(o) =
`
c(:o)
`
(:o).
.
o
(o. 0) =
`
(o) = :
`
c(:o) :
`
(:o).
(8.8)
Lnloncos,
`
c(:o) = 0.[
1
(o)
`
(o),:[.
`
(:o) = 0.[
1
(o)
`
(o),:[.
(8.0)
20
Las conoicionos oo fionloia puooon osciiLiiso oo la siguionlo manoia:
.(0. t) = c(t) (t) = 0. (8.10)
J.(1. t)
Jo
= :
`
c(t :) :
`
(t :) = /[
`
c(t :)
`
(t :)[ :n(t). (8.11)
Do (8.10) siguo quo
c(t) = (t). t 0 (8.12)
y onloncos (8.11) so puooo osciiLii:
[: /[
`
(t :) [: /[
`
(t :) = :n(t). t 0 (8.18)
oquivalonlomonlo,
`
(t :) = c
0
`
(t :) c
1
n(t). t 0 (8.14)
con c
0
=
(cI)
(cI)
y c
1
=
v
(cI)
.
Do (8.0) so oLlionon las siguionlos conoicionos inicialos
`
(t) = 0.[
1
(t,:)
`
(t,:),:[. t (0. :).
`
(t) = 0.[
1
(t,:)
`
(t,:),:[. t (0. :).
(8.1)
Lslo mooolo puooo soi lialaoo usanoo locnicas oo ocuacionos on oifoioncias. Soa t = |:.
[:. 0[. as (8.14) so puooo ioosciiLii como:
`
(|: :) = c
0
`
(|: :) c
1
n(|: )
o
`
((| 1): ) = c
0
`
((| 1): ) c
1
n(|: ). (8.16)
A conlinuacion so ioaliza la iloiacion oo (8.16) paia | = 1. 2. ...
l=1
`
(2: ) = c
0
`
() c
1
n(: ).
l=2
`
(3: ) = c
0
`
(: ) c
1
n(2: ).
l=8
`
(4: ) = c
0
`
(2: ) c
1
n(3: ).
21
l=4
`
(: ) = c
0
`
(3: ) c
1
n(4: ).
l=
`
(0: ) = c
0
`
(4: ) c
1
n(: ).
l=6
`
(7: ) = c
0
`
(: ) c
1
n(0: ).
l=7
`
(8: ) = c
0
`
(0: ) c
1
n(7: ).
l=8
`
(9: ) = c
0
`
(7: ) c
1
n(8: ).
con las suslilucionos coiiosponoionlos so oLliono:
`
(: ) = c
0
_
c
0
`
(: ) c
1
n(2: )
_
c
1
n(4: ).
= (c
0
)
2
`
(: ) c
0
c
1
n(2: ) c
1
n(4: ).
`
(7: ) = c
0
_
(c
0
)
2
`
(: ) c
0
c
1
n(2: ) c
1
n(4: )
_
c
1
n(0: ).
= (c
0
)
S
`
(: ) c
2
0
c
1
n(2: ) c
0
c
1
n(4: ) c
1
n(0: ).
`
(9: ) = c
0
_
(c
0
)
S
`
(: ) c
2
0
c
1
n(2: ) c
0
c
1
n(4: ) c
1
n(0: )
_
c
1
n(8: ).
= (c
0
)
1
`
(: ) c
1
_
(c
0
)
0
n(8: ) (c
0
)
1
n(0: )
(c
0
)
2
n(4: ) (c
0
)
S
n(2: )
.
y so lloga a
`
(2|: : ) = (c
0
)
|
`
(: ) c
1
|1
i=0
(c
0
)
i
n((2(| i)): ). (8.17)
22
Ioi olio laoo,
`
(4: ) = c
0
_
c
0
`
() c
1
n(: )
_
c
1
n(3: ).
= (c
0
)
2
`
() c
0
c
1
n(: ) c
1
n(3: ).
`
(0: ) = c
0
_
(c
0
)
2
`
() c
0
c
1
n(: ) c
1
n(3: )
_
c
1
n(: ).
= (c
0
)
S
`
() c
2
0
c
1
n(: ) c
0
c
1
n(3: ) c
1
n(: ).
`
(8: ) = c
0
_
(c
0
)
S
`
() c
2
0
c
1
n(: ) c
0
c
1
n(3: ) c
1
n(: )
_
c
1
n(7: ).
= (c
0
)
1
`
() c
1
_
(c
0
)
0
n(7: ) (c
0
)
1
n(: )
(c
0
)
2
n(3: ) (c
0
)
S
n(: )
.
oo las oxpiosionos anloiioios so lloga a
`
(2|: ) = (c
0
)
|
`
() c
1
|1
i=0
(c
0
)
i
n((2(| i) 1): ). (8.18)
As, paia | = 1. 2. .. la solucion os oosciila poi (8.17) y (8.18).
Como [c
0
[ < 1. con ` = ln([c
0
[). so liono quo
(c
0
)
i
= c
Ai
. onloncos usanoo n(t) _ n.
t _ 0. siguo quo paia [:. 0[
`
(2|: )
_ c
A|
`
()
[c
1
[ n
|1
i=0
c
Ai
.
`
(2|: : )
_ c
A|
`
(: )
[c
1
[ n
|1
i=0
c
Ai
.
Siguo oo (8.1) quo
`
()
_ 0.[[
1
(,:)[
`
(,:)
,:[. : _ _ :.
Con la oosigualoao
|1
i=0
c
Ai
_
1
1c
A
. so liono:
`
(2|: )
_ 0.c
A|
[[
1
(,:)[
`
(,:)
,:[
[c
1
[
1 c
A
n.
`
(2|: : )
_ 0.c
A|
[[
1
(,:)[
`
(,:)
,:[
[c
1
[
1 c
A
n.
28
como c
A|
= c
A
s
(t)
_ c
A
s
t
so siguo quo
`
(2|: )
_ 0.c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
[c
1
[
1 c
A
n
`
(2|: : )
_ 0.c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
[c
1
[
1 c
A
n.
Finalmonlo so oLliono una cola supoiioi paia
`
(t)
`
(t)
_ 0.c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
[c
1
[
1 c
A
n. (8.10)
Aoomas, (8.12) implica quo
`
c(t)
salisfaco la misma cola supoiioi quo
`
(t)
paia t _ :.
Lnloncos, oo (8.7) y (8.10) so liono quo
[.
o
(1. t)[ _ :c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
2: [c
1
[
1 c
A
n. (8.20)
Usanoo ol siguionlo iosullaoo so oLlonoia olia cola oxpononcial.
Lena 5 ].7]. 5n . : [c. /[ 1 &nn J&n.n n|n: n .(c) = 0. 1nn
_
b
o
.
2
(o)do _
(/ c)
2
2
_
b
o
(.
(o))
2
do. (8.21)
j
:cr
o[o,b[
.
2
(o) = [:cr
o[o,b[
.(o)[
2
_ (/ c)
_
b
o
(.
(o))
2
do. (8.22)
Usanoo (8.22) puooo concluiiso lamLion quo
:cr
o(0,1)
.
2
(o) _
_
:c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
2: [c
1
[
1 c
A
n
_
2
.
Iosumionoo los iosullaoos anloiioios so liono ol siguionlo iosullaoo.
Lena 6 1n |&.n J| :h|nn J n|: n |n J:n:n ;.). ;.) nJn. &nn n 4|.nn
j n:n Jn |n nJ..n .n..n| ;.) n.Jn |n J.j&n|JnJ
[.
o
(1. t)[ _ :c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
2: [c
1
[
1 c
A
n. t 0.
nJnn.
:cr
o(0,1)
.
2
(o) _
_
:c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
2: [c
1
[
1 c
A
n
_
2
.
24
Finalmonlo, so oLlonoia una cola llima paia la vaiiaLlo oo inloios piincipal, la volocioao
angulai on ol oxliomo infoiioi .
t
(1. t).
Ulilizanoo la solucion gonoial oo la ocuacion oo onoa, osla vaiiaLlo puooo ioosciiLiiso
como
J.
Jt
(1. t) =
`
c(t :)
`
(t :).
Ln visla oo (8.12),
`
c(t)
`
(t)
salisfacon la misma cola (8.10). As, so liono

[.
t
(1. t)[ _ c
A
s
t
[[
1
(,:)[
`
(,:)
,:[
2 [c
1
[
1 c
A
n. (8.28)
3.4 AnIIsIs de Ia ecuacIn de onda
Ll mooolo ool sisloma on ocuacionos on oifoioncias piopoiciona un oslimaoo ool compoi-
lamionlo on ol oxliomo infoiioi oo la Laiia. Iaia una oslimacion gloLal, so lialaia ol pioLloma
como un sisloma oo paiamolios oisliiLuioos.
La inoicia conconliaoa 1
1
so consiooia ahoia nula, poio no as ol amoiliguamionlo , a lo
laigo oo la Laiia. Con oslas consiooiacionos ol mooolo oo paiamolios oisliiLuioos (8.2)-(8.8)
so ioouco a la ocuacion oo onoa
.
tt
(o. t) = c.
oo
(o. t) d.
t
(o. t)
t _ t
0
. 0 < o < 1
(8.24)
con las conoicionos oo fionloia
.(0. t) = 0.
.
o
(1. t) = /.
t
(1. t) :n(t). t 0.
(8.2)
oonoo c =
GJ
11
, d =
o
1
. : =
1
GJ
y / =
1T
(U0:I)
GJ
con 0 < c
1
_ 1
(!o.
t
) _ c
2
y conoicionos
inicialos
.(o. 0) = (o). .
o
(o. 0) =
`
(o) 1
2
(0. 1).
.
t
(o. 0) =
(o) 1
2
(0. 1).
(8.26)
Las siguionlo oosigualoao soia oo vilal impoilancia paia la oLloncion oo colas llimas.
Lena 7 5n \ : [0. ) 1
&nn J&n.n nh|&nnn n.n&n j n &nn n:.nh| nn-

Jn. 5. r. o 0. / 0 n| j& n.Jn |n .j&.n J.j&n|JnJ
d
dt
\ 2o\ /n
2
_ 0. (8.27)
2
nn .j& j&
\ (t) _ c
2c(tt
)
\ (t
0
) (1 c
2c(tt
)
)
/
2o
[n[
2
.
IrueLa. Mulliplicanoo poi c
2c(0t)
la oosigualoao (8.27),
c
2c(0t)
d
dt
\ 2oc
2c(0t)
\ _ /n
2
c
2c(0t)
.
inlogianoo oo t
0
a t la oxpiosion anloiioi so liono
_
t
t
d
do
(c
2c(0t)
\ (o))do _ /
_
t
t
c
2c(0t)
n
2
(o)do
o
\ (t) c
2c(tt
)
\ (t
0
) _
/
2o
(1 c
2c(tt
)
)n
2
.
y ol iosullaoo so siguo.
Ln visla ool Loma 7, ol piimoi paso paia la oLloncion oo una cola llima os Luscai
las conoicionos Lajo las cualos la oosigualoao
J
Jt
\ 2o\ /n
2
_ 0 so salisfaco. Iaia oslo
pioposilo consiooio la funcion oo onoiga
\ (.
o
(.t)..
t
(. t)) = j
_
1
0
c.
2
o
(o. t)do j
_
1
0
.
2
t
(o. t)do
2
_
1
0
o.
o
(o. t).
t
(o. t)do
piopuosla on [18[ con conslanlos j 0 y sulcionlomonlo poquono.
Ln [[ la siguionlo oosigualoao maliicial linoal
_
cj
j
_
0 (8.28)
so inlioouco paia gaianlizai quo \ 0 paia
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do 0.
Como la oosigualoao
_
cj o
o j
_
0 os afn on o (0. 1). siguo oo los complomonlos
oo Schui y ool 1ooioma oo Iayloigh quo
c
1
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do _ \ (.
o
(.t)..
t
(. t)) _ c
2
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do (8.20)
con
c
1
= `
nin
_
cj 0
0 j
_
, c
2
= `
nnx
_
cj
j
_
. (8.80)
26
Ahoia Luscamos conoicionos soLio la ooiivaoa, paia oslo so ocupaia la iogla oo inlogiacion
poi pailos como siguo:
d(n) = nd dn (8.81)
_
d(n) = n =
_
nd
_
dn (8.82)
_
nd = n
_
dn. (8.88)
ulilizanoo la Iogla oo LoiLniz,
d
dt
_
2
_
1
0
o.
t
.
o
do
_
= 2
_
1
0
d
dt
o.
t
.
o
do.
ocupanoo (8.82) con d =
J
Jt
. n = o.
o
, = .
t
. dn = o.
ot
. d = .
tt,
so liono
2
_
1
0
d
dt
o.
t
.
o
do = 2
_
1
0
o.
tt
.
o
do 2
_
1
0
o.
t
.
ot
do.
susliluyonoo (8.24) on la oxpiosion anloiioi,
d
dt
_
2
_
1
0
o.
t
.
o
do
_
= 2c
_
1
0
o.
oo
(o. t).
o
do 2
_
1
0
o.
t
.
ot
do (8.84)
2d
_
1
0
o.
t
(o. t).
o
do.
Ulilizanoo (8.88) paia inlogiai ol loimino 2
_
1
0
o.
t
.
ot
do con n = o.
t
. d = .
ot
. dn = o.
to
.
t
.
= .
t
.
2
_
1
0
o.
t
.
ot
do = 2
_
o.
2
t
(o. t)
1
0
2
_
1
0
.
t
(o.
to
.
t
) do
= 2
_
1
0
o.
ot
.
t
do 2
_
1
0
.
2
t
do 2.
2
t
(1. t).
o
2
_
1
0
o.
t
.
ot
do =
_
1
0
.
2
t
do .
2
t
(1. t). (8.8)
Do manoia analoga paia ol loimino 2
_
1
0
o.
oo
(o. t).
o
do con n = o.
o
, d = .
oo
. dn = o.
oo
.
o
.
= .
o
.
2
_
1
0
o.
oo
(o. t).
o
do = 2
_
o.
2
o
(o. t)
1
0
2
_
1
0
.
o
(o.
oo
.
o
) do
= 2
_
1
0
o.
oo
.
o
do 2
_
1
0
.
2
o
do 2.
2
o
(1. t)
27
o
2
_
1
0
o.
oo
.
o
do =
_
1
0
.
2
o
do .
2
o
(1. t). (8.86)
Susliluyonoo on (8.84), las oxpiosionos (8.8) y (8.86)
d
dt
_
2
_
1
0
o.
t
.
o
do
_
= c
_
1
0
.
2
o
do c.
2
o
(1. t)
_
1
0
.
2
t
do .
2
t
(1. t) (8.87)
2d
_
1
0
o.
t
(o. t).
o
do.
inliooucionoo la conoicion oo fionloia (8.2)
2
J
Jt
_
_
1
0
o.
t
.
o
do
_
=
_
1
0
(.
2
t
c.
2
o
)do .
2
t
(1. t)
c (/.
t
(1. t) :n(t))
2
2d
_
1
0
o.
t
(o. t).
o
do.
So Lusca oifoionciai \ a lo laigo oo (8.24),
J
Jt
\ = j
J
Jt
_
1
0
c.
2
o
(o. t)do j
J
Jt
_
1
0
.
2
t
(o. t)do
2
J
Jt
_
1
0
o.
o
(o. t).
t
(o. t)do.
(8.88)
ulilizanoo (8.82) paia oosaiiollai ol loimino
_
1
0
J
Jt
jc.
2
o
(o. t)do con n = jc. = .
2
o
. dn = 0.
d = 2.
o
.
to
. siguo quo
j
d
dt
_
1
0
c.
2
o
(o. t)do = 2j
_
1
0
c.
o
(o. t).
to
. (8.80)
similaimonlo paia ol loimino j
_
1
0
J
Jt
.
2
t
(o. t)do con n = = .
t
(o. t). dn = d = .
tt
(o. t).
j
d
dt
_
1
0
.
2
t
(o. t)do = 2
_
1
0
.
t
(o. t).
tt
(o. t)do. (8.40)
Susliluyonoo (8.80) y (8.40) on (8.88) so liono quo
d
dt
\ = 2j
_
1
0
c.
o
(o. t).
to
(o. t)do
2j
_
1
0
.
t
(o. t).
tt
(o. t)do 2
d
dt
__
1
0
o.
t
.
o
do
_
.
28
inliooucionoo la oxpiosion (8.24) on la anloiioi so lloga a
d
dt
\ = 2j
_
1
0
c.
o
(o. t).
to
(o. t)do
2j
_
1
0
.
t
(o. t) [c.
oo
(o. t) d.
t
(o. t)[ do 2
d
dt
__
1
0
o.
t
.
o
do
_
= 2j
_
1
0
[c.
o
(o. t).
to
(o. t) c.
t
(o. t).
oo
(o. t)[do (8.41)
2jd
_
1
0
.
t
(o. t).
t
(o. t)do 2
d
dt
__
1
0
o.
t
.
o
do
_
.
Ahoia, inlogianoo poi pailos ol loimino
_
1
0
.
t
(o. t).
oo
(o. t)do con n = .
t
(o. t). d = .
oo
(o. t).
dn = .
to
(o. t). = .
o
(o. t). y susliluyonoo la conoicion oo fionloia (8.2), so liono
_
1
0
.
t
(o. t).
oo
(o. t)do = .
t
(o. t).
o
(o. t)[
1
0
_
1
0
.
to
(o. t).
o
(o. t)do (8.42)
= .
t
(1. t)(/.
t
(1. t) :n(t))
_
1
0
.
to
(o. t).
o
(o. t)do
as, susliluyonoo las oxpiosionos (8.42), (8.87) on (8.41),
J
Jt
\ = 2cj/.
2
t
(1. t) 2cj.
t
(1. t):n(t)
2jd
_
1
0
.
t
(o. t).
t
(o. t)do
_
1
0
(.
2
t
c.
2
o
)do .
2
t
(1. t) c.
2
o
(1. t) 2d
_
1
0
o.
t
(o. t).
o
do
_
.
Siguo quo:
J
Jt
\ 2o\ /n
2
= 2cj/.
2
t
(1. t) 2cj.
t
(1. t):n(t)
2jd
_
1
0
.
t
(o. t).
t
(o. t)do
_
1
0
(.
2
t
c.
2
o
)do .
2
t
(1. t) c(/.
t
(1. t) :n(t))
2
2d
_
1
0
o.
t
(o. t).
o
do
_
_
1
0
2o[cj.
2
o
(o. t) 2o.
o
(o. t).
t
(o. t) j.
2
t
(o. t)[do.
/n
2
.
(8.48)
Dolnionoo 0
T
(o. t) = [.
t
(1. t) .
o
(o. t) .
t
(o. t). n(t)[, la oxpiosion anloiioi so puooo ioosciiLii
como
d
dt
\ 2o\ /n
2
=
_
1
0
0
T
(o. t)d0(o. t)do.
20
nolo quo
_
1
0
0
T
(o. t)d0(o. t)do < 0
si
d =
_
_
0 0 oIv ojv

(2c J)o 0

0
b ov
_
_
< 0 (8.44)
oonoo
1
= 2c/j (1 c/
2
).
2
= c 2ocj.
S
= 2jd 2oj.
(8.4)
Como la oosigualoao (8.44) os afn on o (0. 1), onloncos poi complomonlos oo Schui os
facliLlo si
_
_
0 0 oIv ojv

(2c J) 0

0
b ov
_
_
< 0. (8.46)
Lnloncos, si (8.46) os facliLlo, (8.20) y ol Loma 7 implican
c
1
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do _ \ (.
o
(.t)..
t
(. t))
_ \ (.
o
(.t
0
)..
t
(. t
0
))c
2c(tt
b
2c
(1 c
2c(tt
)
)n
2
_ c
2
c
2c(tt
)
_
1
0
[
2
1
(o)
`
2
(o[do
b
2c
(1 c
2c(tt
)
)n
2
.
As, las solucionos ool pioLloma oo valoi on la fionloia (8.24), (8.2) pooian salisfacoi la
oosigualoao anloiioi paia looo t t
0
.
Aoomas, siguo oo (8.22) quo
.
2
(o. t) _ :cr
o(0,1)
.
2
(o) = [:cr
o(0,1)
.(o)[
2
_
_
1
0
(.
(o))
2
do _
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do.
Asi mismo so liono ol siguionlo oslimaoo
.
2
(o. t) _
c
2
c
1
c
2c(tt
)
_
1
0
[
`
(o)
2
1
(o)
2
[do
/
c
1
2o
n
2
.
Ln iosumon, so liono ol siguionlo iosullaoo:
Teorena 8 1nJ o 0. . |n J.j&n|JnJ nn:..n| |.nn| ;.) j ;.) n nn-
.n ;.) n.Jnn n:n n|j4n j 0. 1nn | :h|nn J n|: n |n J:n:n
80
;..). ;..) nJn. &nn n 4|.nn j n:n Jn |n nJ..n .n..n| ;..) n.Jn
|n J.j&n|JnJ
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do_
c
2
c
1
c
2c(tt
)
_
1
0
[
`
(o)
2
1
(o)
2
[do
/
c
1
2o
n
2
(8.47)
n c
1
j c
2
J]n.Jn n ;.u). Jnn. .
2
(o. t) nnh.n n.Jn ;.7).
3.5 EjenIos nunrIcos
3.5.1 TuLerIa de erIoracIn
Los siguionlos iosullaoos fuoion calculaoos con los siguionlos valoios oo los paiamolios paia
la luLoia oo poifoiacion oaoos on [2[:
G = 70.8x10
9
`,:
2
. 1 = 0.001q :. 1
(! o.
t
) = 8000` :.
J = 1.10x10
:
1
. 1 = 814:.
consiooianoo nulo ol amoiliguamionlo (, = 0).
EcuacIn en dIIerencIas
Ln oslo caso, c
0
= 0.818, c
1
=8.001110
1
. : =0.0070. ` = ln([c
0
[) =0.2002. Susli-
luyonoo oslos valoios on (8.20) y (8.28) so liono:
[.
o
(1. t)[ _ 0.0070c
0.2006t
[[
1
(,0.0070)[ 1.0021
`
(,0.0070)
[ 0.0088 n.
[.
t
(1. t)[ _ c
0.2006t
[[
1
(,0.0070)[ 1.0021
`
(,0.0070)
[ 0.0088 n.
EcuacIn de onda
Las conoicionos on foima oo oosigualoaoos maliicialos linoalos ool 1ooioma 8 oan lugai a los
siguionlos paios (o. /).
Caso 1 2 8 4
o 0.08 0.06 0.04 0.01 0.0001
/ 8.221 1.0707 1.214 1.221 1.701
c
1
.0000 1.0084 1.267 1.6278 1.0828
c
2
.084 1.8010 1.074 1.0888 2.8028
81
Iaia o =0.04 y conoicionos inicialos .
o
(o. t
0
) =
`
. .
t
(o. t
0
) =
1
(o). con la oxpiosion (8.47)
on ol 1ooioma 8 so oLliono la siguionlo conoicion oo cola llima:
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do _ 1.1000c
0.08t
_
1
0
[
2
1
(o)
`
2
(o)[do 11.0044 n
2
.
Si ol amoiliguamionlo os , =0.1` :, so oLlionon los siguionlos iosullaoos:
Caso 1 2 8 4
o 0.08 0.06 0.04 0.01 0.0001
/ 1.0810 1.0088 1.0874 1.1761 1.280
c
1
0.7081 0.6741 0.720 0.7721 0.818
c
2
0.0880 0.7002 0.841 0.0111 0.0600
o
(o. t
0
) =
`
. .
t
(o. t
0
) =
1
(o) so liono la siguionlo cola:
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do_1.184c
0.08t
_
1
0
[
2
1
(o)
`
2
(o)[do 18.864 n
2
.
3.5.2 CoIIares de erIoracIn
Los siguionlos iosullaoos fuoion calculaoos con los siguionlos valoios paia los paiamolios ool
onsamLlajo on ol oxliomo infoiioi (collaios oo poifoiacion y oisposilivo oo coilo) oaoos on [2[.
Nolo quo on oslo caso la longiluo ool sogmonlo os monoi quo la oo la luLoia oo poifoiacion,
G = 70.8x10
9
`,:
2
1 = 0.474Kg m. 1 = 884:.
1
(! o.
t
) = 8000` :. J = .08x10
:
1
.
consiooianoo ol amoiliguamionlo , = 0.
EcuacIn en dIIerencIas
Ln oslo caso, c
0
= 0.884, c
1
=2.22610
1
. : =0.106. ` = ln([c
0
[) =1.0024. Susliluyonoo
oslos valoios on (8.20) y (8.28) so liono:
[.
o
(o. t)[ _ 0.106c
10.807t
[[
1
(,0.106)[ 0.484
`
(,0.106)
[ 7.1024 10
n. t _ 0.
[.
t
(1. t)[ _ c
10.807t
[[
1
(,0.106)[ 0.484
`
(,0.106)
[ 6.7004 10
1
n. t _ 0.
82
EcuacIn de onda
Las conoicionos on foima oo oosigualoaoos maliicialos linoalos ool 1ooioma 8 oan lugai a los
siguionlos paios (o. /). consiooianoo , =0.1` :.
Caso 1 2 8 4
o 1 0. 0.8 0.2 0.001
/ 0.0000 1.06 1.0860 1.0670 1.0080
c
1
0.0168 0.0166 0.0160 0.0160 0.0161
c
2
1.4418 1.4768 1.080 1.4280 1.4818
o
(o. t
0
) =
`
. .
t
(o. t
0
) =
1
(o). con la oxpiosion (8.47)
on ol 1ooioma 8 so oLliono la siguionlo conoicion oo cola llima:
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do_88.0881c
1.6t
_
1
0
[
2
1
(o)
`
2
(o)[do 7.6608 n
2
.
3.6 ConcIusIn
Con ol oLjolo oo onconliai colas llimas paia algunas vaiiaLlos oo inloios so llovaion a
caLo oos piocooimionlos: piimoio so analizo la ocuacion on oifoioncias oLlonioa a pailii ool
mooolo oo paiamolios oisliiLuioos a liavos oo la liansfoimacion oo DÀlomLoil y oospuos
so lialo ol pioLloma como un sisloma oo paiamolios oisliiLuioos mooianlo la ocuacion oo
onoa.
Ll oslimaoo paia la ocuacion on oifoioncias so oLluvo mooianlo calculos oiioclos mionlias
quo ol oslimaoo paia la ocuacion oo onoa so onconlio a liavos oo la solucion oo oosigualoaoos
maliicialos linoalos.
Las oos locnicas piosonlaoas so complomonlan: ol analisis oo la ocuacion on oifoioncias
poimilo onconliai una cola llima paia la piincipal vaiiaLlo oo inloios, la volocioao on ol
oxliomo infoiioi oo la Laiia .
t
(1. t), mionlias quo ol mooolo oo la ocuacion oo onoa piovoo una
cola llima paia la mooioa oo la naluialoza oisliiLuioa ool sisloma:
_
1
0
[.
2
o
(o. t) .
2
t
(o. t)[do.
Finalmonlo, so piosonlaion ojomplos numoiicos.
88
CaItuIo 4
Fenneno atore-desIIzanIento
4.1 IntroduccIn
Ln oslo caplulo so piosonla un analisis oo las viLiacionos loisionalos piosonlos ouianlo ol
piocoso oo poifoiacion.
Ll fonomono aloio-ooslizamionlo
1
so piosonla ooLioo a las conoicionos oo foimacion oo la
supoilcio a poifoiai. Las oscilacionos loisionalos puooon piovocai quo ol oisposilivo oo coilo
(conocioo como Lil) so aloio on la foimacion mionlias quo la mosa iolaliva conlina giianoo.
Cuanoo la onoiga loisional aliapaoa alcanza un nivol on ol quo ol Lil ya no puooo iosislii,
ioponlinamonlo so suolla iolanoo y azolanooso a muy allas volocioaoos. Lslo compoilamionlo
puooo gonoiai una onoa loisional quo viaja a liavos oo la Laiia oo poifoiacion hasla ol sisloma
oo iolacion on la supoilcio, la mosa iolaloiia acla como un oxliomo ljo ooLioo a su inoicia
oo gian magniluo y ioloja la onoa loisional nuovamonlo al oxliomo infoiioi. Ll Lil puooo
sollaiso nuovamonlo y ol ciclo oo onoa loisional so iopilo [16[.
Ln oslo apailaoo so inliooucon algunos mooolos clasicos oo fiiccion quo oan pio al mo-
oolaoo oo los loiquos a los quo osla sujolo ol Lil. Lslos loiquos poimilon iopiosonlai ol
fonomono aloio-ooslizamionlo.
Ll mooolo ioloja ol hocho oo quo ol aumonlo oo la volocioao on la supoilcio y la oisminu-
cion ool poso quo sopoila ol oisposilivo oo coilo ayuoa a iooucii las oscilacionos loisionalos.
So ovalan algunas oslialogias Lasaoas on la oxpoiioncia paia oisminuii lalos oscilacionos.
Lslo osluoio so haco poi mooio oo simulacionos Lasaoas on ol mooolo con iolaioos oo
lipo noulial. La vonlaja oo oslo mooolo os quo oosciiLo las piincipalos vaiiaLlos oo inloios
1
Lslo fonomono os conocioo on la liloialuia inglosa como 'slick-slip phonomonon'.
84
involuciaoas, on camLio, ol mooolo oo paiamolios oisliiLuioos oosciiLo las vaiiaLlos a lo laigo
oo la Laiia oo poifoiacion. Ln consocuoncia, las simulacionos so puooon ioalizai omploanoo
hoiiamionlas soncillas como las oo MallaL y so ovila ol uso oo hoiiamionlas oo solucion paia
ocuacionos on ooiivaoas paicialos.
4.2 AodeIado de Ia IrIccIn
Iaia oosciiLii ol fonomono aloio-ooslizamionlo os nocosaiio consiooiai un mooolo aoocuaoo
paia las fiiccionos quo oxislon on ol oxliomo infoiioi oo la Laiia: la fiiccion onlio ol oisposilivo
oo coilo y ol pozo y la fiiccion causaoa poi ol conlaclo ool maloiial liiluiaoo con ol Lil.
La fiiccion os la inloifaz fsica onlio oos supoilcios on conlaclo. La fiiccion osla piosonlo
on looos los sislomas mocanicos como cilinoios noumalicos o hioiaulicos, valvulas, fionos y
liansmisionos mocanicas.
Las fuoizas oo ioaccion son ol iosullaoo oo muchos mocanismos fsicos oifoionlos quo
ooponoon oo la goomolia oo conlaclo, piopiooaoos oo masa y supoilcio oo los cuoipos,
oosplazamionlo y volocioao iolaliva y la piosoncia oo luLiicacion.
Los mooolos clasicos oo fiiccion conslan oo oifoionlos compononlos quo incluyon cioilos
aspoclos oo la fuoiza oo fiiccion. La iooa piincipal os quo la fiiccion so opono al movimionlo
y su magniluo os inooponoionlo oo la volocioao y ol aioa oo conlaclo. As la fiiccion so puooo
oosciiLii poi la oxpiosion
1 = 1
C
:q:() (4.1)
oonoo la fuoiza oo fiiccion 1
C
os piopoicional a la caiga noimal, oslo os, 1
C
= j1
.
. Lsla
oosciipcion oo la fiiccion so oonomina fiiccion oo CoulomL (Fig. 4.2). Nolo quo (4.1) os ol
mooolo oo un iolo iooal.
La fiiccion oo CoulomL no ospocilca la fuoiza oo fiiccion cuanoo la volocioao os coio,
on oslo caso la fiiccion puooo soi coio o Lion, puooo lomai algn valoi on ol inloivalo onlio
1
C
y 1
C
. ooponoionoo oo como so oolna la funcion signo.
Ln ol siglo XIX so oosaiiollo la looia oo la hioiooinamica, osla oio lugai a oxpiosionos
paia la fuoiza oo fiiccion causaoa poi la viscosioao oo los luLiicanlos. Ll loimino fiiccion
viscosa os usaoo paia oslo compononlo oo fuoiza y noimalmonlo so oosciiLo poi
1 = 1
.
La fiiccion viscosa a monuoo so comLina con la fiiccion oo CoulomL como so muoslia on
la Fig. 4.2. Un mojoi ajuslo a los oalos oxpoiimonlalos so oLliono con una ooponooncia no
8
linoal oo la volocioao
1 = 1
[[
cr
:q:()
oonoo o
ooponoo oo la goomolia oo la aplicacion.

Fig. 4.2. Mooolos clasicos oo fiiccion.
La fiiccion oslalica oosciiLo la fuoiza oo fiiccion cuanoo los cuoipos so oncuonlian on
oslaoo oo ioposo. La fiiccion oslalica conliaiiosla las fuoizas oxloinas quo oslan poi ooLajo
oo cioilo nivol y as so opono al inicio ool movimionlo.
Ls claio quo la fiiccion on oslaoo oo ioposo no puooo oosciiLiiso solo como funcion
oo la volocioao, sino quo ooLo mooolaiso usanoo la fuoiza oxloina 1
c
como so muoslia a
conlinuacion [20[
1 =
_
1
c
si = 0 y [1
c
[ < 1
S
1
S
:q:(1
c
) si = 0 y[ 1
c
[ _ 1
S
La fuoiza oo fiiccion paia volocioao coio os una funcion oo la fuoiza oxloina y no oo la
volocioao.
Los compononlos oo fiiccion puooon comLinaiso oo oifoionlos manoias (Fig. 4.2). Lslos
mooolos lionon compononlos quo son linoalos on la volocioao o conslanlos. SliiLock oLsoivo
on quo la fuoiza oo fiiccion no oocioco oisconlinuamonlo sino quo la ooponooncia oo la
volocioao os conlinua como so muoslia on la Fig. 4.2. Lsla os llamaoa fiiccion oo SliiLock.
86
Una oosciipcion mas gonoial oo la fiiccion so inlioouco a conlinuacion [20[
1 =
_
_
1() si ,= 0
1
c
si = 0 y [1
c
[ < 1
S
1
S
:q:(1
c
) on olio caso
oonoo 1() os una funcion aiLiliaiia quo puooo lonoi la foima oo la Fig. 4.2 (fiiccion quo oo-
cioco conlinuamonlo oosoo ol nivol oo fiiccion oslalica). Una foima comn oo la no linoalioao
os
1() = 1
C
(1
S
1
C
)c
S
c
S
1
oonoo
S
os llamaoa volocioao oo SliiLock. La funcion 1 so oLliono facilmonlo mioionoo
la fuoiza oo fiiccion paia movimionlos con volocioao conslanlo. La cuiva gonoialmonlo os
asimoliica.
4.2.1 Curva de StrILeck
Ll ofoclo oo la fiiccion no linoal a Lajas volocioaoos oonominaoa fiiccion oo SliiLock oa lugai
al movimionlo aloio-ooslizamionlo piosonlo on ol piocoso oo poifoiacion oo pozos.
La cuiva oo SliiLock os la gialca oo la fiiccion conlia la volocioao on sislomas luLiicaoos,
osla cuiva so iluslia on la Fig. 4.2.1 [1[.
Fig. 4.2.1. Cuiva oo SliiLock.
Ln la cuiva oo SliiLock so oLsoivan cualio soccionos:
87
1. No oxislo ooslizamionlo.
2. LuLiicacion lmilo: las supoilcios so ooslizan una soLio la olia puos la volocioao no os
aoocuaoa paia aliaoi ol luioo luLiicanlo a las junluias.
8. LuLiicacion paicial: la volocioao os aoocuaoa paia aliaoi una pailo ool luioo a las
junluias poio no os sulcionlo paia sopaiai complolamonlo las supoilcios.
4. LuLiicacion complola: las supoilcios son complolamonlo sopaiaoas poi una polcula oo
luioo.
La pailo oociocionlo oo la cuiva on la soccion oo luLiicacion paicial so ooLo a quo con
ol aumonlo oo la volocioao la polcula oo luLiicanlo os mayoi, oslo haco quo la fiiccion
oociozca. Lsla poicion oo la cuiva oa lugai a un ofoclo oososlaLilizaooi suLslancial. No
oxislo un mooolo molivaoo fsicamonlo oo la fiiccion oo SliiLock. Un mooolo ompiico oo la
fiiccion onlio oos supoilcios on conlaclo os ol siguionlo
1(t) = 1
C
:q:() 1
1
c
:q:()
Donoo 1
C
y 1
son la fiiccion oo CoulomL y la fiiccion oslalica iospoclivamonlo, 1

c
os
la magniluo oo la fiiccion oo SliiLock.
4.3 AodeIo deI torque soLre eI LIt
Un pioLloma oo ospocial impoilancia os ol mooolaoo oo las conoicionos oo fionloia, ospo-
cialmonlo la inloiaccion ool oisposilivo oo coilo con la ioca.
Ls Lion saLioo quo las viLiacionos loisionalos oo la Laiia oo poifoiacion lamLion conoci-
oas como fonomono aloio-ooslizamionlo conliiLuyon al ooloiioio oo los olomonlos quo com-
ponon la Laiia oo poifoiacion.
La piosoncia ool fonomono puooo afoclai la lasa oo ponoliacion y la olcioncia inslanlanoa
oo la inslalacion.
A conlinuacion so piosonla un mooolo paia ol loiquo soLio ol Lil 1 quo oosciiLo ol
fonomono aloio-ooslizamionlo. La siguionlo ocuacion conmulaoa inliooucioa on [17[ poimilo
apioximai ol fonomono fsico on ol oxliomo infoiioi
1 = c
b
` n(t) \
cb
1
b
j
b
( ` n(t)):q:( ` n(t)). (4.2)
88
Ll loimino c
b
` n(t) os un loiquo oo amoiliguamionlo viscoso on ol Lil, oslo apioxima la inlu-
oncia ool looo oo poifoiacion on ol Lil. Ll loimino \
cb
1
b
j
b
:q:( ` n(t)) os un loiquo oo fiiccion
soca quo mooola ol conlaclo ool Lil con la ioca. 1
b
0 os ol iaoio ool Lil y \
cb
0 os
ol poso quo sopoila ol Lil. Ll coolcionlo oo fiiccion soca on ol Lil j
b
( ` n(t)) os una funcion
ooponoionlo oo la volocioao on ol oxliomo infoiioi quo so oosciiLo mooianlo la oxpiosion
j
b
( ` n(t)) = j
cb
(j
cb
j
cb
)c
l
r
]
` &(t)
(4.8)
oonoo j
cb
. j
cb
(0. 1) son coolcionlos oo fiiccion oslalica y oo CoulomL iospoclivamonlo,
0 <
b
< 1 os una conslanlo quo oolno la lasa oo oociocimionlo oo la volocioao. La volocioao
conslanlo
)
0 so inlioouco con ol oLjolo oo lonoi unioaoos apiopiaoas.
A Lajas volocioaoos, ol mooolo (4.2)-(4.8) oa lugai a un loiquo soLio ol Lil oociocionlo
cuanoo la volocioao angulai ool Lil os ciocionlo (ofoclo SliiLock). Lsla os la causa oo las
viLiacionos piooucioas poi ol fonomono aloio-ooslizamionlo.
Ll oocaimionlo oxpononcial oo 1 coincioo con valoios oxpoiimonlalos ool loiquo.
Ll mooolo con iolaioos on ol liompo oo lipo noulial (2.10) con la oosciipcion ool loiquo
soLio ol Lil (4.2)-(4.8) mooolan ol compoilamionlo oo la Laiia oo poifoiacion y la piosoncia
oo las oscilacionos causaoas poi ol fonomono aloio-ooslizamionlo.
Una simulacion ool sisloma oo poifoiacion (2.10) oonoo 1 osla oaoo poi (4.2)-(4.8) con
\
cb
= 97347` y ! = 10:cd,:cq os mosliaoa on la Fig. 4.8. Nolo quo cuanoo ol fonomono
ocuiio, apaiocon impoilanlos lucluacionos on ol loiquo lal como ocuiio on ol caso ioal [0[.
Los paiamolios ool mooolo usaoos paia las simulacionos ool mooolo (2.10), (4.2)-(4.8)
piosonlaoas on oslo caplulo son:
G = 70.8x10
9
`,:
2
. 1 = 0.001q :. 1 = 1172:.
J = 1.10x10
:
1
. 1/ = 0.17:.
)
= 1.
c
b
= 0.08`::,:cd. j
cb
= 0.. j
cb
= 0.8.
b
= 0.0.
Las simulacionos so ioalizaion usanoo la hoiiamionla oo solucion ooo4 (molooo Doimano
80
Iiinco) oo paso vaiiaLlo oo MallaL-Simulink.
Fig. 4.8. Fonomono aloio-ooslizamionlo. (1) Volocioao on ol oxliomo
infoiioi. (2) 1oiquo soLio ol Lil.
4.3.1 EIecto deI eso soLre eI LIt en eI Ienneno
atore-desIIzanIento
A conlinuacion so piosonlan iosullaoos oo simulacion quo muoslian ol ofoclo ool poso soLio
ol Lil \
cb
on ol fonomono aloio-ooslizamionlo.
Do acuoioo con la oxpoiioncia on la inousliia oo la poifoiacion oo pozos polioloios, si so
liono una volocioao angulai lja on la supoilcio ! y so ioouco ol poso quo sopoila ol Lil \
cb
so logia quo ol fonomono aloio-ooslizamionlo oosapaiozca, cuanoo \
cb
os muy gianoo ol Lil
puooo oolonoiso complolamonlo [2[.
Ln la Fig. 4.8.1 so oLsoivan los iosullaoos oo una simulacion ool sisloma (2.10) oonoo
1 osla oaoo poi (4.2)-(4.8) con ! = 10:cd,:cq y \
cb
= 1049`. nolo quo oxislo una
consiooiaLlo ioouccion oo las oscilacionos piooucioas poi ol fonomono aloio-ooslizamionlo on
40
compaiacion con la simulacion oo la Fig. 4.8 oonoo ol poso quo sopoila ol Lil os oo 97347`.
Fig. 4.8.1. Ioouccion ool fonomono aloio-ooslizamionlo mooianlo la
oisminucion ool poso soLio ol Lil. (1) Volocioao on ol oxliomo
Do acuoioo con iosullaoos oo simulacion ool mooolo (2.10), (4.2)-(4.8), los valoios ool poso
soLio ol Lil paia los cualos ol fonomono aloio-ooslizamionlo oosapaioco so muoslian on la
siguionlo laLla:
!(:cd,:cq) \
cb
(`) < +
2 1208
4 7198
0 203
8 3809
10 4117
20 110073
40 448828
00 08800
41
Ioi ojomplo, si la volocioao on la supoilcio os oo ! = 10:cd,:cq. ol poso quo sopoila ol
Lil ooLo soi monoi a 4117`.paia ovilai las oscilacionos causaoas poi ol fonomono aloio-
ooslizamionlo.
4.3.2 EIecto de Ia veIocIdad en Ia suerhcIe en eI Ienneno
atore-desIIzanIento
A conlinuacion so piosonlan iosullaoos oo simulacion quo muoslian ol ofoclo oo la volocioao
on la supoilcio ! on ol fonomono aloio-ooslizamionlo.
Los iosullaoos oxpoiimonlalos inoican quo ol fonomono aloio-ooslizamionlo lamLion puooo
ovilaiso inciomonlanoo la volocioao on la supoilcio !.
Ln los iosullaoos oo simulacion oo la Fig. 4.8.2 so oLsoiva quo las viLiacionos piooucioas
poi ol fonomono aloio-ooslizamionlo so iooucon mooianlo ol inciomonlo oo la volocioao on
ol oxliomo supoiioi oo la Laiia. La volocioao on la supoilcio so inciomonla oo 10:cd,:cq a
20:cd,:cq mionlias quo ol poso soLio ol Lil os oo 97347` como on ol caso oo la Fig. 4.8.
Fig. 4.8.2. Ioouccion ool fonomono aloio-ooslizamionlo mooianlo ol
inciomonlo oo la volocioao on la supoilcio. (1) Volocioao on ol
oxliomo infoiioi. (2) 1oiquo soLio ol Lil.
42
Iuoslo quo las simulacionos anloiioios iolojan los iosullaoos oxpoiimonlalos, so valioa ol
mooolo (2.10)-(4.2).
4.4 EstrategIas ara reducIr Ias oscIIacIones torsIonaIes
So ha mosliaoo quo aumonlai la volocioao on la supoilcio ayuoa a oisminuii las viLiacionos
loisionalos on ol sisloma oo poifoiacion, sin omLaigo, on la piaclica, un aumonlo signilcalivo
oo la volocioao pooia iosullai on oscilacionos laloialos oo la Laiia oo poifoiacion. La oismin-
ucion ool poso quo sopoila ol oisposilivo oo coilo no siompio iosulla convonionlo cuanoo so
Lusca oliminai las oscilacionos causaoas poi ol fonomono aloio-ooslizamionlo puoslo quo no
siompio os posiLlo un oociomonlo consiooiaLlo quo logio quo las oscilacionos oosapaiozcan.
Ln osla soccion so piosonlan oos oslialogias ofoclivas paia iooucii ol fonomono aloio-
ooslizamionlo: la inlioouccion oo una loy oo vaiiacion ool poso soLio ol Lil y ol inciomonlo
ool amoiliguamionlo on ol oxliomo infoiioi quo puooo logiaiso mooianlo la mooilcacion ool
luioo oo poifoiacion o con la inclusion oo un aLsoiLoooi oo choquo on ol oxliomo infoiioi
ool sisloma.
Ln la piaclica, ol opoiaooi oo la poifoiacion comnmonlo conliola oosoo la supoilcio
paiamolios como la oonsioao y viscosioao ool luioo, ol poso soLio ol Lil y la volocioao
iolacional oo la Laiia paia oplimizai la opoiacion.
4.4.1 AanIuIacIn deI eso soLre eI LIt
Do la oxpoiioncia on ol campo oo la poifoiacion oo pozos y oo las simulacionos ool mooolo
osluoiaoo puooo ooouciiso quo la manipulacion ool poso soLio ol Lil puooo soi una solucion
al pioLloma oo las oscilacionos loisionalos incluso paia Lajas volocioaoos on la supoilcio.
Ll inciomonlo oo la volocioao on ol oxliomo supoiioi oo la Laiia puooo oai lugai a
viLiacionos laloialos, poi osla iazon, la manipulacion ool poso soLio ol Lil os una solucion
alloinaliva paia alonuai las oscilacionos.
So piopono la vaiiacion ool poso soLio ol Lil on [16[ como siguo:
\
cb
( ` n) = 1
&
[ ` n(t)[ \
cb0
(4.4)
con \
cb0
0 y \
cb
\
cb0
. La oxpiosion (4.4) capluia las piincipalos caiacloislicas ool
poso soLio ol Lil. Si ` n(t) so ioouco, onloncos \
cb
lamLion ooLo oisminuii. Si ol poso quo
sopoila ol Lil os muy poco, ol piocoso oo poifoiacion so ooliono, poi osla iazon ol poso soLio
48
ol Lil ooLo manlonoiso on un valoi mnimo (\
cb0
) paia asoguiai una apiopiaoa lasa oo
ponoliacion.
\
cb0
no ooLoia soi un valoi conslanlo sino quo ooLoia analizaiso con iolacion a la
longiluo oo la Laiia.
La loy oo vaiiacion ool poso soLio ol Lil (4.4) puooo susliluiiso on ol mooolo (2.10) con
(4.2)-(4.8) paia una comLinacion oo paiamolios oo poifoiacion paia los quo ol fonomono
aloio-ooslizamionlo so piosonla. Lslo os ol caso oo consiooiai ! = 10:cd,:cq y \
cb0
=
97347` como so muoslia on la Fig. 4.4.1.
Fig. 4.4.1. Ioouccion oo las oscilacionos loisionalos mooianlo la
inlioouccion oo la loy oo vaiiacion 4.4. (1) Volocioao on ol oxliomo
4.4.2 AanIuIacIn deI anortIguanIento en eI extreno InIerIor
Olia oslialogia paia iooucii las oscilacionos causaoas poi ol fonomono aloio-ooslizamionlo
consislo on inciomonlai ol amoiliguamionlo on ol oxliomo infoiioi, lo cual puooo hacoiso
piincipalmonlo oo oos foimas:
44
1. Mooilcanoo las caiacloislicas ool luioo oo poifoiacion. Lslo so puooo apioximai in-
ciomonlanoo ol coolcionlo oo amoiliguamionlo c
b
.
2. Con la inclusion oo aLsoiLoooios oo viLiacion posicionaoos a la alluia oo los collaios
oo poifoiacion con ol pioposilo oo amoiliguai las viLiacionos loisionalos gonoiaoas on
ol Lil o impooiilos viajai a liavos oo la Laiia oo poifoiacion [16[.
Ll compoilamionlo oo la volocioao on ol oxliomo infoiioi ool sisloma (2.10) con la oxpio-
sion paia ol loiquo (4.2) paia oifoionlos valoios oo c
b
os mosliaoo on la Fig. 4.4.2.
Fig. 4.4.2. Volocioao on ol oxliomo infoiioi paia oifoionlos valoios ool
coolcionlo oo amoiliguamionlo: (1) c
b
= 0.`::,:cd; (2) c
b
= `::,:cd;
(8) c
b
= 0`::,:cd; (4) c
b
= 20`::,:cd.
4.5 AodeIo de arnetros concentrados
Iaia lialai ol pioLloma oo las oscilacionos loisionalos on ol piocoso oo poifoiacion usualmonlo
so ulilizan on la liloialuia mooolos oo paiamolios conconliaoos puoslo quo facililan ol analisis
4
y las simulacionos on compaiacion con mooolos oo paiamolios oisliiLuioos.
Ln osla soccion so ovalan las oslialogias paia iooucii ol fonomono aloio-ooslizamionlo
on un mooolo oo paiamolios conconliaoos oo oos giaoos oo liLoilao [16[.
So consiooia un mooolo simplo gonoiico ool sisloma oo poifoiacion quo poimilo oosciiLii
las oscilacionos loisionalos.
Ll compoilamionlo loisional oo la Laiia oo poifoiacion so oosciiLo poi un ponoulo simplo
loisional oo oos giaoos oo liLoilao manojaoo poi un moloi olocliico, la inloiaccion oo la ioca
con ol oisposilivo oo coilo so iopiosonla con un mooolo oo fiiccion soca.
Ll mooolo quo so ooiiva oo la Fig. 4. os un ponoulo loisional simplo con un moloi
olocliico on su oxliomo supoiioi.
Ll mooolo consla oo oos inoicias amoiliguaoas mocanicamonlo acoplaoas poi un hilo
olaslico con iigiooz / y amoiliguamionlo c. La inoicia J
1
iopiosonla la inoicia oo la mosa
iolaloiia mas las inoicias ool moloi olocliico y la caja oo liansmision on ol sisloma ioal.
J
2
os la inoicia oo la Laiia mas la inoicia ool onsamLlajo on ol oxliomo infoiioi. 1
1
y 1
2
iopiosonlan loiquos oo fiiccion soca y oo amoiliguamionlo viscoso asociaoos con las inoicias
J
1
y J
2
, iospoclivamonlo. Ll loiquo 1
n
os piooucioo poi ol moloi olocliico.
Fig. 4.. Mooolo simplilcaoo oo la Laiia
oo poifoiacion.
So asumo quo:
1. Ll pozo y la Laiia son voilicalos y ioclos.
46
2. Ll Lil no so muovo laloialmonlo.
8. Ln ol sisloma iolaloiio ool oxliomo supoiioi oxislo una volocioao angulai oifoionlo oo
coio.
4. No so consiooia la fiiccion onlio las soccionos oo luLo.
. Ll looo oo poifoiacion so iopiosonla con un olomonlo oo fiiccion viscosa on ol Lil.
Las ocuacionos oo movimionlo son [16[:
J
1
`
o
1
c(
`
o
1
`
o
2
) /(o
1
o
2
) = 1
n
1
1
(4.)
J
2
`
o
2
c(
`
o
1
`
o
2
) /(o
1
o
2
) = 1
2
oonoo o
1
os ol oosplazamionlo angulai oo la mosa giialoiia y o
2
os ol angulo oo iolacion ool
Lil.
Dolnionoo los oslaoos r
1
=
`
o
2
. r
2
= o
1
o
2
. r
S
=
`
o
1
, ol mooolo (4.) so puooo ioosciiLii
como
dr
1
dt
= c
1
(r
S
r
1
) c
2
r
2
c
S
1
2
. (4.6)
dr
1
dt
= r
S
r
1
. (4.7)
dr
S
dt
= c
1
(r
S
r
1
) c
r
2
c
6
1
1
c
7
n. (4.8)
oonoo c
1
= c,J
2
. c
2
= /,J
2
. c
S
= 1,J
2
. c
1
= c,J
1
. c
= /,J
1
. c
6
= c
7
= 1,J
1
.
Duianlo ol piocoso oo poifoiacion, los paiamolios J
2
y / camLian puoslo quo so incio-
monla la longiluo oo la Laiia.
Los loiquos puooon mooolaiso oo la siguionlo manoia
1
1
= c
1
r
S
1
c
:q:(r
S
). (4.0)
1
2
= c
2
r
1
1
b
.
1
b
mooola ol conlaclo ool Lil con la ioca,
1
b
= \
cb
1
b
j
b
(r
1
):q:(r
1
) (4.10)
oonoo 1
b
os ol iaoio ool Lil y \
cb
ol poso quo oslo sopoila.
47
Ll coolcionlo oo fiiccion soca on ol Lil j
b
(r
1
) os
j
b
(r
1
) = j
cb
(j
cb
j
cb
)c
l
r
]
a
(4.11)
oonoo j
cb
. j
cb
(0. 1) son coolcionlos oo fiiccion oslalica y oo CoulomL iospoclivamonlo,
0 <
b
< 1 os una conslanlo quo oolno la lasa oo oociocimionlo oo la volocioao.
Las ocuacionos (4.6)-(4.11) oosciiLon ol compoilamionlo oo la Laiia oo poifoiacion y la
piosoncia oo las oscilacionos loisionalos.
Una simulacion oo oslo mooolo con \
cb
= 200` os mosliaoa on la Fig. 4..1.
Los paiamolios ool mooolo usaoos paia las simulacionos piosonlaoas a lo laigo oo osla
soccion son:
J
1
= 0.08181q:
2
. J
2
= 0.181q:
2
. c
1
= 0.018`::,:cd. c
2
= 0.08`::,:cd.
c = 0.0001`::,:cd. / = 0.078`:,:cd. 1/ = 0.17:.
)
= 1. 1
c
= 0.`:.
c
b
= 0.08`::,:cd. j
cb
= 0.. j
cb
= 0.8.
b
= 0.0. 1
n
= 10`:.
Los valoios paia las inoicias, ol mooulo oo iigiooz y ol coolcionlo oo amoiliguamionlo co-
iiosponoon a un mooolo oo oscala iooucioa, aunquo no coiiosponoon con paiamolios ioalos
puooon usaiso paia oosciiLii ol compoilamionlo oo la Laiia oo poifoiacion.
Las simulacionos so ioalizaion usanoo la hoiiamionla oo solucion ooo4 (molooo Doimano
Iiinco) oo paso vaiiaLlo oo MallaL-Simulink.
Fig. 4..1. Volocioao on ol oxliomo infoiioi, fonomono aloio-ooslizamionlo.
48
4.5.1 EvaIuacIn de Ias estrategIas ara reducIr Ias oscIIacIones
torsIonaIes
Como so monciono anloiioimonlo, iooucii ol poso quo sopoila ol oisposilivo oo coilo iosulla
on la oisminucion oo las viLiacionos loisionalos on la Laiia oo poifoiacion.
Una simulacion ool sisloma (4.6)-(4.11) so piosonla on la Fig. 4..2 oonoo \
cb
= 0`,
so muoslia una consiooiaLlo alonuacion oo las oscilacionos causaoas poi ol fonomono aloio-
ooslizamionlo on compaiacion con la simulacion oo la Fig. 4..1. oonoo ol poso quo sopoila
ol Lil os oo 200`.
Fig. 4..2. Ioouccion oo las oscilacionos loisionalos mooianlo la oisminucion ool poso
quo sopoila ol Lil.
Ls Lion saLioo quo ol aumonlo oo la volocioao on ol oxliomo supoiioi oo la Laiia ayu-
oa a miligai las viLiacionos loisionalos con la gian oosvonlaja oo quo pooian pioouciiso
viLiacionos laloialos, poi osla iazon so pioloio la manipulacion ool poso soLio ol Lil como
oslialogia paia iooucii ol fonomono aloio-ooslizamionlo.
Lajo cioilas conoicionos oo poifoiacion, manipulai la piopiooaoos olocliicas ool moloi on
ol oxliomo supoiioi oo la Laiia, y consocuonlomonlo, ol loiquo piopoicionaoo poi ol acluaooi
on la supoilcio puooo no ayuoai a la ioouccion oo las oscilacionos loisionalos.
Lxislon oos solucionos ofoclivas a oslo pioLloma: la manipulacion oo paiamolios como
ol poso quo sopoila ol Lil y la inclusion oo oisposilivos on ol oxliomo infoiioi oo la Laiia
40
como aLsoiLoooios oo viLiacion paia amoiliguai las viLiacionos loisionalos gonoiaoas on ol
oisposilivo oo coilo y piovonii quo viajon a liavos oo la Laiia.
AanIuIacIn deI eso que soorta eI LIt
La loy oo vaiiacion (4.4) puooo aplicaiso al mooolo (4.6)-(4.11) paia una comLinacion oo
paiamolios on los quo ol fonomono aloio-ooslizamionlo so piosonla, oslo os ol caso oo consio-
oiai \
cb0
= 200` como so muoslia on la Fig. 4..1.
Ll iosullaoo so piosonla on la Fig. 4..8.
Fig. 4..8. Ioouccion ool fonomono aloio-ooslizamionlo mooianlo la aplicacion oo la
loy oo vaiiacion (4.4).
IncIusIn de un aLsorLedor de cLoque
Olia oslialogia ofocliva paia iooucii las oscilacionos loisionalos consislo on inciomonlai ol
amoiliguamionlo on ol oxliomo infoiioi oo la Laiia. Lslo so puooo logiai mooilcanoo las
caiacloislicas ool luioo oo poifoiacion o anaoionoo un aLsoiLoooi oo choquo (shock suL)
juslo aiiiLa oo los collaios oo poifoiacion.
Ll aLsoiLoooi oo choquo puooo apioximaiso con un iosoilo y un amoiliguaooi conoclaoo
al onsamLlajo on ol oxliomo infoiioi (LHA), la inoicia ool aLsoiLoooi oo choquo so puooo
anaoii a J
2
.
0
Ll loiquo piopoicionaoo poi ol aLsoiLoooi oo choquo os ol siguionlo [16[:
1
c&b
(r) = /
o
(r
2
) c
o
(r
S
r
1
)
oonoo /
o
os ol mooulo oo iigiooz y c
o
ol coolcionlo oo amoiliguamionlo.
As, ol mooolo (4.) so ioosciiLo
J
1
`
o
1
c(
`
o
1
`
o
2
) /(o
1
o
2
) = 1
n
1
1
. (4.12)
J
2
`
o
2
c(
`
o
1
`
o
2
) /(o
1
o
2
) = 1
2
1
c&b
.
Ll compoilamionlo oo la volocioao ool Lil ooponoo oo los valoios oo los paiamolios /
o
y c
o
.
Si /
o
y c
o
son muy poquonos, ol fonomono aloio-ooslizamionlo no soia iooucioo. Si ol
valoi oo oslos coolcionlos os gianoo, so ioouco ol liompo quo poimanoco aloiaoo ol Lil, oo
hocho, si /
o
y c
o
son sulcionlomonlo gianoos, ol Lil pooia no aloiaiso.
Sin omLaigo oxislon limilacionos on la vaiiacion oo los paiamolios /
o
y c
o
oslos paiamo-
lios ooponoon oo las caiacloislicas ool maloiial y ooLon ooloiminaiso los iangos valioos.
Simulacionos ool sisloma (4.12) so muoslian on las Fig. 4..4. y 4...
Fig. 4..4. Ioouccion ool fonomono aloio-ooslizamionlo mooianlo la inclusion oo un
aLsoiLoooi oo choquo con /
o
= 0.2 y c
o
= 0.0.
1
Fig. 4... Ioouccion ool fonomono aloio-ooslizamionlo mooianlo la inclusion oo un
aLsoiLoooi oo choquo con /
o
= 0.4 y c
o
= 0.9.
4.6 ConcIusIn
So inliooujoion algunos mooolos clasicos oo fiiccion paia oai pio a la oosciipcion oo los
loiquos a los quo osla sujolo ol Lil.
Lslos loiquos poimilon iopiosonlai las viLiacionos loisionalos piosonlos on ol piocoso oo
poifoiacion.
So aplicaion oos oslialogias al mooolo con iolaioos on ol liompo oo lipo noulial paia
iooucii las oscilacionos loisionalos Lasaoas on la manipulacion oo las caiacloislicas ool
onsamLlajo on ol oxliomo infoiioi: la vaiiacion ool poso quo sopoila Lil y ol inciomonlo ool
amoiliguamionlo on ol oxliomo infoiioi.
Iuoslo quo las oslialogias piosonlaoas coincioon con iosullaoos oxpoiimonlalos so valioa
ol mooolo con iolaioos oo lipo noulial.
Finalmonlo so piosonlo un mooolo oo paiamolios conconliaoos oo oos giaoos oo liLoi-
lao on ol quo so ovaluaion las mismas oslialogias logianoo lamLion la ioouccion oo las
oscilacionos.
2
CaItuIo 5
ConcIusIones generaIes y ersectIvas
So iosumon a conlinuacion las piincipalos apoilacionos oo osla losis:
So piosonlo un mooolo oo paiamolios oisliiLuioos quo oosciiLo ol compoilamionlo loi-
sional oo la Laiia oo poifoiacion voilical oo pozos.
A pailii oo oslo mooolo so oLluvo un mooolo quo iolaciona la volocioao angulai on ol
oxliomo infoiioi y la volocioao angulai on la supoilcio oo la Laiia. Lslo mooolo os oosciilo
poi una ocuacion con iolaioos oo lipo noulial. So ulilizaion oos locnicas oLlonoi ol mooolo
oo lipo noulial: la liansfoimacion oo DÀlomLoil y ol analisis on ol oominio oo la fiocuoncia.
So ooloiminaion colas llimas paia las piincipalos vaiiaLlos oo inloios on ol sisloma oo
poifoiacion oo pozos consiooianoo ol loiquo soLio ol Lil como una funcion linoal quo ooponoo
oo la volocioao on ol oxliomo infoiioi.
Iiimoio, so oLluvo una cola llima oo la volocioao ool oisposilivo oo coilo on ol sisloma
oo poifoiacion. Lslo so logio a pailii oo la oosciipcion oo osla vaiiaLlo mooianlo una ocuacion
on oifoioncias oLlonioa a pailii ool sisloma oo paiamolios oisliiLuioos.
Dospuos, so oLluvo una cola llima oo una mooioa oo la naluialoza oisliiLuioa ool
sisloma. Iaia ollo so consiooio la Laiia sin amoiliguamionlo y oo osla manoia so logio
iooucii ol mooolo a la ocuacion oo onoa.
CaLo iocalcai quo ol oslimaoo paia la ocuacion on oifoioncias so oLluvo mooianlo calculos
oiioclos mionlias quo ol oslimaoo paia la ocuacion oo onoa so onconlio a liavos oo la solucion
oo oosigualoaoos maliicialos linoalos.
Finalmonlo so piosonlo un analisis oolallaoo ool loiquo al quo osla sujolo ol Lil, lloganoo
a una oxpiosion no linoal ool mismo quo oa lugai a las inoosoaLlos viLiacionos loisionalos
8
quo so piosonlan ouianlo ol piocoso oo poifoiacion.
Ioi mooio oo simulacionos ool mooolo con iolaioos oo lipo noulial so coiioLoiaion los
fonomonos oxpoiimonlalos iopoilaoos on la liloialuia ospocializaoa. Do osla manoia so valioa
ol mooolo iolaioaoo piopuoslo.
1amLion so ovaluaion oos oslialogias conocioas paia la ioouccion oo las viLiacionos
loisionalos: la manipulacion ool poso quo sopoila ol Lil poi mooio oo la inclusion on ol
mooolo oo una loy oo vaiiacion oo oslo paiamolio y ol inciomonlo ool amoiliguamionlo on
ol oxliomo infoiioi oo la Laiia quo puooo logiaiso oo oos manoias: con la mooilcacion oo
las caiacloislicas ool luioo oo poifoiacion y con la inclusion oo aLsoiLoooios oo viLiacion
posicionaoos a la alluia oo los collaios oo poifoiacion.
Ls impoilanlo hacoi nolai quo los mooolos oo paiamolios conconliaoos piopuoslos on la
liloialuia lamLion iolojan los fonomonos oxpoiimonlalos. Una vonlaja oo ulilizai ol mooolo
oo lipo noulial os quo oslo mooolo so ooiiva oo manoia oxacla ool mooolo oo paiamo-
lios oisliiLuioos, mionlias quo ol mooolo oo paiamolios conconliaoos involucia impoilanlos
simplilcacionos.
Las poispoclivas oo oslo liaLajo son:
Valioai los iosullaoos oLlonioos on osla momoiia oxpoiimonlalmonlo, os oocii, aplicai las
oslialogias omploaoas a un sisloma oo poifoiacion oo pozos ioal.
Iioponoi oslialogias oo conliol Lasaoas on iolaioos oisliiLuioos paia ol mooolo con
iolaioos oo lipo noulial quo so ooiivo on osla losis.
Analizai ol sisloma con iolaioos oo lipo noulial con ol loiquo soLio ol Lil oosciilo poi la
funcion no linoal con Laso on la looia oo sislomas conmulaoos.
Analizai ol mooolo oo paiamolios oisliiLuioos oosciilo poi la ocuacion on ooiivaoas
paicialos oonoo ol loiquo soLio ol oisposilivo oo coilo so oosciiLo poi una funcion no linoal
conmulaoa quo oa lugai a las oscilacionos causaoas poi ol fonomono aloio-ooslizamionlo.
4
HILIIograIIa
[1[ Aimsliong Holouviy L. Slick slip ano conliol in low spooo molion. 1111 J:nnn.n
n n&nn. n:|, vol. 88, no. 10, 1008.
[2[ Challamol N., Lluoo oo slaLililo oùno sliucluio oo foiago a pailii ou piocossus oo
oosliuclion oo la iocho, 1hso oocloialo, Lcolo Nalionalo Supoiiouio oos Minos oo Iaiis,
Fianco, 1000.
[8[ Challamol N., Iock oosliuclion olocl on lho slaLilily of a oiilling sliucluio, J&:nn| J
&nJ nnJ .h:n.n, vol. 288, iss. 2, pp. 28-24, FonlainoLloau, Fiancia, 2000.
[4[ Fiioman L., Now Lyapunov-Kiasovskii funclionals foi slaLilily of linoai iolaiooo ano
noulial lypo sysloms, 5jn nnJ n:| 1:, vol. 48, no. 4, pp. 800-810, 2001.
[[ Fiioman L. ano Oilov Y., Lounoaiy conliol of somilinoai hoal piocossos ano oisliiLuloo
mochanical oscillalois: an LMI appioach, 1:J.nj J h nJ:n n 1..n nnJ
n:|, pp. 88-88, Cancn, Moxico, 2008.
[6[ Fiioman L. ano DamLiino M., Conliol unooi quanlizalion, saluialion ano oolay: a LMI
appioach, 11 1:|J nj:, Sooul, 2008.
[7[ Janson J. D. ano van oon Sloon L., Aclivo oamping of solf-oxciloo loisional viLialions
in oil woll oiillsliings, J&:nn| J 5&nJ nnJ 1.h:n.n, vol. 170, no. 4, pp. 647-668,
100.
[8[ Khalil H., Nonlinoai Sysloms, MacMillan IuLlishing, 1002.
[0[ Kiiosols I. C., Koulljos W. J. G, Dumonl I., Hunoioi I., Fuial A., Owooyo O. O.
ano Hailmann I. A., Cosl savings lhiough an inlogialoo appioach lo oiillsliing vi-
Lialion conliol, 51111 `.JJ| 1n 1:.|.nj Jhn|jj nJ:n, ALu DhaLi,
SILIADC 7, 1000.
[10[ Lowis I. M., Conliol-oolayoo syslom piopoilios via an oioinaiy moool, 1n:nn.nn|
J&:nn| J n:|, vol. 80, iss. 8, pp. 477 - 400, 1070.
[11[ Loisoau J. J., Caioolli M. ano Dussoi X., Noulial-lypo limo-oolay sysloms lhal aio nol
foimally slaLlo aio nol LILO slaLilizaLlo, 1` J&:nn| J `nhnn.n| n:| nnJ
1nJ:nn.n, vol. 10, pp. 217-227, 2002.
[12[ Monsa-Wilmol G., Loolh M. ano Molliam A., Now IDC Lil 1ochnology ano impiovoo
opoialional piaclicos savos IM in conlial noilh soa oiilling piogiam, 51111 1:.||.nj
nJ:n. A& O:|nn, SILIADC 0108, 2000.
[18[ Michol F., Mounioi H., Iouchon I., ano Iuoolph J., ConliollaLilily ano molion plan-
ning foi linoai oolay sysloms wilh an applicalion lo a loxiLlo ioo, h nJ:n n
1..n nnJ n:|, USA, 100.
[14[ Mounioi H., Iuoolph J., Iolilol M. ano Flioss M., A loxiLlo ioo as a linoai oolay
syslom, :J 1&:nn n:| nJ:n. pp. 86768681, Iomo, Ilaly, 100.
[1[ Mounioi H., Iiopiiolos sliucluiollos oos syslomos linoaiios a iolaios: aspocls lhooiiquos
ol pialiquos, 1hso oocloialo, Univoisilo Iaiis Suo, Fianco, 1007.
[16[ Navaiio L. ano Suaioz I, Iiaclical appioach lo mooolling ano conliolling slick-slip
oscillalions in oilwoll oiillsliings, 1:J.nj J h .uu 1111 1n:nn.nn| nJ:n
n n:| |.n.n, pp. 144-1460, 1aipoi, 1aiwan, 2004.
[17[ Navaiio L., Coilos D., Slioing-mooo of a mulli-DOF oilwoll oiillsliing wilh slick-slip
oscillalions, 1:J.nj J h .uu7 n:.nn n:| nJ:n. pp. 8887-8842, Now
Yoik Cily, USA, 2007.
[18[ Nicaiso S. ano Iignolli C., SlaLilizalion of lho wavo oqualions wilh vaiiaLlo coomcionls
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[20[ Olsson H., Asliom K. J., oo Wil C. C., Gafvoil M. ano Lischinsky I., Fiiclion moools
ano fiiclion componsalion, 1&:nn J&:nn| J n:|, vol. 4 no. 8 pp. 176-10, 1008.
6
[21[ Iavono D. I. ano Dosplans J. I., Applicalion of high sampling ialo oownholo moasuio-
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881-001, 2008.
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[2[ Sananikono I., Molhoo ano appaialus foi ooloimining lho loiquo applioo lo a oiillsliing
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[27[ Wang 1., SlaLilily in aLsliacl funclional-oiloionlial oqualions. II. Applicalions, J&:nn|
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7
AndIce A
ArtIcuIos
A.1 \ItInate Loundedness oI tLe resonse oI a drIIIIng
Ie nodeI
TItuIo: \ItInate Loundedness oI tLe resonse oI
a drIIIIng Ie nodeI
Autores: AartLa HeIen SaIdIvar,
SaLIne AondI y EnIIIa FrIdnan
Acetado en: IFAC VorksLo on TIne DeIay Systens {TDS2009),
SInaIa, HunanIa, 1-3 de SetIenLre de 2009.
8
\ItInate Houndedness oI tLe Hesonse oI a
DrIIIIng IIe AodeI
AartLa HeIen SaIdIvar
,l
SaLIne AondI

EnIIIa FrIdnan
1n:nnn J n:| &nn. J| n: J 1n.jn.n j

1&J. nn.nJ J| 11A. `r.. ;-nn.|: nn|J.n:
:|..nn.nr. nnJ. :|..nn.nr)
1n:nn J 1|:.n| 1nj.n:.nj nnJ 5jn n h J|-.

1n.:.j. 1:n|. ;-nn.|: n.|.nnj.n&.n..|)
ALstract: 1ho oiill pipo moool oosciiLoo Ly lho wavo oqualion wilh Lounoaiy conoilions is
iooucoo lhiough lho oÀlomLoil liansfoimalion lo a oiloionco oqualion moool ano an ullimalo
Louno foi lho volocily al lho Lollom of lho pipo is oLlainoo. 1ho pioposal of an onoigy funclion
foi lho oisliiLuloo moool allows lo piovioo an ullimalo Louno foi a moasuio of lho oisliiLuloo
vaiiaLlos oosciiLing lho syslom in loims of LMI conoilions. 1ho lwo appioachos aio compaioo
lhiough an iluslialivo oxamplo.
1j&:J: oisliiLuloo paiamoloi sysloms, oiill pipo moool, ullimalo Lounooonoss, slaLilily,
Lyapunov funclional, LMI.
1. IN1IODUC1ION
Diilling sysloms wilh aclualoi al lho Lollom aio omcionl
Lul havo a high iisk of collapso ano suLsoquonl loss of
lho lool ano of lho poifoialion ilsolf. 1his is why, ovon in
ooop poifoialions, lho applicalion of lho loiquo al giouno
lovol is piofoiioo. In lhis caso, lho oisliiLuloo paiamoloi
naluio of lho syslom cannol Lo noglocloo. Il shoulo also
Lo monlionoo lhal a full oosciiplion covoiing all iolovanl
phonomona such as Lil Louncing, whiiling oi slick-slip is
nol ioasonaLlo in piaclico ano aulhois usually sluoy such
mochanisms inoivioually ano simplilcalions aio common
foi slaLilily analysis puiposos. Soo Challamol [2000[, Flioss
ol al. [100[ ano Iouchon [1008[.
In pailiculai, allhough lho oimonsional paiamolois of
lho planl aio known, lho linoaiizalion of lho Lohavioi
of lho loiquo al lho Lollom holo Lounoaiy inliooucos
uncoilainly. Moioovoi, il is ioasonaLlo lo consiooi lho
piosonco of a Lounooo aooilivo noiso signal n(t) al lho
Lollom in oiooi lo accounl foi oxloinal oisluiLancos ano
moooling oiiois.
Il is cloai lhal unooi lhoso ciicumslancos, oxpononlial oi
asymplolic slaLilily cannol Lo achiovoo, ano wo will sook
insloao ullimalo Lounooonoss of lho solulion Khalil [1002[.
1ho pioLlom is lisl lioaloo, afloi appiopiialo simplilca-
lions, as a oiloionco oqualion moool lhal oosciiLos lho an-
gulai volocily al lho Lollom of lho pipo, which is lho main
vaiiaLlo of inloiosl fiom an onginooiing viow poinl. 1hon,
lho pioLlom is aooiossoo in lho fiamowoik of oisliiLuloo
paiamoloi sysloms as a spocial caso of a wavo oqualion ano
LMI lypo conoilions foi ullimalo Lounooonoss aio ooiivoo
fiom an appiopiialo onoigy funclion following lho iooas
Suppoiloo Ly Conacyl.
inliooucoo in Nicaiso \ Iignolli [2006[ ano Fiioman \
Oilov [2008[.
1ho papoi is oiganizoo as follows: 1ho oisliiLuloo paiamo-
loi moool of lho oiill pipo ano lho ullimalo Lounooonoss
pioLlom foimulalion aio inliooucoo in soclion 2. In soc-
lion 8, a oiloionco oqualion oosciiplion is oLlainoo afloi
simplilcalions ano lho coiiosponoing ullimalo Lounos aio
founo. In soclion 4, ullimalo Lounooonoss conoilions aio
ooiivoo fiom lho pioposal of an onoigy funclion foi lho
oisliiLuloo paiamoloi moool. 1ho conliiLulion onos wilh
a compaiison of lho lwo appioachos in lho conloxl of an
oxamplo.
2. IIOLLLM FOIMULA1ION
..1 1:.|| . nJ|
1ho oiill pipo is consiooioo hoio as a Loam in loision.
A lumpoo inoilia 1
1
is choson lo iopiosonl lho assomLly
al lho Lollom holo ano a oamping , _ 0 which incluoos
lho viscous ano sliucluial oamping, is assumoo along lho
sliucluio. 1ho spooo of lho suifaco ( = 0) is iosliicloo
lo a conslanl valuo \. 1ho olhoi oxliomily ( = 1),
which symLolizos lho Lil, is suLjocl lo a loiquo T, which
is a funclion of lho Lil spooo. 1ho mochanical syslom is
oosciiLoo Ly lho following oqualions:
GJ
0
2
0
2
(, t) 1
0
2
0t
2
(, t) ,
0
0t
(, t) = 0,
(0, 1), t 0
(0, t) = \t;
GJ
0
0
(1, t) 1
1
0
2
0t
2
(1, t) = T
_
0
0t
(1, t)
_
whoio (, t) is lho anglo of iolalion, 1 is lho inoilia, G
is lho shoai mooulus ano J is lho goomoliical momonl of
inoilia.
1ho oxislonco ano uniquonoss of lho solulion is assumoo
foi all lho inilial conoilions. 1ho slalionaiy solulion of lhis
syslom is
0
(, t) = \t
_
T (\)
GJ

,\
GJ
1
_

,\
2GJ

2
.
1ho chango of vaiiaLlo .(, t) = (, t)
0
(, t) loaos lo
an oquivalonl aulonomous syslom foi which lho funclion
.
0
(, t) = 0 is a solulion. Nonlinoai phonomona al lho
Lollom oxliomily such as slick slip ano noiso ouo lo lho
Lil inloiaclion aio moooloo wilh lho aooilivo Lounooo
oisluiLanco n(t) such lhal [n(t)[ _ n, t (0, ).
GJ
0
2
.
0
2
(, t) 1
0
2
.
0t
2
(, t) ,
0.
0t
(, t) = 0,
(0, 1)
.(0, t) = 0;
GJ
0.
0
(1, t) 1
1
0
2
.
0t
2
(1, t)
T
_
\
0.
0t
(1, t)
_
n(t)
1ho ono = 0 is now lxoo ano lho wavo piopagalion has
nol changoo. 1ho slaLilily of lho liivial solulion .
0
(, t) is
oquivalonl lo lho slaLilily of lho oquiliLiium
0
(, t).
Wo consiooi a linoaiizalion of lho loiquo T:
T (\) T (\ .
|
(1, t)) =T
(\ 0.
|
).
|
(1, t),
0 (0, 1).
Foi lho sako of simplicily, wo inlioouco lho noimalizoo ioo
longlh o = ,1. 1ho noimalizoo oiill pipo moool is lhon:
GJ
1
2
0
2
.
0o
2
(o, t) 1
0
2
.
0t
2
(o, t) ,
0.
0t
(o, t) = 0, (1)
o (0, 1)
.(0, t) = 0,
GJ
1
0.
0o
(1, t) 1
1
0
2
.
0t
2
(1, t)
= T
(\ 0.
|
).
|
(1, t) n(t)
wilh inilial conoilions
.(o, 0) = (o), .
c
(o, 0) =
`
(o) 1
2
(0, 1),
.
|
(o, 0) =
(o) 1
2
(0, 1).
(2)
... 1J&| 1nj&n|..
Whon lho oisluiLanco loim n(t) is nol ioonlically zoio,
ono cannol piovo oxpononlial slaLilily of lho solulion.
Howovoi, ono can piovo ullimalo Lounooonoss of lho
solulions. Wo inlioouco lho following lochnical lomma.
1nnn 1. Fiioman \ DamLiino [2008[. Lol \ : [0, )
1
Lo an aLsoluloly conlinuous funclion. If lhoio oxisls

c 0, / 0 such lhal lho ooiivalivo of \ salislos almosl
ovoiywhoio lho inoqualily
d
dt
\ 2c\ /n
2
_ 0
lhon il follows lhal
\ (t) _ c
2o(||)
\ (t
0
) (1 c
2o(||)
)
/
2c
[n[
2
.
IrooI. Mulliplying Ly c
2o(0|)
lho inoqualily
J
J|
\
2c\ _ /n
2
, inlogialing fiom t
0
lo t yiolos
_
|
|
d
d0
(c
2o(0|)
\ (0))d0 _ /
_
|
|
c
2o(0|)
n
2
(0)d0
oi
\ (t) c
2o(||)
\ (t
0
) _
/
2c
(1 c
2o(||)
)n
2
.
ano lho iosull follows.
Foi laloi uso, wo iocall lho following.
1nnn .. Wang [1004[. Lol . \
l,2
([a, /[, 1) Lo a scalai
funclion wilh .(a) = 0. 1hon
_
b
o
.
2
(o)do _
(/ a)
2
2
_
b
o
(.
(o))
2
do, (8)
:ar
c|o,b|
.
2
(o) =[:ar
c|o,b|
.(o)[
2
(4)
_(/ a)
_
b
o
(.
(o))
2
do,
8. DIFFLILNCL LQUA1ION AIIIOACH
Unooi lho assumplions lhal lho oamping ano lho lumpoo
inoilia aio nogligiLlo (i.o. , = 1
1
= 0 ) lho moool iooucos
lo
0
2
.
0t
2
(o, t) = a
0
2
.
0o
2
(o, t), o (0, 1), t 0 ()
.(0, t) = 0;
0.
0o
(1, t) = /
0.
0t
(1, t) rn(t) (6)
whoio a =
C
1J
, / =
JT
(:0:)
C
, r =
J
C
1.
In lhis caso, il is possiLlo lo ioouco lho oisliiLuloo paia-
moloi moool lhiough lho DÀlomLoil liansfoimalion lo a
oiloionco oqualion. Wo uso foi lhis puiposo lho gonoial
solulion of lho unioimonsional wavo oqualion which may
Lo wiillon as
.(o, t) = c(t :o) c(t :o), t 0,
whoio c, c aio conlinuously oiloionliaLlo ioal-valuoo
funclions of ono vaiiaLlo ano : =
_
l
o
. Wo havo lhal
0.
0t
(o, t) =
`
c(t :o)
`
c(t :o), (7)
0.
0o
(o, t) =:
`
c(t :o) :
`
c(t :o)
ano lho inilial conoilions havo lho foim:
.
|
(o, 0) =
l
(o) =
`
c(:o)
`
c(:o),
.
c
(o, 0) =
`
(o) = :
`
c(:o) :
`
c(:o).
(8)
Honco,
`
c(:o) = 0.[
l
(o)
`
(o),:[,
`
c(:o) = 0.[
l
(o)
`
(o),:[.
(0)
1ho Lounoaiy conoilions can Lo wiillon as
.(0, t) =c(t) c(t) = 0, t 0 (10)
0.
0o
(1, t) =:
`
c(t :) :
`
c(t :)
=/[
`
c(t :)
`
c(t :)[ rn(t). (11)
Il follows fiom (10) lhal
c(t) = c(t), t 0 (12)
ano lhus (11) lakos lho foim
[: /[
`
c(t :) [: /[
`
c(t :) = rn(t). (18)
1his oxpiossion can Lo iowiillon as
`
c(t :) = c
0
`
c(t :) c
l
n(t), t 0, (14)
wilh c
0
=
(s|)
(s|)
ano c
l
=
:
(s|)
.
Fiom (0) ano (18) wo oLlain lho following inilial conoilion
`
c(t) = 0.[
l
(t,:)
`
(t,:),:[, t (0, :),
`
c(t) = 0.[
l
(t,:)
`
(t,:),:[, t (0, :).
(1)
Il appoais lhal lhis moool can Lo lioaloo using oiloionco
oqualion lochniquos. Lol t = |: , [:, 0[. Iloialing
| limos (14) wo oLlain lhal foi | = 1, 2, ... lho solulion is
oosciiLoo Ly
`
c(2|: ) = (c
0
)
l
`
c()
c
l
ll
I=0
(c
0
)
I
n((2(| i) 1): )
`
c(2|: : ) = (c
0
)
l
`
c(: )
c
l
ll
I=0
(c
0
)
I
n((2(| i)): ).
As [c
0
[ < 1, solling ` = ln([c
0
[), wo havo lhal
(c
0
)
I
_
c
XI
honco, using n(t) _ n, t 0 il follows lhal foi
[:, 0[
`
c(2|: )
_c
Xl
`
c()
[c
l
[ n
ll
I=0
c
XI
`
c(2|: : )
_c
Xl
`
c(: )
[c
l
[ n
ll
I=0
c
XI
Nolico lhal (1) implios lhal foi : _ _ : ono has
`
c()
_ 0.[[
l
(,:)[
`
(,:)
,:[. Moioovoi,
ll
I=0
c
XI
_
l
lt
. Il follows lhal
`
c(2|: )
_0.c
Xl
[[
l
(,:)[
`
(,:)
,:[
[c
l
[
1 c
X
n
`
c(2|: : )
_0.c
Xl
[[
l
(,:)[
`
(,:)
,:[
[c
l
[
1 c
X
n.
as c
Xl
= c
(|)
_ c
|
wo gol
`
c(2|: )
_0.c
|
[[
l
(,:)[
`
(,:)
,:[
[c
l
[
1 c
X
n
`
c(2|: : )
_0.c
|
[[
l
(,:)[
`
(,:)
,:[
[c
l
[
1 c
X
n.
1hon, foi t 0
`
c(t)
_0.c
|
[[
l
(,:)[
`
(,:)
,:[ (16)
[c
l
[
1 c
X
n.
Fuilhoimoio, (12) implios lhal
`
c(t)
salislos lho samo

uppoi Louno as
`
c(t)
foi t :. 1hon wo oLlain fiom

(7) ano fiom (8) lhal
[.
c
(1, t)[ _:c
|
[[
l
(,:)[
`
(,:)
,:[ (17)
2: [c
l
[
1 c
X
n.
Using (4) ono can also concluoo lhal
:ar
c(0,l)
.
2
(o) _
_
:c
|
[[
l
(,:)[
`
(,:)
,:[
2: [c
l
[
1 c
X
n
_
2
.
Wo now summaiizo lho aLovo iosulls:
1nnn . 1ho solulion of lho Lounoaiy-valuo pioLlom
(), (6) is ullimaloly Lounooo ano foi all inilial conoilions
(2) il salislos lho inoqualilios
[.
c
(1, t)[ _ :c
|
[[
l
(,:)[
`
(,:)
,:[
2: [c
l
[
1 c
X
n, t 0
wilh ` = ln([c
0
[), : =
_
l
o
ano c
l
=
:
s|
. Fuilhoimoio,
foi t 0
max
c(0,l)
.
2
(o) _
_
:c
|
[[
l
(,:)[
`
(,:)
,:[
2: [c
l
[
1 c
X
n
_
2
.
Finally, wo oLlain an ullimalo Louno foi lho vaiiaLlo of
main inloiosl, lho angulai volocily al lho Lollom .
|
(1, t).
Il follows fiom (7) lhal
d:
d|
(1, t) =
`
c(t :)
`
c(t :). In
viow of (12),
`
c(t)
ano
`
c(t)
salisfy lho samo Louno (16).

Il follows sliaighlfoiwaioly lhal
[.
|
(1, t)[ _c
|
[[
l
(,:)[
`
(,:)
,:[ (18)
2 [c
l
[
1 c
X
n.
4. WAVL LQUA1ION ANALYSIS
1ho oiloionco oqualion oosciiplion of lho moool piovioos
an oslimalo of lho Lohavioi al lho Lollom of lho pipo.
Foi a compiohonsivo oslimalo, wo lioal in lhis soclion lho
pioLlom as a oisliiLuloo paiamoloi syslom. 1ho lumpoo
inoilia 1
1
is consiooioo lo Lo nogligiLlo Lul, unliko in
lho piovious soclion lho oamping , is nol. Wo havo lho
following oqualion
.
||
(o, t) = a.
cc
(o, t) d.
|
(o, t)
t t
0
, 0 < o < 1
(10)
wilh lho Lounoaiy conoilions
.(0, t) = 0,
.
c
(1, t) = /.
|
(1, t) rn(t), t 0,
(20)
whoio a =
C
1J
ano d =
o
1
, couploo lo lho mixoo
Lounoaiy conoilion whoio r =
J
C
ano / =
JT
(:0:)
C
wilh 0 < c
l
_ T
(\ 0.
|
) _ c
2
ano inilial conoilions
.(o, 0) = (o), .
c
(o, 0) =
`
(o) 1
2
(0, 1),
.
|
(o, 0) =
(o) 1
2
(0, 1).
(21)
Now, wo look foi conoilions such lhal lho inoqualily
J
J|
\
2c\ /n
2
_ 0 holos. 1o lhis ono, consiooi lho onoigy
funclion
\ (.
c
(,t),.
|
(, t)) = j
_
l
0
a.
2
c
(o, t)do
j
_
l
0
.
2
|
(o, t)do 2
_
l
0
o.
c
(o, t).
|
(o, t)do
pioposoo in Nicaiso \ Iignolli [2006[ wilh conslanls j 0
ano small onough . In Fiioman \ Oilov [2008[ lho
following LMI
_
aj
j
_
0. (22)
was inliooucoo lo guaianloo lhal \ 0 foi
_
l
0
[.
2
c
(o, t)
.
2
|
(o, t)[do 0.
As lho LMI
_
aj o
o j
_
0 is amno in o (0, 1) , il follows
fiom Schui complomonls ano Iayloigh`s 1hooiom lhal
c
l
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do (28)
_\ (.
c
(,t),.
|
(, t)) _ c
2
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do
wilh
c
l
= `
nIn
_
aj 0
0 j
_
, c
2
= `
nax
_
aj
j
_
. (24)
Noxl, wo look foi lho conoilions on
`
\ . Following Fiioman
\ Oilov [2008[, wo ooiivo
d
dt
_
2
_
l
0
o.
|
.
c
do
_
= 2
_
l
0
o.
||
.
c
do
2
_
l
0
o.
|
.
c|
do = 2a
_
l
0
o.
cc
(o, t).
c
do
2
_
l
0
o.
|
.
c|
do 2d
_
l
0
o.
|
(o, t).
c
do
Inlogialing Ly pails givos
2
_
l
0
o.
|
.
c|
do =2
_
l
0
o.
c|
.
|
do 2
_
l
0
.
2
|
do
2.
2
|
(1, t).
oi
2
_
l
0
o.
|
.
c|
do =
_
l
0
.
2
|
do .
2
|
(1, t).
ano similaily,
2
_
l
0
o.
cc
(o, t).
c
do =
_
l
0
.
2
c
do .
2
c
(1, t).
SuLsliluling lho Lounoaiy conoilion yiolos
2
d
dt
__
l
0
o.
|
.
c
do
_
=
_
l
0
(.
2
|
a.
2
c
)do
.
2
|
(1, t) a (/.
|
(1, t) rn(t))
2
2d
_
l
0
o.
|
(o, t).
c
do.
1hus, oiloionlialing \ along (10), wo oLlain
d
dt
\ =2j
_
l
0
a.
c
(o, t).
|c
(o, t)do
2j
_
l
0
.
|
(o, t).
||
(o, t)d 2
d
dt
__
l
0
o.
|
.
c
do
_
=2j
_
l
0
[a.
c
(o, t).
|c
(o, t) a.
|
(o, t).
cc
(o, t)[do
2jd
_
l
0
.
|
(o, t).
|
(o, t)do 2
d
dt
__
l
0
o.
|
.
c
do
_
.
Now, inlogialing Ly pails lho loim Lolow ano suLsliluling
lho Lounoaiy conoilion (20), wo gol
_
l
0
.
|
(o, t).
cc
(o, t)do
= .
|
(o, t).
c
(o, t)[
l
0
_
l
0
.
|c
(o, t).
c
(o, t)do
=.
|
(1, t)(/.
|
(1, t) rn(t))
_
l
0
.
|c
(o, t).
c
(o, t)do
lhoiofoio
d
dt
\ = 2aj/.
2
|
(1, t) 2aj.
|
(1, t)rn(t)
2jd
_
l
0
.
|
(o, t).
|
(o, t)do
_
l
0
(.
2
|
a.
2
c
)do .
2
|
(1, t) a.
2
c
(1, t)
2d
_
l
0
o.
|
(o, t).
c
do
_
.
Il follows lhal
d
dt
\ 2c\ /n
2
= 2aj/.
2
|
(1, t)
2aj.
|
(1, t)rn(t) 2jd
_
l
0
.
|
(o, t).
|
(o, t)do
_
l
0
(.
2
|
a.
2
c
)do .
2
|
(1, t)
a(/.
|
(1, t) rn(t))
2
2d
_
l
0
o.
|
(o, t).
c
do
_
_
l
0
2c[aj.
2
c
(o, t) 2o.
c
(o, t).
|
(o, t)
j.
2
|
(o, t)[do /n
2
.
(2)
Ly solling 0
T
(o, t) = [.
|
(1, t) .
c
(o, t) .
|
(o, t) n(t)[, wo
concluoo lhal
d
dt
\ 2c\ /n
2
=
_
l
0
0
T
(o, t)w0(o, t)do < 0
if
w =
_
_
r
0 0 o|: o:
r
(2o J)c 0
r
0
b o:
_
_
< 0 (26)
whoio
c
l
= 2a/j (1 a/
2
),
c
2
= a 2caj,
c
3
= 2jd 2cj.
(27)
As lho LMI (26) is amno in o (0, 1), lhon Ly Schui
complomonls il is foasiLlo if
_
_
r
0 0 o|: o:
r
(2o J) 0
r
0
b o:
_
_
< 0. (28)
1hon, if (28) is foasiLlo, il follows fiom (28) ano Lomma 1
lhal
c
l
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do _ \ (.
c
(,t),.
|
(, t))
_ \ (.
c
(,t
0
),.
|
(, t
0
))c
2o(||)
/
2c
(1 c
2o(||)
)n
2
_ c
2
c
2o(||)
_
l
0
[
2
l
(o)
`
2
(o[do
/
2c
(1 c
2o(||)
)n
2
.
1hoiofoio, lho solulions of lho Lounoaiy valuo pioLlom
(10), (20) woulo Lo gloLally conlinuaLlo lo lho iighl ano
woulo salisfy lho aLovo inoqualily foi all t t
0
. In
aooilion, il follows fiom (4) lhal
.
2
(o, t) _ :ar
c|0,l|
.
2
(o) = [:ar
c|0,l|
.(o)[
2
_
_
l
0
(.
(o))
2
do _
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do
honco wo also havo lho oslimalo
.
2
(o, t) _
c
2
c
l
c
2o(||)
_
l
0
[
2
l
(o)
`
2
(o)[do
/
c
l
2c
n
2
.
Summaiizing, wo can slalo lho following iosull:
Jh:n . Givon c 0, lol lho LMIs (22) ano (28) wilh
nolalions (27) holo foi somo j 0. 1hon lho Lounoaiy-
valuo pioLlom (10), (20) is ullimaloly Lounooo ano foi all
inilial conoilions (21) lho inoqualily
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do (20)
_
c
2
c
l
c
2o(||)
_
l
0
[
2
l
(o)
`
2
(o)[do
/
c
l
2c
n
2
wilh c
l
ano c
2
oolnoo in (24) is salisloo. Fuilhoimoio,
.
2
(o, t) also salislos (20).
1nn:| 1. Wo nolo lhal lho conoilions foi oxpononlial
slaLilily of lho oisluiLanco fioo syslom lhal follows fiom
1hooiom 4 coincioo wilh lho onos fiom Fiioman \ Oilov
[2008[.
. NUMLIICAL ILSUL1S
1ho numoiical iosulls piosonloo Lolow aio foi lho paiamo-
loi valuos givon in Challamol [1000[:
G= 70.8r10
9
,:
2
, 1 = 0.001q :,
T
() = 8000 :, J = 1.10r10
5
:
d
,
1= 814:.
ano lho caso whoio lho oamping is noglocloo (, = 0).
.1 1.]:n j&n.n n:nh
In lhis caso c
0
= 0.818, c
l
= 8.001110
d
, : = 0.0070,
` = ln([c
0
[) = 0.2002. SuLsliluling lhoso valuos inlo
(17) ano (18) yiolos:
[.
c
(1, t)[ _0.0070c
0.2006|
[[
l
(,0.0070)[
1.0021
`
(,0.0070)
[ 0.0088 n.
[.
|
(1, t)[ _c
0.2006|
[[
l
(,0.0070)[
1.0021
`
(,0.0070)
[ 0.0088 n.
.. 1n j&n.n n:nh
Foi lho wavo oqualion appioach, lho LMI conoilions of
1hooiom 4 loao lo lho following paiis (c, /).
Caso 1 2 8 4
c 0.08 0.06 0.04 0.01 0.0001
/ 8.221 1.0707 1.214 1.221 1.701
c
l
.0000 1.0084 1.267 1.6278 1.0828
c
2
.084 1.8010 1.074 1.0888 2.8028
Foi c = 0.04 ano inilial conoilions .
c
(o, t
0
) =
`
, .
|
(o, t
0
) =
l
(o), lho oxpiossion (20) in 1hooiom 4 piovioos lho
following ullimalo Lounooonoss conoilion:
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do
_1.1000c
0.0S|
_
l
0
[
2
l
(o)
`
2
(o)[do 11.0044 n
2
1ho wavo oqualion appioach also piovioos an ullimalo
Louno whon lho oamping , is nol nogligiLlo. Foi , =
0.1 :, il is:
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do
_1.184c
0.0S|
_
l
0
[
2
l
(o)
`
2
(o)[do 18.864 n
2
.
Il appoais lhal lho lwo appioachos complolo oach olhoi:
lho oiloionco oqualion appioach loaos lo an ullimalo
Louno foi lho main vaiiaLlo of inloiosl, lho angulai vo-
locily al lho oiill Lollom .
|
(1, t), whilo lho wavo oqua-
lion moool piovioos an ullimalo Louno foi lho moasuio
_
l
0
[.
2
c
(o, t) .
2
|
(o, t)[do of lho oisliiLuloo Lohavioi naluio
of lho syslom.
6. CONCLUDING ILMAIKS
Ullimalo Lounos foi a oisliiLuloo oiill pipo moool aio
oLlainoo lhiough an analysis Lasoo on a oiloionco oqua-
lion moool ano on a wavo oqualion oosciiplion. Nolico
lhal lho oslimalo foi lho oiloionco oqualion is oLlainoo
via oiiocl compulalions whilo lho oslimalo foi lho wavo
oqualion is achiovoo lhiough lho solulion of linoai maliix
inoqualilios lhal aio woll known lo involvo an amounl of
consoivalism. Novoilholoss, il shoulo Lo poinloo oul lhal
lho wavo oqualion appioach aooiossos lho moio gonoial
caso whoio lho oamping is nol noglocloo.
ILFLILNCLS
Flioss, M., Mounioi, H., Iouchon, I., ano Iuoolph, J.
(100). ConliollaLilily ano molion planning foi linoai
oolay sysloms wilh an applicalion lo a loxiLlo ioo. h
nJ:n n 1..n nnJ n:|, USA.
Challamol, N. (2000). Iock oosliuclion olocl on lho sla-
Lilily of a oiilling sliucluio. J&:nn| J &nJ nnJ .-
h:n.n. 288 (2), 2824.
Challamol, N. (1000). Lluoo oo slaLililo oùno sliucluio oo
foiago a pailii ou piocossus oo oosliuclion oo la iocho.
1hso oocloialo, Lcolo Nalionalo Supoiiouio oos Minos
oo Iaiis, Fianco.
Iouchon, I. (1008). Flalnoss ano slick-slip slaLilizalion.
1ochnical Iopoil, Lcolo oos Minos , 402.
Fiioman, L. ano Oilov, Y. (2008). Lounoaiy conliol of
somilinoai hoal piocossos ano oisliiLuloo mochanical
oscillalois: an LMI appioach. 1:J.nj J h n-
J:n n 1..n nnJ n:|, Cancun, Moxico.
Fiioman, L. ano DamLiino, M. (2008). Conliol unooi
quanlizalion, saluialion ano oolay: a LMI appioach. 17-
h 11 1:|J nj:, Sooul, Koioa.
Khalil, H. (1002). Nonlinoai Sysloms. MacMillan IuLlish-
ing.
Nicaiso, S. ano Iignolli, C. (2006). SlaLilizalion of lho
wavo oqualions wilh vaiiaLlo coomcionls ano Lounoaiy
conoilions of momoiy lypo. Asymplol. Anal., vol. 0,
no. 1-2, 8167.
Wang, 1. (1004). SlaLilily in aLsliacl funclional-
oiloionlial oqualions. II. Applicalions. J&:nn| J `nh-
nn.n| nn|j. nnJ |.n.n, vol. 186, 88-861.
A.2 HeducIng stIck-sII oscIIIatIons In oIIveII drIIIstrIngs
TItuIo: HeducIng stIck-sII oscIIIatIons In oIIveIIdrIIIstrIngs
Autores: AartLa HeIen SaIdIvar, Jean Jacques LoIseau
y SaLIne AondI
SonetIdo a: InternatIonaI ConIerence on EIectrIcaI EngIneerIng,
ConutIng ScIence and AutonatIc ControI {CCE-2009),
ToIuca, AxIco, 10-13 de ovIenLre de 2009.
6
Reducing Stick-Slip Oscillations in Oilwell Drillstrings
Martha Belem Saldivar
, Sabine Mondi
, Jean Jacques Loiseau
l
Department oI Atomatic Control, CINVESTAV-IPN, Mexico D.F., Mexico
Email: smondiectrl.cinvestav.mx, msaldivarctrl.cinvestav.mx
2
Institut de Recherche en Communications et Cyberntique de Nantes, Nantes, France
Email: jean-jacques.loiseauirccyn.ec-nantes.Ir
-Torsional drillstring vibrations, also known as
"Stick-slip" oscillations appearing in oilwell drillstrings are a
source of failures which reduce penetration rates and increase
drilling operation costs. An important problem to solve is the
determination of control laws that reduce stick-slip phenomenon.
A distributed model for the drilling system is given, this model
is reduced to a neutral type retarded model through two dif-
ferent approaches: the dÀlembert transformation and Laplace
transforms techniques.
Some experience-based control strategies are evaluated in
order to reduce stick-slip oscillations. The use of the angular
velocity at the drillstring upper part, the torque on the bit and
the weight on the bit is shown to have a key effect in the reduction
of drillstring torsional vibrations.
I. INTRODUCTION
Oilwell drillstrings are mechanisms that play a key role in
the petroleum extraction industry. Failures in drillstrings can
be signifcant in the total cost oI the perIoration process. These
devices are complex dynamic systems with many unknown
and varying parameters due to the Iact that drillstring char-
acteristics change as the drilling operation makes progress.
The drillstring interaction with the borehole gives rise to a
wide variety oI non-desired oscillations which are classifed
depending on the direction they appear. Three main types oI
vibrations can be distinguished: torsional (stick-slip oscilla-
tions), axial (bit bouncing phenomenon) and lateral (whirl
motion due the out-oI-balance oI the drillstring). Torsional
drillstring vibrations appears due to downhole conditions, such
as signifcant drag, tight hole, and Iormation characteristics. It
can cause the bit to stall in the Iormation while the rotary
table continues to rotate. When the trapped torsional energy
(similar to a wound-up spring) reaches a level that the bit
can no longer resist, the bit suddenly comes loose, rotating
and whipping at very high speeds. This stick-slip behavior
can generate a torsional wave that travels up the drillstring
to the rotary top system. Because oI the high inertia oI the
rotary table, it acts like a fxed end to the drillstring and
refects the torsional wave back down the drillstring to the
bit. The bit may stall again, and the torsional wave cycle
repeats |1|. The whipping and high speed rotations oI the bit
in the slip phase can generate both severe axial and lateral
vibrations at the bottom-hole assembly (BHA). The vibrations
can originate problems such as drill pipe Iatigue problems
|10|, drillstring components Iailures |11|, wellbore instability
|2|. They contribute to drillpipe Iatigue and are detrimental to
bit liIe.
A Iull simulation covering all relevant phenomena is not
reasonably practical and authors generally study vibration
mechanisms individually. We Iocus on the problem oI reducing
stick-slip vibrations by mean oI the alignment oI diIIerent
drilling parameters, such as: rotary speed, drilling torque and
weight-on-bit. This approach captures qualitatively the driller`s
expertise. In practice, the drilling operator typically controls
the surIace-controlled drilling parameters, such as the weight-
on-bit, drilling fuid fow through the drill pipe, the drillstring
rotational speed and the density and viscosity oI the drilling
fuid to optimize the drilling operations.
The great practical signifcance oI oilwell drillstrings has
interested some researchers. Several approaches have been
used to treat the modelling and control problems. Most oI
them deal with the torsional behavior and the suppression oI
stick-slip oscillations. Some classical control techniques Ior
suppressing the stick-slip phenomenon are: the introduction
oI a soIt torque rotary system (STRS) at the top oI the
drillstring |3|, where the underlying idea is making the top
rotary system behave in a 'soIt manner rather than as a
fxed heavy fywheel so that the torsional waves arriving at the
surIace are absorbed breaking the harmIul cycling motion, the
introduction oI a vibration absorber at the top oI the drillstring
|4|, the introduction oI a PID controller at the surIace in
order to control the rotary speed |5|, the introduction oI an
additional Iriction at the bit |5|. A more sophisticated control
methodology is used in |6| where a linear H
control is used
to suppress stick-slip motion at the bit.
This contribution is Iocused on the drillstring analysis and
the main goal is to give some operating recommendations
in order to maintain optimal drilling conditions since the
introduction oI a automatic controlled drilling system can be
unIeasible due to the complexity oI oilwell drillstrings and
drilling practices.
The paper is organized as Iollows. In Section 2 we present
a distributed parameter model describing the drilling system
which is transIormed to a neutral type retarded equation in
order to simpliIy the analysis and simulations. In Section 3
we present a model Ior the torque on the bit which describes
stick-slip oscillations. The eIIects oI the weight on the bit and
the rotational speed at the surIace (\) on the bit behavior are
analyzed. Two strategies to reduce stick-slip oscillations are
given in Section 4: frst, a variation law Ior the weight on
the bit, second, the increment oI the damping at the bottom
extremity. Conclusions are presented in the last section.
II. DRILLING SYSTEM MODEL
A sketch oI a simplifed drillstring system is shown on Fig.
1.
Fig. 1 The drilling system
The main process during well drilling Ior oil is the creation
oI borehole by a rock-cutting tool called a bit. The drillstring
consists oI the BHA (bottom hole assembly) and drillpipes
screwed end to end to each other to Iorm a long pipe. The
BHA comprises the bit, stabilizers (at least two spaced apart)
which prevent the drillstring Irom balancing, and a series oI
pipe sections which are relatively heavy known as drill collars.
While the length oI the BHA remains constant, the total length
oI the drill pipes increases as the borehole depth does. An
important element oI the process is the drilling mud or fuid
which among others, has the Iunction oI cleaning, cooling and
lubricating the bit. The drillstring is rotated Irom the surIace
by an electrical motor. The rotating mechanism can be oI two
types: a rotary table or a top drive.
Next, we present two modeling strategies Ior this physical
system.
A. Distributea parameter moael
A distributed parameter model describing the drilling system
is frst presented. The drill pipe is considered as a beam
in torsion. A lumped inertia 1
1
is chosen to represent the
assembly at the bottom hole and a damping , 0 which
includes the viscous and structural damping, is assumed along
the structure. The speed at the surIace ( = 0) is set at
a constant value \. The other extremity ( = 1), which
symbolizes the bit, is subject to a torque T, which is a Iunction
oI the bit speed. The mechanical system is described by the
Iollowing partial diIIerential equations:
GJ
0
2
0
2
(, t) 1
0
2
0t
2
(, t) ,
0
0t
(, t) = 0, (1)
(0, 1), t 0
with boundary conditions
(0, t) = \t; (2)
GJ
0
0
(1, t) 1
1
0
2
0t
2
(1, t) = T (t)
where (, t) is the angle oI rotation, 1 is the inertia, G is
the shear modulus and J is the geometrical moment oI inertia
|13|.
B. Neutral type retaraea moael
In order to simpliIy the analysis and simulations oI the
system we transIorm now the above distributed parameter
model to a neutral type retarded equation. We present next
two ways to achieve that: the DÀlembert transIormation, and
Irequency domain analysis.
1) DAlembert transformation. In the sequel the damping
, is assumed to be zero, hence the distributed parameter model
reduces to the unidimensional wave equation
0
2
0
2
(, t) = j
2
0
2
0t
2
(, t), (0, 1), (3)
where j =
_
1
C
, and the boundary conditions (2).
The general solution oI (3) can be written as:
(, t) = c(t j) c(t j),
where c, c are continuously diIIerentiable real-valued Iunc-
tions oI one variable. Let = t j, j = t j, then
0
0t
=
0
0

0
0j
,
0
0
= j
0
0
j
0
0j
.
The boundary conditions (2) can be rewritten as
` (0, t) =
`
c(t)
`
c(t) = \(t), (4)
0
0
(1, t) = j
0c
0
(t I) j
0c
0j
(t I) = (5)
1
1
GJ
_
0
2
c
0
2
(t I)
0
2
c
0j
2
(t I)
_
1
GJ
T(t).
where I = j1. Let the output be the displacement Irom the
unexcited position at the bottom extremity:
n(t) = (1, t) = c(t I) c(t I). (6)
Taking the derivative oI (6) and considering c and , as
Iunctions oI the time t, it Iollows Irom (4) and (5) that:
c(t)
c(t) = \(t), (7)
c(t I)
c(t I) =

n(t), (8)
j
c(t I) j
c(t I) =
1
1
GJ
n(t)
1
GJ
T(t). (9)
The equation (8) implies that
c(t I) =
c(t I)

n(t).
Substituting this last equation into (7) and (9) yields
c(t)
c(t 2I)

n(t I) = \(t) (10)
and
2j
c(t I) j

n(t) =
1
1
GJ
n(t)
1
GJ
T(t)
or
c(t) =
1
2
n(t I)
1
1
2
1GJ
n(t I)
1
2
1GJ
T(t I).
Substituting the above equation into (10):
1
2
n(tI)
1
1
2
1GJ
n(tI)
1
2
1GJ
T(tI)
1
2
n(tI),
1
1
2
1GJ
n(t I)
1
2
1GJ
T(t I)

n(t I) = \(t).
The neutral type retarded model Ior the drill system is then:
n(t) n(t 2I)
1GJ
1
1
n(t)
1GJ
1
1
n(t 2I) =
(11)
1
1
1
T(t)
1
1
1
T(t 2I)
2
1GJ
1
1
\(t I).
2) Laplace transform. The model (11) can also be obtained
by using the input-output transIer via Laplace transIorm tech-
niques.
It Iollows Irom the defnition
((, t)) = (, :) =
_
0
c
s|
(, t)dt.
where ((, t)) denote the unilateral Laplace transIorm oI
(, t). Thus,
_
0
2
(, t)
0t
2
_
= :
2
((, t)) :(, 0)
|
(, 0)
= :
2
(, :) :(, 0)
|
(, 0),
_
0(, t)
0t
_
= :((, t)) (, 0)
= : (, :) (, 0),
_
0
2
(, t)
0
2
_
=
0
2
((, t))
0
2
=
0
2
(, :)
0
2
,
_
0(, t)
0
_
=
0((, t))
0
=
0 (, :)
0
.
Considering that the initial conditions are null, the equation
(3) can be rewritten as
GJ
0
2
(, :)
0
2
= 1:
2
(, :) (12)
The general solution oI (12) is:
(, :) =
l
(:)c
2
(:)c
s
(13)
where
l
(:) and
2
(:) are particular solutions to be deter-
mined. From the boundary conditions (2) we have that:
` (0, t) = \(t). (14)
In view oI (14) we can rewrite the boundary conditions as
\(:) = :
l
(:) :
2
(:) (15)
GJ
0
0
(1, :) 1
1
:
2
(1, :) = T(:). (16)
The derivative oI (13) is
d (, :)
d
=
l
(:)
_
1
GJ
:c
2
(:)
_
1
GJ
:c
s
,
(17)
substituting (17) into (16) yields
GJ
_
l
(:)
_
1
GJ
:c
sJ
2
(:)
_
1
GJ
:c
sJ
_
1
1
:
2
_
l
(:)c
sJ
2
(:)c
sJ
_
= T(:)
or, in matrix Iorm
_
: :

__

l
(:)
2
(:)
_
=
_
\(:)
T(:)
_
where = c
Is
(
1GJ: 1
1
:
2
), =
c
Is
_
1GJ: 1
1
:
2
_
and I =
_
1
C
1. The particular
solutions
l
(:) and
2
(:) are then:
_

l
(:)
2
(:)
_
=
1
1(:)
_
:
:
__
\(:)
T(:)
_
where
1(:) = :
_
c
Is
_
1GJ: 1
1
:
2
_
c
Is
(
1GJ: 1
1
:
2
)
_
,
hence
l
(:) =
=
c
Is
_
1GJ: 1
1
:
2
_
\(:) :T(:)
:
_
c
Is
_
1GJ: 1
1
:
2
_
c
Is
(
1GJ: 1
1
:
2
)
_
=
c
2Is
_
1GJ: 1
1
:
2
_
\(:) :c
Is
T(:)
:
_
c
2Is
_
1GJ: 1
1
:
2
_
(
1GJ: 1
1
:
2
)
_,
2
(:) =
=
c
Is
(
1GJ: 1
1
:
2
)\(:) :T(:)
:
_
c
Is
_
1GJ: 1
1
:
2
_
c
Is
(
1GJ: 1
1
:
2
)
_
=
(
1GJ: 1
1
:
2
)\(:) :c
Is
T(:)
:
_
c
2Is
_
1GJ: 1
1
:
2
_
(
1GJ: 1
1
:
2
)
_.
By choosing as the output the displacement Irom the unexcited
position at the bottom extremity: n(:) = (1, :) =
l
(:)c
Is
2
(:)c
Is
, we get
n(:) =
1
:
_
c
2Is
_
1GJ: 1
1
:
2
_
(
1GJ: 1
1
:
2
)
_
where 1 = c
Is
_
1GJ: 1
1
:
2
_
\(:) :T(:)
c
Is
(
1GJ:1
1
:
2
)\(:):c
2Is
T(:), aIter simplifcations
we get
n(:) =
2
1GJc
Is
\(:) T(:) c
2Is
T(:)
c
2Is
_
1GJ: 1
1
:
2
_
(
1GJ: 1
1
:
2
)
(18)
Finally, the neutral equation (11) is obtained via the inverse
Laplace transIorm oI (18).
III. STICK-SLIP PHENOMENON
A model Ior the torque on the bit T which describes the
stick-slip phenomenon is presented.
The Iollowing switched equation is introduced in |12|, it
allows to approximate the physical phenomenon at the bottom
hole
T = c
b
` n(t) \
ob
1
b
j
b
( ` n(t)):q:( ` n(t)), (19)
the term c
b
` n(t) is a viscous damping torque at the bit which
approximates the infuence oI the mud drilling and the term
\
ob
1
b
j
b
:q:( ` n(t)) is a dry Iriction torque modelling the bit-
rock contact. 1
b
0 is the bit radius and \
ob
0 the weight
on the bit. The bit dry Iriction coeIfcient j
b
( ` n(t)) is modeled
as
j
b
( ` n(t)) = j
cb
(j
sb
j
cb
)c
` u(|)
(20)
where j
sb
, j
cb
(0, 1) are the static and Coulomb Iriction
coeIfcients and 0 <
b
< 1 is a constant defning the velocity
decrease rate. The constant velocity
}
0 is introduced in
order to have appropriate units.
The Iriction torque (19)-(20) leads to a decreasing torque-
on-bit with increasing bit angular velocity Ior low velocities
which acts as a negative damping (Stribeck eIIect) and is
the cause oI stick-slip selI-excited vibrations. The exponential
decaying behavior oI T coincides with experimental torque
values.
Equations (11),(19) describe the drillstring behavior and
the occurrence oI stick-slip oscillations. A simulation oI the
system (11)-(19) with \
ob
= 07847 and \ = 10rad,:cq is
shown on Fig. 2. Notice that when the phenomenon occurs,
as reported in real wells, important torque fuctuations appear
|10|.
The model parameters used Ior the simulations presented in
the sequel are:
G = 70.8r10
9
,:
2
, 1 = 0.001q :, 1 = 1172:,
J = 1.10r10
5
:
d
, 1/ = 0.17,
}
= 1
c
b
= 0.08::,rad, j
cb
= 0. j
sb
= 0.8,
b
= 0.0.
and the simulations are perIormed using the variable step
Matlab-simulink solver ode45 (Dormand Prince method).
Fig. 2. Stick-slip phenomenon. (1) Velocity at the bottom
extremity. (2) Torque on the bit.
Next, simulation results showing the eIIect oI the weight on
the bit \
ob
and oI the velocity at the surIace \ are presented.
A. Effect of the weight on the bit on stick-slip
According to drillersèxperience, Ior a fxed angular velocity
at the surIace \, reducing the weight on the bit \
ob
makes
the stick-slip phenomenon disappear, and when \
ob
is very
large the bit is stopped |3|. A simulation oI the system (11)-
(19) with \ = 10rad,:cq and the weight on the bit decreased
Irom 07847 to 1640 shows an important reduction oI the
stick-slip oscillations. See Fig. 3.
Fig. 3. Reduction oI stick-slip phenomenon by decreasing the
weight on the bit. (1) Velocity at the bottom extremity. (2)
Torque on the bit.
The values oI the weight on the bit Ior which the stick-
slip phenomenon disappear obtained according to simulations
results are displayed in the Iollowing table:
\(rad,:cq) \
ob
() <
2 1208
4 7198
6 26355
8 38509
10 54117
20 116673
40 448828
60 668800
For example, iI the velocity at the surIace is \ = 10rad,:cq,
then in order to the phenomenon don`t appear, is necessary
that \
ob
< 4117.
B. Effect of the velocity at the surface on stick-slip
Experimental results also indicate that the stick-slip phe-
nomenon is avoided by increasing the velocity at the surIace
\. The simulation results oI Fig. 4 show that the stick-slip
vibrations are reduced by means oI increasing the velocity at
the top extremity Irom \ = 10rad,:cq to \ = 20rad,:cq
while the weight on the bit remains \
ob
= 07847 as on
Fig. 2.
Fig. 4. Reduction oI stick-slip phenomenon by increasing the
angular velocity at the surIace. (1) Velocity at the bottom
extremity. (2) Torque on the bit.
As the above simulations refect experimental results, the
model (11), (19) is validated.
IV. STRATEGIES TO REDUCE STICK-SLIP OSCILLATIONS
In practice, the driller operator typically controls the
surIace-controlled drilling parameters, such as the weight
on the bit, the drillstring rotational speed and the density
and viscosity oI the drilling fuid to optimize the drilling
operations. Next, we present two eIIective strategies to reduce
stick-slip phenomenon: the manipulation oI the weight on the
bit and the increasing oI the damping at the bottom extremity.
A. Manipulation of the weight on the bit
From feld data experience and Irom simulations oI the
model studied, it is concluded that the manipulation oI the
weight on the bit can be a solution Ior stick-slip oscillations
even Ior low velocities at the surIace \. Increasing velocities
at the rotary top driving system may lead to lateral vibrations,
that is why the manipulation oI the weight on the bit can be an
alternative solution in order to attenuate stick-slip oscillations.
The variation oI the weight on the bit is proposed in |1| as
Iollows:
\
ob
( ` n) = 1
u
` n(t) \
ob0
(21)
with \
ob0
0 and \
ob
\
ob0
. Expression (21) captures
the main characteristics oI the weight on the bit. When ` n(t)
decreases, \
ob
decreases. As too low values oI \
ob
would
make drilling stop, the weight on the bit must be maintained at
a minimal value \
ob0
to insure a desirable rate oI penetration.
\
ob0
should not be considered constant and should be
instead analyzed in relation to the depth drilled and the
increasing while-drilling drillstring length.
\
ob
variation law (21) can be substituted into model
(11) with (19)-(20) Ior a drilling parameters combination Ior
which stick-slip oscillations are presented. This is the case oI
considering \ = 10rad,:cq and \
ob0
= 07847 as it is
shown on Fig. 5.
Fig. 5. Reduction oI stick-slip oscillations by means oI
considering a ` n-depending weight on the bit. (1) Velocity at
the bottom extremity. (2) Torque on the bit.
B. Manipulation of the aamping at the bottom extremity
Another strategy Ior reducing stick-slip oscillations at the
BHA is by increasing the damping at the down end oI the
drillstring. This can mainly be done in two ways:
1) ModiIying the drilling fuid characteristics. It could
be approximated by means oI increasing the damping
coeIfcient c
b
.
2) With the inclusion oI vibration absorbers at the BHA in
order to dampen torsional vibrations generated at the bit
and prevent them Irom travelling up and back down the
drillstring |1|.
The behavior oI the velocity in the bottom extremity oI
the system (11) with the expression Ior the torque (19) Ior
diIIerent values oI c
b
is shown on Fig. 6.
Remark 1. There are several methods to estimate the weight
on the bit and the velocity at the bottom extremity, see
Ior example diIIerent methods used together with TRAFOR
system designed in the Institut Franais du Ptrole.|8|. In
addition, there exist several methods to predict the sticking
oI the drillstring, see Ior example the patent |9|.
Fig. 6. Velocity at the bottom extremity Ior diIerent values oI
the damping coeIfcient: (1) c
b
= 0.::,rad; (2)
c
b
= ::,rad; (3) c
b
= 0::,rad; (4)
c
b
= 20::,rad.
V. CONCLUSION
A distributed parameter model describing the torsional
behavior oI a vertical oilwell drillstring has been presented. We
use the DÀlembert transIormation and the Laplace transIorm
to obtain a neutral type retarded model in order to simpliIy
the analysis and simulations oI the drillstring. We presented
a model Ior the rock-bit interaction originating stick-slip selI-
excited oscillations.
Some strategies Ior reducing stick-slip oscillations are ap-
plied based on the manipulation oI BHA characteristics. Two
main solutions are highlighted, frst, the variation oI the weight
on the bit, second, the increasing oI the damping at the down
end oI the drillstring. These two solutions are in accordance
with experimental feld data.
REFERENCES
|1| E. Navarro and R. Suarez, "Practical approach to modelling and con-
trolling stick-slip oscillations in oilwell drillstrings", Proceeaings of the
2004 IEEE International Conference on Control Applications, Taipei,
Taiwan, 2004, pp. 1454-1460.
|2| J. C. R. Placido, H. M. R. Santos and Y. Galeano, "Drillstring Vibration
and Wellbore Instability", Journal of Energy Resources Technology,
Transactions of the ASME, vol. 124. no. 4, 2002, pp. 217-222.
|3| P. Sananikone, "Method and Apparatus Ior Determining the Torque
Applied to a Drillstring at the SurIace", United States Patent number
5,205,163, Schlumberger Technology Co., Houston, TX. April, 1993.
|4| J. D. Jansen and L. van den Steen, "Active Damping oI SelI-excited
Torsional Vibrations in Oil Well Drillstrings", Journal of Souna ana
Jibration, vol. 179, no. 4, 1995, pp. 647-668.
|5| D. R. Pavone and J. P. Desplans, "Application oI High Sampling
Rate Downhole Measurements Ior Analysis and Cure oI Stick-slip in
Drilling", in SPE Annual Technical ConIerence and Exhibition, New
Orleans, LA, 1994. pp. 335-345, SPE 28324.
|6| A. F. A. Serrarens, M. J. G. van de MolengraIt, J. J. Kok and L.
van den Steeen, " Control Ior Suppressing Stick-slip in Oil Well
Drillstrings", IEEE Control Systems, April, 1998, pp. 19-30.
|7| J. J. Loiseau, M. Cardelli and X. Dusser, "Neutral-type time-delay
systems that are not Iormally stable are not BIBO stabilizable", IMA
Journal of Mathematical Control ana Information, 2002, pp. 217-227.
|8| P. J. Perreau, I. F. Rey Fabret, M.M. Gomel and C.M. Mabile, "New
Results in Real Time Vibrations Prediction" 8th International Petroleum
Exhibition ana Conference, Abu Dhabi, U. A. F., 1998, pp. 190-199.
|9| R. G. Whitten, "Method Ior Predicting Drillstring Sticking", United
States Patent number 5,181,172, Teleco Oilfeld Services Inc., Meriden,
Conn., January, 1993.
|10| P. C. Kriesels, W. J. G. Keultjes, P. Dumont, I. Huneidi, A. Furat, O.
O. Owoeye and R. A. Hartmann "Cost Savings through an lntegrated
Approach to Drillstring Vibration Control", SPE/IADC Miaale East
Driling Technology Conference, Abu Dhabi, 1999, SPE/IADC 57555.
|11| G. Mensa-Wilmot, M. Booth and A. Mottram, "New PDC Bit Technol-
ogy and Improved Operational Practices Saves IM in Central North Sea
Drilling Program", SPE/IADC Drilling Conference, New Orleans, 2000
SPE/IADC 59108.
|12| E. Navarro, D. Corts, "Sliding-mode oI a multi-DOF oilwell drillstring
with stick-slip oscillations", Proceeaings of the 2007 American Control
Conference. New York City, Usa, 2007, pp. 3837-3842.
|13| N. Challamel, "Rock destruction eIIect on the stability oI a drilling
structure", Journal of souna ana vibration, Fontainebleau, France, 2000,
vol. 233, iss. 2, 235-254.

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CENTRO DE INVESTIGACION Y DE ESTUDIOS AVANZADOS DEL

INSTITUTO POLITCNICO NACIONAL

(t) = !(t). (2.1)

salisfaco la misma cola supoiioi quo

salisfacon la misma cola (8.10). As, so liono

&nn J&n.n nh|&nnn n.n&n j n &nn n:.nh| nn-

ooponoo oo la goomolia oo la aplicacion.

son la fiiccion oo CoulomL y la fiiccion oslalica iospoclivamonlo, 1

1n:nnn J n:| &nn. J| n: J 1n.jn.n j

1n:nn J 1|:.n| 1nj.n:.nj nnJ 5jn n h J|-.

Lo an aLsoluloly conlinuous funclion. If lhoio oxisls

salislos lho samo

foi t :. 1hon wo oLlain fiom

salisfy lho samo Louno (16).

, Jean Jacques Loiseau

c(t) = \(t), (7)

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