SPE 77616
Influence of bit-rock interaction on stick-slip vibrations of PDC bits
T. Richard, University of Minnesota; E. Detournay, University of Minnesota; M. Fear, BP-Amoco; B. Miller, BP-Amoco;
R. Clayton, Security DBS; and O. Matthews, Security DBS.
Copyright 2002, Society of Petroleum Engineers Inc.
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Abstract
This paper describes a new approach to understand the causes
of stick-slip vibrations experienced by PDC bits. This new
model takes into consideration not only the axial and torsional
modes of vibration, but also the coupling between these two
modes through bit-rock interaction laws, which are consistent
with laboratory results from single cutter experiments. These
interaction laws, which account for both frictional contact and
cutting processes at the bit-rock interface, are formulated in
terms of the depth of cut, a variable that brings into the
equations the position of the bit at a previous a priori unknown
time. They also account for potential loss of frictional contact
between the wear-flats and the rock. The delayed and coupled
nature of this interaction is ultimately responsible for the
occurrence of self-excited vibrations, which can degenerate
into stick-slip oscillations under certain conditions. The
features of the torsional vibrations that are predicted with this
model are well in accordance with field observations.
Furthermore, the results reveal that the model predicts
apparent rate effects as an inherent outcome of the nature of
the bit-rock interface.
Introduction
Different types of vibrations can take place while drilling with
PDC bits, namely lateral (or bending), vertical, and torsional
vibrations. The research reported in this paper focuses on
torsional vibrations and more precisely on their most violent
extent: the so-called stick-slip vibrations.
Stick-slip, as indicated by its name, is characterized by a
periodic (or almost periodic) succession of sticking phases
where the bit stops for a finite time interval (typically several
tenths of a second) and slipping phases where its angular
velocity Ω increases up to two or three times the imposed
velocity Ωo, see Figure 1. Stick-slip oscillations can last for
several minutes. Downhole measurements indicate that the
magnitude of vibrations (in terms of torque and angular
velocity) occurring close to the bit are up to one order of
magnitude larger than the vibrations recorded at the surface
(Cunningham, 1968; Lesseultre and Lamine 1998). The
vibrations induced in the drilling assembly while drilling with
PDC bits increase bit wear, and can result in premature fatigue
failure of the string or breakage of the bit itself. According to a
study performed at Elf-Aquitaine by Henneuse (1992), the
occurrence of stick-slip corresponds to about 50% of the on-
bottom drilling time.
Field and Laboratory Observations
The measured frequency fo of torsional and stick-slip
oscillations is found to be close to the estimated first natural
frequency of the drill string assembly in torsion (Brett 1992,
Pavone and Desplans 1994, Challamel 2000). However, while
the angular velocity exhibits a monofrequential behavior
during stick-slip oscillations, the weight-on-bit W and the
torque T present a more widely spread power spectrum, see
Figure 2.
Stick-slip vibrations have been observed to occur mostly
under large weight-on-bit and low angular velocity (Brett
1992). Thus, an increase of the applied weight-on-bit or a
decrease of the angular velocity can trigger instabilities
leading eventually to stick-slip vibrations, see Figure 3.
Similarly, a decrease of the applied Wo or an increase of Ωo
can stop stick-slip vibrations as shown in Figure 4. As
depicted in these figures, stick-slip oscillations are
accompanied by a decrease of the mean side (or lateral)
acceleration. These data have been recorded downhole using
the instrumented bit developed by Security-DBS (Lesseultre
and Lamine 1998). Pragmatically in the field, it is sometimes
necessary to pull the bit off-bottom in order to arrest the
torsional vibrations (Brett 1992).
In the drilling industry, stick-slip is known to be more
pronounced in hard rock (Brett 1992, Fear 2000). Fear (2000)
observes that “laterally stable” bits are more susceptible to
stick-slip and also exhibit a decrease of the mean torque with
2 T. RICHARD, E. DETOURNAY, M. FEAR, B. MILLER, R. CLAYTON, O. MATTHEWS.
the angular velocity under constant weight-on-bit. He also
states that some bits display an increase of the mean torque
with the angular velocity and are less prone to stick-slip.
Consequently, any attempt to model stick-slip oscillations
must reproduce these features. In addition, other observations
indicate that:
1. the source of stick-slip vibrations lies within the bit-rock
interface;
2. stick-slip vibrations are of self-excited nature.
Standard model
A velocity weakening bit/rock interface law
A survey of the literature indicates that most authors reduce
the drilling system to its torsional mode with a resisting torque
at the bit-rock interface characterized by a velocity weakening
law. This law is usually taken in the form of an exponentially
decaying function. This boundary condition acts as a negative
damping responsible for the growth of oscillations leading to
self-excited stick-slip vibrations. Brett (1992) shows results of
laboratory drilling tests that display a monotonic decrease of
the torque T (the bar means averaged over several bit
rotations) with the imposed velocity Ωo under constant applied
weight-on-bit Wo, see Figure 5. This decrease is more
pronounced in hard rocks, with dull bits, at low rotary speed,
under large weight on bit.
Shortcomings of the standard model
In this approach, the rate effect is seen as a constitutive
property of the processes taking place at the bit-rock interface.
To our knowledge, however, rate effects have not been
measured during single cutter experiments with sharp or blunt
PDC inserts; and there is no model in the literature that
includes rate effects in modeling the cutting and frictional
processes mobilized by a single cutter. Additionally, the
velocity-weakening trend (T-Ω) varies with the bit geometry
(under identical drilling conditions), with some bits considered
“rate insensitive.” If the weakening behavior is indeed a
constitutive property of the bit-rock interface, it cannot be
affected by the bit geometry, since the only dimension that
characterizes the geometric properties of the bit (profile,
radius, cutter density, chamfer length) is the dimension of
length.
Laboratory data are averaged over many rotations, which
does not guarantee that similar effects exist at smaller time
scales. But, in order to model stick-slip oscillations provoked
by a velocity weakening law, one needs to consider rate
effects taking place over a time scale much smaller than the
period of stick-slip vibrations, which varies typically from 1 to
3 s or equivalently from 0.5 to 10 revolutions. At such time
scale and in the case of experiments performed under
controlled weight-on-bit, one must take into account the
vibrations taking place at the bit level. Indeed, only
experiments conducted under kinematic control (i.e.,
SPE 77616
controlled rate of penetration) can reduce to a negligible level
the magnitude of the vibrations undergone by the bit and the
structure. Therefore, we suspect that rate effects (measured
during laboratory or field experiments) are rather a
consequence of the overall dynamic of the system rather than
an intrinsic property of the bit-rock interface.
Also, the standard approach is not predictive. Indeed, use
of downhole data (torque and angular velocity) measured
during stick-slip events are used in order to construct the
velocity weakening torque law (Pavone and Desplans 1994,
and Challamel 2000). Finally, if rate effects are to be
considered as an intrinsic property of the bit-rock interface, it
is then difficult to envisage permanent solutions to stick-slip:
the selection of safe drilling parameters (high angular velocity
and low weight-on-bit) is not always technically achievable or
not compatible with other issues associated with the drilling
process; techniques of servo-control of the torque on surface
have not been sufficiently successful to be widely applied.
Interpretation of laboratory data
In the classical approach, the description of the bit-rock
interface is reduced to an equivalent frictional contact. In the
following section, we describe a phenomenological model
introduced by Detournay and Defourny (1992) and referred as
the DD model, which takes into account both the frictional and
the cutting processes. We then conduct an analysis of
laboratory data within the framework of the DD model.
The cutting action of a single insert consists of two
independent processes: (i) a pure cutting process taking place
ahead of the cutting face, and (ii) a frictional process
mobilized along the contact between the chamfer (or wear flat)
and the rock, see Figure 6.
The force Fc associated with the cutting process is
proportional to the depth of cut d (or thickness of the material
to be removed) while the frictional force Ff mobilized along
the wear flat is controlled by a friction coefficient µ
(Detournay and Defourny 1992, Adachi et al. 1996).
These concepts can be extended to model the force acting
on a drill bit. The torque T and weight-on-bit W can thus be
decomposed as
T = Tc + Tf W = Wc + Wf (1)
where the subscript c and f stands for cutting and friction,
respectively. The cutting components Tc , Wc correspond to
the forces transmitted by the cutting face of each cutter, and
the friction components Tf , Wf by the other contacts between
the bit and the rock, e.g. the cutter wear flats and rock debris
stuck between the bit body and the rock surface.
The shear and normal components of the force at the
contacts underneath each cutter wear flat that contribute to the
torque Tf and weight-on-bit Wf are controlled by a frictional
process
2Tf = µ aγ Wf (2)
SPE 77616 INFLUENCE OF BIT-ROCK INTERACTION ON STICK-SLIP VIBRATIONS OF PDC BITS
The coefficient of friction µ is well correlated to the
internal friction angle of the rock (Adachi et al. 1996). The
dimensionless parameter γ characterizes the orientation of the
frictional contact surfaces; it encapsulates the influence of the
bit geometry on the redistribution of the local forces acting on
the cutters onto the global torque and vertical force acting on
the bit. For a flat-bottom bit, we have 1 ≤ γ ≤ 4 / 3 .
Under the assumption that the magnitude of the cutting
forces is proportional to the bit engagement into the rock
formation or depth of cut d, the torque Tc and weight Wc can
be written as
1 chosen in order to cover a range of different susceptibility to
Tc = ε a d Wc = ζ ε a d
2
(3)
2
where a denotes the bit radius, ε the intrinsic specific energy
that can be related to the rock strength, and ζ a number that
characterizes the ratio W to T for a perfectly sharp bit.
When averaged over several revolutions, the depth of cut
is given by
2π V
d = (4)
Ω apparent friction angle between the bit and the rock γµ do not
with V being the average rate of penetration of the bit, and Ω
the average bit angular velocity (equal to the imposed angular
velocity Ωo).
The response of the bit is obtained by combining the
cutting and frictional processes
2T W mobilized by the cutting process. This decrease of efficiency
= (1 − β )ε d + µγ (5)
a
2
a is accompanied by a decrease of the average torque (β < 1 for
with
β = µγζ (6)
Scaling by the depth of cut yields
E = Eo + µγ S (7)
where E and S are defined as the specific energy and the
drilling strength, respectively, and Eo = (1 − β )ε .
Equation (7) is a constraint on the mean bit response. In
the E-S diagram (see Figure 7), the point representative of the
bit response lies on the friction line. Its location along the line
is determined by the overall contact area between the bit and
the rock and by the weight-on-bit W. The frictional contact
area corresponds to both the cutter wear flats and spurious
contact between the bit body and rock debris. If the bit is
sharp, the state point is located at the cutting point ( E = ε ,
S = ζε ), otherwise the point migrates upwards along the
friction line with an increase of the overall contact area (due to
bit wear and/or cleaning problem) at a given W . The position
of the representative point on the friction line is indicative of
the bit efficiency η that can be defined as
ε cleaning state occur over a fraction of a rotation. Finally, if
η= (8)
E weakening law due to inadequate cleaning, stick-slip behavior
We consider two series of full-scale laboratory tests
carried out on a laboratory drilling machine operated by
3
TerraTek (Salt Lake City, Utah). These experiments provided
an adequate set of data to assess the influence of the angular
velocity on the mean bit response. The tests were performed
under servo-control, i.e., the rate of penetration is
continuously adjusted in order to maintain a constant weight-
on-bit that is measured along the shaft above the bit.
One series of tests, reported by Black et al. (1986), were
conducted in a Mancos shale using a step-type 8.5" PDC bit
with various combinations of imposed Ωo and Wo (Wo = 40,
60, 80 kN and Ωo varying between 50 and 900 rpm). The
second series was carried out in November 2000, with six
different PDC bits provided by Security-DBS. The bits were
lateral vibrations. Specimens of Carthage limestone were
drilled under two different weight-on-bit (Wo= 54 and 80 kN);
the angular velocity Ωo was ramped from 60 to 210 rpm. The
forces (W, T) are averaged over several bit revolutions.
The overall responses are summarized in the E-S diagrams
shown in Figure 8. Clearly, all the experimental data for the
two test series lie along the same line regardless of the angular
velocity. Therefore, both the intrinsic specific energy ε and the
vary with the angular velocity. However, the dispersion along
the friction line is large; the points representative of the bit
response move upward along the line with increasing angular
velocity meaning that the drilling efficiency of the bit
decreases under constant weight-on-bit. In others words, the
contact forces increase with Ωo at the expense of the forces
all of these bits). It has also been observed that the lateral
stability of the bit can have a strong impact on the
(T, Ω) diagram.
Within the framework of the DD model only two
explanations for this behavior emerge:
1. the mean contact stress acting across the chamfers
increases with Ωo;
2. the contact area between the bit an the rock increases due
to inadequate bottom-hole cleaning under increasing Ωo,
which is associated with an increase of debris in view of
the constant mud flow.
However, these two explanations present some flaws. The
first explanation can be tested by performing single cutter
experiments. However, no effect of the cutting velocity on the
forces has been reported in the literature. The second
explanation requires a very strong hypothesis; namely a
uniform distribution of the increase of contact area along the
bit profile, since the bit parameter γ is not affected.
Furthermore, this variation is observed at a time scale
equivalent to several rotations. It is very unlikely, however,
that variations from a sufficient to an insufficient bottom-hole
stick-slip was indeed triggered by an apparent velocity
could not be eliminated by increasing the angular velocity and
therefore the volume of debris.
4 T. RICHARD, E. DETOURNAY, M. FEAR, B. MILLER, R. CLAYTON, O. MATTHEWS.
The previous observations can be summarized as follows.
• The bit response is well predicted by the DD model,
which takes into account both the cutting and frictional
processes mobilized at the bit-rock interface.
• The rate effects are real but they are not a constitutive
property of the bit-rock interface, in the sense that they do
not affect the parameters of the model ε, µ, γ.
• There is no satisfactory explanation for rate effects when
the data are interpreted within the framework of the
DD model.
In the following, we present an alternative approach to model
the stick-slip oscillations of a drag bit (Richard 2001).
Model of a drilling system with cutting and frictional
contact at the bit
The drilling system
Prior to modeling the drilling system, we adopt the following
simplifying assumptions:
• the borehole and the drill string are both vertical
and straight;
• there are no spurious lateral motions of the bit, i.e., the bit
remains centered on the borehole axis;
• the friction between the pipes and the borehole, and
between the pipes and the circulating mud is neglected;
• a constant upward force Ho and a constant angular
velocity Ωo applied at the rig on the drill string represent
the ground surface boundary conditions.
According to the last assumption, the angular position Ωot
is prescribed while the axial displacement is free at the top of
the drill string. The nature of the boundary condition at the
surface (fixed in torsion, free in axial) justify different degrees
of simplifications introduced in the model. Practically, we can
reduce the model to its essential elements: a point mass M and
moment of inertia I to represent the bottom-hole assembly
(BHA) and a linear spring of torsional stiffness C to model the
drill pipe, see Figure 9. Expressions for M, I, and C can
readily be derived by approximating both the drill pipe and the
BHA by continuous hollow shafts with constant cross-section
and density ρ. (In other words, we disregard the additional
components present in the BHA, such as stabilizers and
shock absorbers.
Hence, the lumped parameters M, I, and C are given by
M = ρπ ⎢ ( rbo ) − ( rbi ) ⎥ Lb , I = ρ J b Lb , C = GJ p / Lp (9)
⎡ 2 2⎤
⎣⎢ ⎦⎥
with
π consists of a pure cutting process in front of each blade
J =
⎡
⎢
⎣
(r ) − (r )
o
4
⎥
⎦ i
4⎤
(10)
2 and frictional components of W and T are explicitly
with rpi (rbi), rpo , (rbo), Lp (Lb), Jp (Jb) denoting respectively the
inner radius, outer radius, length, and polar moment of inertia
of the drill pipe (BHA).
Given the constant angular velocity Ωο and constant
upward tension Ho imposed to the upper end of the torsional
SPE 77616
spring, we seek to determine the unknown bit response Ρ. This
response, which is generally a function of time t, consists of
two sets of conjugated dynamic and kinematic quantities: the
weight-on-bit W and the vertical bit velocity V on the one
hand, and the torque-on-bit T and the angular bit velocity Ω on
the other hand. (Refer to Figure 9 for the sign convention used
for these quantities.) It is also convenient to introduce the
vertical position U and the angular position Φ of the bit, which
are simply defined as
U = ∫ Vdt , Φ = ∫ Ωdt
t t
(11)
0 0
There is a steady-state (trivial) response of the bit, denoted as
Ρo = {Wo, Vo, To, Ωο}, which is characterized by constant
quantities. Although complete determination of Ρo requires the
knowledge of the bit-rock interface laws (discussed in the next
Section), it can already be stated that
Wo = Ws − Fo , Ω = Ω o , Φ o = Ω o t − To /C (12)
where Ws is the submerged weight of the drillstring.
The bit rock interface
For simplicity, we restrict consideration to an idealized drag
bit of radius a , consisting of n identical radial blades
regularly spaced by an angle equal to 2π/n . Each blade is
characterized by a sub-vertical cutting surface and a
chamfer or wearflat of constant width l n orthogonal to the
cutting face.
When such a bit is drilling rock, and in the absence of any
lateral motion, the depth of cut per blade dn (i.e. the thickness
of the rock ridge in front of the blade) is constant along the
blade and identical for each blade; dn(t) is given by
d n ( t ) = U ( t ) − U ( t − tn ) (13)
where t n ( t ) is the time required for the bit to rotate by an
angle 2π/n to its current position at time t as it is schematically
illustrated in Figure 10 and Figure 11. The delay t n ( t ) is
solution of
Φ ( t ) − Φ ( t − t n ) = 2π/n (14)
The combined depth of cut of the bit is simply d = ndn and the
equivalent wearflat width for the bit is l = nl n .
The interaction between the bit and the rock can be
classified into four modes:
1. Cutting (Ω > 0, d > 0). Consider first the “normal” case
when V > 0 and Ω > 0. The drilling action of a drag bit
and a frictional process along the wear flats. The cutting
given by
Wc = aζε d Wf = alσ (15)
a
2
a
2
Tc = εd Tf = γµ lσ (16)
2 2
SPE 77616 INFLUENCE OF BIT-ROCK INTERACTION ON STICK-SLIP VIBRATIONS OF PDC BITS
where σ is the magnitude of the normal stress acting
across the wear flat interface. Single cutter experiments
on rock show that σ is virtually constant (and
approximately equal to ε) once the wearflat is in
conforming contact with the rock (Adachi et al. 1996).
Here, we assume that σ is a constant when V > 0 and Ω >
0 and the bit is cutting rock (d > 0). Thus drilling occurs
in the normal case, only if W > Wf and T > Tf. Consider
next the case V < 0 and Ω > 0 when the bit is moving
upwards. We assume a complete loss of contact between
the wearflat and the rock, so that the frictional
components Wf and Tf vanish. Hence W = Wc and T = Tc,
as long as d > 0. (Note that d < 0 corresponds to cases of
bit bouncing, when the bit losses momentarily contact
with the rock.)
2. Sticking (Ω = 0, d > 0). Finally the case V = 0 and Ω = 0
corresponds to the stick phase when the bit remains
immobile. During this phase, U = U (tk) and Φ = Φ (t k ) ,
with t k denoting the time at which the bit sticks. We
assume complete contact between the rock and the wear
flats (chamfers) during the stick phase.
3. Sliding (Ω > 0, d =0). The rate of penetration V and the
cutting components of the forces (Tc, Wc) vanish.
4. Off-bottom (Ω > 0, d < 0). We have T = W = 0.
Steady-state solution
Steady-state drilling conditions ( W = Wo , Ω = Ωo ) represent
particular instances of the normal case ( V > 0 , Ω > 0 ). The
delay t n is constant and given by tn = 2π /n Ωo and thus d =
2π V / Ωo. The penetration rate Vo and torque-on-bit To are
then readily deduced from the bit-rock interaction laws (15).
The bit is not drilling if Wo < Wf , i.e. Vo = 0 and T = aγµWo/2.
Under steady-state drilling conditions, the hole-bottom pattern
takes the simple form z = mθ + n with a period 2π/n, in a
cylindrical coordinate system (r, θ, z) centered on the
borehole axis.
Governing equations
The non-trivial response Ρ can be determined in principle from
the surface conditions and bit-rock interface laws, together
with the following torsional and axial equations
of motion
dΦ
2
I 2
+ C ( Φ − Φ o ) = To − T (17)
dt
2
dU
M
2
= Wo − W (18)
dt
The magnitude of the frictional torque is assumed to be
sufficient to restrain the bit from rotating backwards (anti-
5
clockwise), hence a sufficient condition for the bit to stick at
time tk reads
dΦ
= 0 at t = t k (19)
dt
During the stick phase rotation of the drill pipes continues
at the surface, the torque C (Φ-Ωo t) applied by the drillstring
on to the BHA builds up until its magnitude is sufficient to
overcome the reacting torque; the bit slips at time tp when
2
a
[
C Ω o t p − Φ (t k ) =] [ ε d (t k ) + µ γ l σ ] (20)
2
In this model we disregard the case of bit bouncing when the
bit losses momentarily contact with the rock d < 0; numerical
simulations are interrupted if such a case is encountered.
Results of numerical simulations
It is convenient to introduce a characteristic time t* and a
characteristic length L* defined as
I 2C
t* = L* = (21)
εa
2
C
While 2πt* is the period of the resonant torsional vibration of
the discrete drilling system, L* represents the depth of cut
when drilling with a perfectly sharp bit (ℓ=0) subjected to a
torque that induces a twist of 1 radian in the drillstring
(typically, t =1 s and L* = 1 mm).
We then define a set of dimensionless parameters
( λ = σ l n ζε L * ψ = ζε aI M C ), dimensionless control
parameters ( Wo = Wo / ζε aL* , ωo = Ω o t* ) and dimensionless
bit response ( T = T / C , v = Vt* / L* ).
Self-excited vibrations
Due to the delayed and coupled nature of the bit-rock
interface, any perturbation triggers an instability leading to
self-excited vibrations. In this section, we focus our analysis
on three representative examples. The oscillations of the bit
angular velocity ω ( ω = Ωt* ) with the dimensionless time τ
( τ = t t* ) are shown in Figure 12.
1. In example A, we observe low amplitude oscillations of
the angular velocity (“light” torsional vibrations).
2. Example B corresponds to severe torsional vibrations that
are characterized by large amplitude oscillations, more
precisely a rapid growth is followed by a “plateau”.
3. In example C, the system reaches “quickly” a regime of
stick-slip oscillations.
For the case C, we show the temporal evolution of the
variables W, T, d, Ω and V over four cycles, see Figure 13.
We should note that the axial velocity v is an indicator of the
losses of chamfer-rock contact that are taking place; v
6 T. RICHARD, E. DETOURNAY, M. FEAR, B. MILLER, R. CLAYTON, O. MATTHEWS.
vanishes when contact is lost. In each example, the
dimensionless dominant period of the angular velocity signal
is close and slightly greater than 2π, meaning that the
frequency of the torsional vibrations is close and slightly
smaller than the natural torsional frequency of the system.
When stick occurs, the duration of the stick phase is
responsible for a slight increase of the period. While the
angular velocity appears as a simple mono-frequency signal,
the other variables display a complex behavior characterized
by a more spread and higher frequency content.
Influence of parameter β
The impact of β on the severity of the induced vibrations is
significant. Numerical simulations indicate that
• if β < 1 the system is unstable; the amplitude of the
angular velocity ω grows continuously with time;
• if β ≥ 1 the system is stable; the amplitude of ω remains
bounded as time increases.
However, the oscillations remain of a self-excited nature in all
cases, as the solution does not converge back to the trivial
solution.
Next, we investigate the effect of β on the mean or
averaged response of the system. We choose a given set of
parameters (Wo, ψ, λ, n) and vary the magnitude of the
imposed angular velocity. The variables (W, T, d, V) are
averaged over a time span corresponding to a few revolutions
(5-6 revolutions). The evolution of the averaged depth of cut d
gives evidence of apparent rate effects, since d decreases with
increasing Ωo towards the steady state value do. At the same
time the mean weight-on-bit W remains about constant and
equal to Wo. Accordingly, as predicted by the DD model, the
evolution of T is controlled by the magnitude of the parameter
β; if β < 1, T increases with d; if β > 1, T decreases,
see Figure 14.
A convenient means to estimate the bit efficiency is the E-
S diagram. Examples of E-S diagrams for the two cases β > 1
and β < 1 are shown in Figure 15. The point representative of
the bit response moves upwards along the friction line with
increasing angular velocity, meaning that its efficiency η =
ε/E decreases. Furthermore, the points converge towards the
point representative of the trivial or steady solution, i.e., the
state of minimum efficiency occurs in the absence of
vibrations. These results have been obtained using a set of
parameters representative of field conditions. However, we
cannot infer whether or not the model predicts similar rate
effects for parameters representative of laboratory conditions.
Indeed, the current model is inappropriate to correctly describe
the laboratory drilling system. In the laboratory, the upper end
of the drilling pipe is subjected to a downward velocity that is
servo-controlled in order to maintain a constant weight-on-bit
(measured above the bit). Furthermore since this upper end is
not free to displace the axial stiffness of the pipes must be
taken into account.
SPE 77616
Influence of control parameters
In most practical cases, the bit geometry γ and rock properties
(µ, ζ) are such that β < 1. Therefore, we restrict further
analysis to this case.
The magnitude of the imposed angular velocity and
applied weight-on-bit can strongly affect the severity of the
torsional vibrations. As it is observed on the field, an increase
of Ωo or a decrease of ωο can eliminate stick-slip oscillations
as shown in Figure 16 and in Figure 17.
Conclusions
The main contribution of this work is the introduction of a
new model for investigating the torsional vibrations of a
drilling system, which differs from other published approaches
in two significant ways:
• First, we have considered both the axial and torsional
vibrations of the bit, as well as the coupling between the
two vibration modes through the bit-rock interaction laws.
• Second, we have included rate-independent bit-rock
interaction laws, which are consistent with laboratory
results from single cutter experiments.
The critical elements that have been incorporated in this
model are (i) the axial inertia of the BHA; (ii) the cutting
process mobilized at the bit-rock interface; and (iii) the
potential loss of contact across the chamfer or wear-flat.
Taking into consideration the axial inertia of the BHA
introduces the bit axial position U as a variable. This requires
to compute explicitly the bit engagement (or depth of cut) in
order to estimate the cutting components of the two forces (T,
W) acting on the bit.
The delayed and coupled nature of the cutting process are
responsible for the self-excited nature of the induced
vibrations of this autonomous system. At the same time, the
loss of contact that accompanies any upward motion of the bit
routes most of the energy from the axial into the torsional
mode of vibrations and is essential to avoid bit bouncing
(d < 0).
The number β = µγζ appears as a dominant parameter of
the problem. It strongly affects the propensity of the system to
stick-slip. According to numerical results, the condition β ≥ 1
is sufficient to preclude the appearance of stick-slip vibrations.
If β ≥ 1, the system is stable. On the other hand, β < 1 is a
necessary but not sufficient condition for instability to arise
and stick-slip to occur.
Finally, one of the most important results of this research
is that the apparent rate effect is an outcome and not an input
of the model.
SPE 77616 INFLUENCE OF BIT-ROCK INTERACTION ON STICK-SLIP VIBRATIONS OF PDC BITS 7

References M = mass of the BHA (kg)

S = drilling strength (Mpa)
(1) Cunninghan, R.: “Analysis of downhole measurements of drill T = torque-on-bit (N.m)
string forces and motion,” Transactions of the ASME, (1968) To = steady-state torque-on-bit (N.m)
208-216. Tc = torque-on-bit associated with the cutting process (N.m)
(2) Lesseultre, A. and Lamine, E. : “An instrumented bit: A neccesary Tf = torque-on-bit associated with the frictional process (N.m)
step to the intelligent BHA,” IADC/SPE 39341 (1998)..
(3) Henneusse, H.: “Surface detection of vibrations and drilling
U = bit axial position (m)
optimization: Field experience,” IADC/SPE Drilling conference V = bit axial velocity or rate of penetration (m/s)
held in New Orleans, Louisiana, (1992), 409-423. W = weight-on-bit (N)
(4) Brett, J.: “The genesis of torsional drillstring vibrations,” In Proc. Wo = imposed and steady-state weight-on-bit (N)
SPE Drill. Conf. In Richardson TX, 419-428 (SPE 13258) Wc = weight-on-bit associated with the cutting process (N)
(1992). Wf = weight-on-bit associated with the frictional process (N)
(5) Pavone, D. and J. Desplans: “Application of high sampling rate Ws= submerged weight of the drillstring (N)
downhole measurements for analysis and cure of stick-slip in Ε = dimensionless specific energy
drilling,” SPE 28324 (1994).
(6) Challamel, N. (2000). “Rock destruction effect on the stability of Σ = dimensionless drilling strength
a drilling structure,” Journal of Sound and Vibrations 233 (2), Ω = dimensionless weight-on-bit
235-254 (2000). Ωo = dimensionless applied and steady-state weight-on-bit
(7) Fear, M. Personal communication. (2000). Τ = dimensionless torque
(8) Detournay, E. and Defourny P.: “A phenomenological model of Τ o = dimensionless steady-state torque
the drilling action of drag bits,” Int. J. Rock Mech. Min. Sci. &
β = number (β = µγζ)
Geomech. Abstr. 29(1), 13-23 (1992).
(9) Adachi, J., Detournay E. and Drescher A.: “Determination of γ = bit shape factor
rock strength parameters from cutting tests,” In Proc. 2nd North λ = dimensionless wear flat length
American Rock Mechanics Symposium (NARMS 1996), ε = intrinsic specific energy (Mpa)
Rotterdam, 1517-1523 (1996). η = bit efficiency
(10) Black, A., Walker B., Tibbits G. , and Sandstrom J. “PDC bit µ = friction coefficient mobilized along the wear flat
performance for rotary, mud motor, and turbine drilling
applications,” SPE Drilling Engineering, 168-174 (1986). ρ = density of steel (kg/m3)
(11) Richard, T: “Self-excited stick-slip oscillations of drag bits,” σ = contact stress accross the wear flat (Mpa)
PhD Thesis, University of Minnesota (2001). τ = dimensionless time
ω = dimensionless angular velocity
ωo = imposed and steady-state dimensionless angular velocity
Nomenclature ψ = structural number
ζ = number characterizing the inclination of the cutting force
a = bit radius (m) Φ = bit angular position
d = depth of cut (m)
Φο = steady state bit angular position
dn = depth of cut per blade (m)
Ω = bit angular velocity (rad/s)
l = overall chamfer length (m)
Ωο = imposed and steady-state angular velocity (rad/s)
ln = chamfer length per blade (m)
n = number of blades
rbi = inner radius of the BHA (m)
rbo = outer radius of the BHA (m)
rpi = inner radius of the drillpipe (m)
rpo = outer radius of the drillpipe (m)
t = time (s)
tk = time of stick (s)
tn = delay (s)
tp = time of slip (s)
t* = characteristic time (s)
v = dimensionless axial velocity
C = torsional stiffness of the drillpipe (N.m)
E = specific energy (Mpa)
Ho = hook load (N)
I = moment of inertia of the BHA (kg.m2)
Jb = polar moment of inertia of the BHA (m4)
Jp = polar moment of inertia of the drillpipe (m4)
L* = characteristic length (m)
8 T. RICHARD, E. DETOURNAY, M. FEAR, B. MILLER, R. CLAYTON, O. MATTHEWS. SPE 77616

Figures

Figure 1: Example of stick-slip oscillations. Figure 3: Increase of Wo triggers stick-slip.

Figure 2: Power spectrum (T, Ω) during stick-slip. Figure 4: A decrease of Wo during a drill-off tests
eliminates stick-slip.
SPE 77616 INFLUENCE OF BIT-ROCK INTERACTION ON STICK-SLIP VIBRATIONS OF PDC BITS 9

Figure 5: Decrease of the mean torque with an increase of

the imposed angular velocity, after Brett, 1992.

Figure 8: Drilling tests performed at TerraTEk facility: (a)

after Blake et al. 1986; (b) courtesy Security-DBS 2000.

Figure 6: Frictional and cutting force acting on cutter.

Figure 9: Simplified model of a drilling system.

Figure 7: Conceptual sketch of the E-S diagram.
10 T. RICHARD, E. DETOURNAY, M. FEAR, B. MILLER, R. CLAYTON, O. MATTHEWS. SPE 77616

Figure 10: Three dimensionel sketch of two successive

blades. The intersection between the rock and the cutting
face of blade 2 is represented by the dark shaded surface.

Figure 11: (a) Schematic top view of two successives Figure 12: Three regimes of self-excited vibrations (Ωo = 8,
blades. (b) Schematic radial view of blade 2 when it β = 0.276, ψ = 63.1, n = 6). (A) ωo = 12 and λ = 0.9; (B) ωo =
reaches at time t the angular position occupied by blade 1 7 and λ = 0.9; and (C) ωo = 4 and λ = 0.76.
at time t-tn (t).
SPE 77616 INFLUENCE OF BIT-ROCK INTERACTION ON STICK-SLIP VIBRATIONS OF PDC BITS 11

Figure 14: Evolution of the mean torque with ωo

(Ωo = 8, λ = 0.9, ψ = 100, n = 6).

Figure 13: Evolution of the variables with τ for regime C.

Figure 15: E-S diagrams for the cases β > 1 and β < 1.
(Ωo = 8, λ = 0.9, ψ = 100, n = 6).