[pt] A vibração excessiva da coluna de perfuração leva à perda da eficácia do processo de perfuração de poços de petróleo e causa danos prematuros ao equipamento. Portanto, entender a dinâmica do sistema é essencial. O comportamento complexo das colunas de perfuração estimulou um grande número de publicações sobre a dinâmica de perfuração. A vibração torsional está presente na maioria dos processos de perfuração, eventualmente atingindo o fenômeno de stick-slip. Essa vibração torsional resulta da interação não linear entre brocas e rochas. Apesar da complexidade da interação broca-rocha, a relação entre torque e velocidade de broca é, frequentemente, tratada como uma força de atrito seco em um sistema delgado. Um grande número de modelos de atrito é usado para descrever a interação entre brocas e rochas, embora um modelo adequado seja necessário para uma interpretação precisa de sistemas com atrito. Esta contribuição utiliza dados experimentais de uma bancada de testes, capaz de reproduzir o comportamento torsional de um sistema real, equipada com dispositivos de freio simples para introduzir atrito ao sistema, perturbando o movimento de rotação. A bancada é matematicamente modelada como um pêndulo de torção atuado. Esta dissertação propõe um modelo de atrito baseado em dados experimentais e analisa vários fenômenos observados em relação ao atrito, incluindo a histerese. Os resultados experimentais são usados para identificação dos parâmetros do modelo proposto. Por fim, simulações numéricas e resultados experimentais são comparados para validação do modelo de atrito proposto. / [en] Excessive drill string vibration leads to loss of the drilling process effectiveness and premature damage to the equipment. Therefore, understanding the system dynamics is essential. The complex behavior of drill strings attracted considerable attention in specialized literature. Due to the drill string slenderness, torsional vibration is present in most drilling routines, eventually reaching the stick-slip phenomenon. This torsional vibration results from the nonlinear interaction between drill-bits and rocks. Despite the complexity of the bit-rock interaction, researchers often treat the relationship between torque and bit velocity as a dry friction force in a slender system. A large number of dry friction models is used to describe the interaction between drill bits and rocks although a proper model is required for a precise interpretation of systems with friction. This contribution utilizes data from a test rig that is capable of reproducing full-scale system torsional behavior with simple brake devices to introduce friction into the system, disturbing the rotating motion. This test rig is modeled as an actuated torsional pendulum for the numerical investigations of the experimental friction. This dissertation proposes a friction model based on experimental data and analyzes various frictional phenomena observed, including hysteresis. The experimental results are used to identify the proposed model parameters. Lastly, it compares numerical simulations with the experimental results and validates the proposed friction model.

Being able to safely control autonomous heavy machinery is of uttermost importance for the conversion of traditional machines to autonomous machines. With the continuous growth of autonomous vehicles around the globe, an increasing effort has been put into certifying autonomous vehicles in terms of reliability and safety. In this thesis, we will investigate the problem with a deviation from the planned path for an autonomous hauler from Volvo Construction Equipment. The autonomous hauler has an error within the kinematic model, the feed-forward curvature-steering controller, due to a slip-effect that comes with the third wheel-axle. The deviation can especially be seen in sharp curves, where the deviation needs to be decreased in order to make the autonomous hauler more dependable and achieve an increased accuracy when following any given path. The aim of the thesis is to develop a fully functional Artificial Neural Network that has a new steering angle as output. The hypothesis for this thesis is to use an ANN to mimic the steering of a human driver, since a real driver compensates for the slipping behavior; both because the operator knows where on the road the machine is and also in the way that a human thinks many steps ahead whilst driving. This proposed ANN will have a monitor function which ensures that the steering angle command operates within its boundaries. Hence this thesis implies that it is indeed possible to ensure that the ANN performs reliably with the help of a monitor function in a simulated environment and can thus be used in dependable systems.

Este trabalho apresenta uma análise paramétrica da reposta dinâmica de colunas de perfuração de poços de petróleo com controle proporcional-integral de velocidade não colocalizado. A operação de perfuração de poços de petróleo e gás em águas profundas consiste na abertura de poços em solo rochoso através de uma broca cuja rotação é controlada por uma mesa rotativa na superfície. O torque imposto pela mesa é transmitido à broca por meio de uma coluna de perfuração. Particularmente no caso de perfuração em águas profundas, as colunas de perfuração podem ser muito extensas e, portanto, bastante flexíveis. As vibrações ocasionadas pela grande flexibilidade das colunas de perfuração são as principais responsáveis por falhas no processo de perfuração. Em particular, o fenômeno não-linear conhecido como stick-slip e relacionado às vibrações torcionais da coluna de perfuração, faz com que um sistema de controle projetado para manter a velocidade da mesa constante dê origem a grandes oscilações na velocidade da broca. Na prática, este fenômeno é amplificado pela inerente não-linearidade do contato entre broca e formação rochosa e pela forte não colocalização entre mesa rotativa e broca. Este trabalho tem por principal objetivo realizar uma análise paramétrica da dinâmica do processo de perfuração, usando um modelo de dois graus de liberdade para representar o conjunto mesa rotativa, coluna de perfuração e broca, para identificar condições nas quais uma lei de controle simples do tipo linear proporcional-integral pode fornecer um desempenho de perfuração estável e satisfatório. / This paper presents a parametric analysis of the dynamics of oilwell drillstrings with non-collocated proportional-integral velocity control. The drilling operation for oil and gas in deep waters consists of opening wells in rocky ground formation by a drill, whose angular speed is controlled by a rotary table at the surface. The torque applied by the table is transmitted to the drill-bit through the drillstring. Particularly in the deepwater drilling case, the drillstring can be very long and therefore very flexible. The vibrations caused by the great flexibility of drilling columns are mainly responsible for the failures in the drilling process. In particular, the nonlinear phenomenon known as stick-slip and related to the torsional vibration of the drillstring, makes that a control system designed to maintain a constant angular velocity at the table yield large variations at the drill-bit angular velocity. In practice, this phenomenon is amplified by the inherent nonlinearity of the contact between drill bit and rock formation and by the strong non-colocalization between rotary table and drill-bit. The main objective of this work is to perform a parametric analysis of the dynamics of the drilling process, using a two degrees of freedom model in order to represent the rotary table assembly, the drilling column and drill-bit, to identify conditions in which a simple control law, such as a linear proportional-integral velocity control, can provide a stable and satisfactory drilling performance.

Neste trabalho apresentamos um estudo assintótico e numérico de escoamentos viscoelásticos com singularidades de tensão. Estas singularidades surgem como consequência de uma mudança abrupta nas condições de contorno, como no caso do stick-slip, ou devido a presença de quinas na geometria do problema, como no escoamento da contração. Para o problema stick-slip definimos o comportamento assintótico do fluido Oldroyd-B sobre um campo de velocidade Newtoniano. Esta análise foi feita com o método assintótico das expansões, que pode ser estendida para outros tipos de fluidos. O estudo assintótico do stick-slip com o modelo Oldroyd-B revelou que as equações deste modelo não estão bem definidas para este problema, pois este fluido estende o valor singular ao longo de toda a superfície livre, gerando resultados sem sentido físico. Além disso, os resultados assintóticos dos problemas stick-slip e da contração 4:1 foram verificados numericamente através da integração das equações constitutivas ao longo de linhas de corrente. Vale destacar que, além da tradicional formulação Cartesiana do tensor (CSF), também utilizamos a formulação natural do tensor (NSF), que tem a vantagem de capturar de modo mais acurado os resultados próximos às singularidades. Além do mais, desenvolvemos um método numérico para resolver as equações de Navier-Stokes combinadas com as equações constitutivas das formulações CSF e NSF para os modelos PTT e Giesekus nos dois problemas estudados. Vale ressaltar que, não há na literatura resultados numéricos, para o caso transiente, com a formulação NSF para os modelos PTT e Giesekus. Por fim, verificamos numericamente o comportamento assintótico das tensões próximo as singularidades, bem como a configuração das camadas limites para os problemas mencionados. / In this work we present an asymptotic and numerical study of viscoelastic flows with stress singularities. These singularities arise as a consequence of an abrupt change in the boundary conditions, as in the case of the stick-slip flow, or due to the presence of corners in the geometry of the problem, as in the contraction flow. For the stick-slip problem, we define the asymptotic behavior of the Oldroyd-B fluid over a Newtonian velocity field. This analysis was done with the method of matched asymptotic expansions, which can be extended to other types of fluids. The asymptotic study of the stick-slip flow for the Oldroyd-B model revealed that the equations of this model are not well defined for this problem, because this fluid extends the singularity throughout the free surface, generating results with no physical meaning. Besides that, the asymptotic results of the stick-slip and 4:1 contraction problems were verified numerically by integrating the constitutive equations along streamlines. It is worth mentioning that we performed asymptotic and numerical studies with the natural stress formulation (NSF) in addition to the Cartesian stress formulation (CSF). The NSF can capture the numerical results in a more accurate manner near singularities. Furthermore, we developed a numerical method to solve the Navier-Stokes equations combined with the constitutive equations of the CSF and NSF formulations for the PTT and Giesekus in the two problems studied. It is worth noting that there is no numerical results, for the transient case, with the NSF formulation for the PTT and Giesekus. Finally, we verified numerically the asymptotic behavior of stresses close to the singularities, as well as the configuration of the boundary layers for the problems mentioned above.

The styles of deformation of the fore-arc wedges along the Chilean convergent margin are observed to vary significantly, despite similar plate kinematic conditions. Here, I focus on the analysis of fore-arc deformation on two regions along the Chilean convergent margin at 20°-24°S and 37°-42°S. Although both regions are subjected to the oblique subduction of the oceanic Nazca plate and backstopped by the Andes mountain chain; they display different patterns of deformation. The northern Chilean study area (20° - 24°S) is characterized by an exceptionally thick crust of about 60 km beneath the Altiplano – Puna plateau, lack of an accretionary wedge in the fore-arc due to hyperarid climate, and consequently a sediment starved trench. Two major margin parallel strike slip faults are observed in this area, the Atacama Fault Zone (AFZ) and the Precordilleran Fault System (PFS). Both strike-slip faults do not exhibit significant recent displacement. The southern study area (37° - 42°S), compared to the northern study area, is characterized by lower topography, high precipitation rates (~2000 mm/yr), and a younger subducted oceanic plate. An active strike-slip fault, the Liquiñe-Ofqui-Fault-Zone (LOFZ), shows ~1 cm/yr recent dextral movement and shapes the surface of this area. Thus, the southern Chilean study area exhibits localized strike-slip motion. Within this area the largest earthquake ever recorded, the 1960 Valdivia earthquake, occurred with a moment magnitude of MW=9.5. I have constructed 2D thermal models and 3D mechanical models for both Chilean study areas to study processes related to active subduction. The applied numerical method is the finite element technique by means of the commercial software package ABAQUS. The thermal models are focused on the thermal conditions along the plate interface. The thermal structure along the plate interface reveals the limits of coupling but also the type of transition from coupled to uncoupled and vice versa. The model results show that shear heating at the plate interface is an important mechanism that should be taken into account. The models also show that the thermal condition at the downdip limit of the coupling zone leads to a sharp decrease of friction along the interface. Due to the different geometries of the two Chilean study areas, such as the slab dip and the thickness of the continental crust, the downdip limit of the southern study area is slightly shallower than that of the northern study area. The results of the 2D thermal models are used to constrain the spatial extent of the coupling zone in the 3D mechanical models. 3D numerical simulations are used to investigate how geometry, rheology and mechanical parameters influence strain partitioning and styles of deformation in the Chilean fore-arc. The general outline of the models is based on the fore-arc geometry and boundary conditions as derived from geophysical and geological field data. I examined the influence of different rheological approaches and varying physical properties of the fore-arc to identify and constrain the parameters controlling the difference in surface deformation between the northern and southern study area. The results of numerical studies demonstrate that a small slab dip, a high coefficient of basal friction, a high obliquity of convergence, and a high Young’s modulus favour localisation of deformation in the fore-arc wedge. This parameter study helped me to constrain preferred models for the two Chilean study areas that fit to first order observations. These preferred models explain the difference in styles of deformation as controlled by the angle of obliquity, the dip of subducting slab, and the strength of wedge material. The difference in styles can be even larger if I apply stronger coupling between plates within the southern area; however, several independent observations indicate opposite tendency showing southward decrease of intensity of coupling. The weaker wedge material of the preferred model for the northern study area is associated with advanced development of the adjacent orogen, the Central Andes. Analysis of world-wide examples of oblique subduction zones supports the conclusion that more mature subduction zones demonstrate less pronounced localization of strike-slip motion. / Die Deformationsmuster der Fore-Arc Keile entlang des chilenischen konvergenten Plattenrandes variieren beachtlich, trotz ähnlicher plattenkinematischer Randbedingungen. In dieser Arbeit konzentriere ich mich auf die Analyse der Deformation des Fore-Arcs in zwei Gebieten entlang des chilenischen konvergenten Plattenrandes zwischen 20°-24°S und 37°-42°S. Obwohl beide Gebiete durch schiefe Subduktion der ozeanischen Nazca Platte und der östlichen Begrenzung durch die Andine Gebirgskette gekennzeichnet sind, zeigen sie unterschiedliche Deformationsmuster an der Oberfläche. Das nördliche chilenische Gebiet (20° - 24°S) ist gekennzeichnet durch eine außergewöhnliche Krustendicke von ~ 60 km unterhalb des Altiplano - Puna Plateaus, dem Fehlen eines akkretionären Prismas im Fore-Arc aufgrund des trockenen Klimas und somit einer nahezu sedimentfreien Tiefseerinne. Zwei große Plattenrand-parallele Strike-Slip Störungen werden in diesem Gebiet beobachtet, die Atacama Fault Zone (AFZ) und das Precordilleran Fault System (PFS). Beide Strike-Slip Störungen zeigen keine signifikanten aktuellen Bewegungsraten. Das südliche Gebiet (37° - 42°S) ist im Vergleich zum nördlichen Gebiet durch eine niedrigere Topographie, hohe Niederschlagsraten (~2000 mm/a) und eine jüngere abtauchende ozeanische Platte gekennzeichnet. Die aktive Strike-Slip Störung, Liquiñe-Ofqui-Fault-Zone (LOFZ), ist gekennzeichnet durch aktuelle dextrale Bewegungsraten von 1 cm/a und prägt die Oberflächenstruktur in dieser Region. Folglich ist der südliche Arbeitsbereich durch lokalisierte Strike-Slip Bewegung charakterisiert. Innerhalb dieses Gebietes ereignete sich das größte instrumentell aufgezeichnete Erdbeben, das 1960 Valdivia Erdbeben, mit einer Stärke von MW=9.5. 2D thermische Modelle und 3D mechanische Modelle wurden für die beiden chilenischen Gebiete konstruiert, um Prozesse im Zusammenhang mit aktiver Subduktion zu untersuchen. Als numerisches Verfahren wurde die Finite Elemente Methode mit Hilfe des kommerziellen Softwarepakets ABAQUS angewandt. Die thermischen Modelle sind auf die thermischen Konditionen entlang der Plattengrenzfläche fokussiert. Die thermische Struktur entlang der Plattengrenzfläche zeigt die Grenzen der Kopplung an aber auch die Art des Überganges von gekoppelt zu nicht gekoppelt und umgekehrt. Die Modellergebnisse zeigen, dass Heizen infolge der Scherung an der Plattengrenzfläche ein wichtiger Faktor ist, der in Betracht gezogen werden sollte. Die Modelle zeigen auch, dass die thermische Struktur an der unteren Begrenzung der Koppelzone zu einer deutlichen Abnahme der Reibung entlang der Grenzfläche führt. Aufgrund der unterschiedlichen Geometrien der zwei chilenischen Untersuchungsgebiete, z.B. Abtauchwinkel der ozeanischen Platte und Krustendicke, ist die untere Begrenzung der Koppelzone des südlichen Untersuchungsgebietes in geringerer Tiefe als die des nördlichen Gebietes. Die Ergebnisse der thermischen 2D Modelle werden genutzt, um die räumliche Ausdehnung der Koppelzone in den mechanischen 3D Modellen festzulegen. Numerische 3D Simulationen werden genutzt, um zu verstehen, wie Geometrien, Rheologien und mechanische Parameter die Verformungspartitionierung und das Deformationsmuster im chilenischen Fore-Arc beeinflussen. Ich habe den Einfluss unterschiedlicher rheologischer Ansätze und unterschiedlicher physikalischer Eigenschaften auf den Fore-Arc untersucht, um Parameter zu identifizieren und zu bestimmen, die den Unterschied des Deformationsmusters zwischen dem nördlichen und südlichen Gebiet steuern. Die Ergebnisse der numerischen Studien stellen heraus, dass ein kleinerer Abtauchwinkel der ozeanischen Platte, ein hoher basaler Reibungskoeffizient, eine hohe Konvergenzschiefe und ein großer Elastizitätsmodul die Lokalisierung der Deformation im Fore-Arc Keil begünstigen. Basierend auf dieser Parameterstudie habe ich Modelle für die beiden chilenischen Gebiete ausgewählt, die in Beobachtungen erster Ordnung übereinstimmen. Diese ausgewählten Modelle erklären die unterschiedlichen Deformationsmuster durch eine größere Konvergenzschiefe, einen kleineren Abtauchwinkel der ozeanischen Platte und ein härteres Keilmaterial für das südliche Untersuchungsgebiet. Der Unterschied bezüglich der Deformationsmuster kann sogar größer sein, wenn ich eine größere Reibung zwischen den Platten im südlichen Gebiet anwende; jedoch zeigen einige unabhängige Beobachtungen eine umgekehrte Tendenz: eine Abnahme der Intensität der Koppelung von Nord nach Süd. Das schwächere Keilmaterial des ausgewählten Modells für das nördliche Untersuchungsgebiet steht im Zusammenhang mit der fortgeschrittenen Entwicklung des angrenzenden Orogens, der zentralen Anden. Die Analyse weltweiter Beispiele von schiefen Subduktionzonen unterstützt die Schlussfolgerung, dass ältere Subduktionzonen weniger ausgeprägte Lokalisierung von Strike-Slip Bewegung aufzeigen.

Les bruits automobiles induits par le frottement sont à l'origine de nombreuses plaintes clients et occasionnent des coûts de garantie considérables pour les constructeurs automobiles. Les objectifs de la thèse consistent à comprendre la physique à l'origine de ces bruits et proposer des méthodologies de simulation afin de les éradiquer. Un système générique est tout d'abord étudié. Ce système discret met en jeu un contact entre deux masses et une loi de frottement de Coulomb présentant une discontinuité à vitesse relative nulle. Des calculs de valeurs propres complexes de ce système linéarisé autour de sa position d'équilibre glissant sont menés et montrent la présence d'instabilités par flottement voire par divergence. Les simulations temporelles montrent quant à elles que les non-linéarités de contact permettent de stabiliser les niveaux vibratoires en cas d'instabilité selon quatre régimes distincts. De plus, malgré ses trois degrés de liberté, ce système est capable de reproduire les mécanismes de stick-slip, sprag-slip et couplage modal ainsi que les bruits de crissement, grincement et craquement rencontrés sur les systèmes automobiles. Des études paramétriques sont également présentées et mettent en avant des bifurcations de Hopf ainsi que l'effet déstabilisant potentiellement induit par l'amortissement. Des méthodologies permettant de catégoriser les réponses en termes de bruit et de mécanisme sont par la suite proposées. Les occurrences et risques de ces derniers sont alors analysés et des tendances sont dégagées. Enfin, la relation entre les bruits et les mécanismes est établie. L'attention est ensuite portée sur un système automobile particulier. Afin d'étudier son comportement crissant, les analyses de stabilité et les simulations temporelles sont désormais menées sur des modèles éléments-finis. Les simulations temporelles permettent d'observer l'établissement de vibrations auto-entretenues et d'identifier, parmi tous les modes instables prédits lors des analyses de stabilité, celui qui est réellement à l'origine de l'instabilité. L'effet du coefficient de frottement sur les motifs de coalescence et les cycles limites est également investigué. Le risque de crissement est ensuite évalué pour des conditions d'utilisation variées du système. La méthodologie, basée sur des analyses de stabilité, permet de retrouver les principaux constats expérimentaux obtenus sur banc d'essai. Le rôle des géométries et des matériaux constituant le système est également discuté. Enfin, une solution permettant de réduire de façon significative le risque de crissement est proposée.

L'optimisation des systèmes de forage nécessite une meilleure compréhension des vibrations indésirables comme le stick-slip. Ce phénomène vibratoire, qui affecte principalement les outils PDC (Polycristalline Diamond Compact), met en péril l'intégrité des équipements de forage et réduit considérablement la vitesse de pénétration de l'outil. Plusieurs travaux ont été menés ces dernières années pour déterminer ses origines. Les observations réalisées en fond de puits montrent que ces oscillations s'accompagnent systématiquement d'une baisse du couple à l'outil en fonction de sa vitesse de rotation. De nombreux groupes de recherche attribuent cette baisse de performance à l'occurrence du stick-slip.L'objectif de ce travail est de développer un modèle élémentaire de coupe qui permet d'analyser l'effet de la vitesse de coupe sur la forabilité des roches dans des conditions opératoires réalistes. Dans le cadre de cette thèse, nous avons réalisé une série d'essais de coupe en utilisant des taillants et des outils à échelle réelle dans trois roches de propriétés hydromécaniques différentes, et ceci à pression atmosphérique et sous pression de fluide. Les essais réalisés à pression atmosphérique montrent que les efforts élémentaires de forage augmentent avec la vitesse de coupe. Sous pression de boue, cet effet dépend largement de la perméabilité de la roche. En effet, nous avons observé que l'effet de la vitesse est relativement faible dans les formations de faible et de moyenne perméabilité sous pression de boue de 20 MPa. En revanche, cet effet augmente d'un ordre de grandeur dans les roches très perméables.Afin de comprendre ces observations, nous avons développé un modèle hydromécanique d'interaction taillant-roche construit à partir de la théorie de la poroélastoplasticité. D'abord, le problème est résolu analytiquement en s'inspirant des travaux existants. Par la suite, nous avons apporté une résolution numérique aux éléments finis des équations de la promécanique appliquées à la coupe des roches sous pression de boue. Les deux modèles montrent que le phénomène de dilatance génère une baisse de la pression de pore qui augmente la résistance de la roche au forage. Cette chute de pression dépend de la vitesse de coupe ainsi que des caractéristiques hydrodynamiques de la roche. Les résultats théoriques ont été comparés aux nombreux résultats expérimentaux obtenus dans le cadre de ce travail. / The optimization of the drilling practice requires a better understanding of drillstring harmful vibrations such as stick-slip. This form of torsional vibrations is a typical problem of PDC (Polycristalline Diamond Compact) drillbits. It can reduce the rate of penetration drastically and can raise fatigue of the drilling devices. Many attempts were carried out in the last years in order to determine the causes of stick-slip phenomenon. Field observations show that torque on bit decreases as a function of bit velocity during stick-slip oscillations. Hence, it is widely believed that this decreasing relationship is the root cause of stick-slip.The purpose of this work is to examine cutting speed influence on rock drillability as a function of operating conditions and hydromechanical properties of the drilled formation. For this, a set of drilling tests was performed in three sedimentary rocks of different permeability using a full scale PDC drillbit and a single PDC cutter. In the first step, dry tests were carried out at atmospheric pressure. As previously observed in literature, single-cutter tests showed that drilling forces increase with cutting velocity. In a second step, we performed the same experiments at 20 MPa bottom-hole pressure. It appears that rate effect on cutting forces in the medium and low-permeability rocks is relatively low. By contrast, rate effect in the highly permeable rock increases by one order of magnitude in comparison with dry experiments.In order to understand this phenomenon, a steady state solution of the cutting model is derived in the framework of the theory of poroelastoplasticity. The problem is firstly solved analytically using some assumptions derived from previous works. Then, a numerical resolution based on finite element method is presented to solve the fully coupled problem ensuring the satisfaction of poro-material physics basic equations. Using these two different approaches, we show that pore pressure in shear-dilatant rocks decreases as a function of cutting velocity depending on rock permeability and interstitial fluid properties. This change has a hardening effect resulting in an increase of rock drilling resistance. Comparison between theory and experience shows good agreements.

[pt] Este trabalho apresenta um estudo do comportamento dinâmico de uma bancada de testes representativa do sistema real de perfuração, composta por um motor CC acoplado a um sistema físico torcional, sujeita a fontes de atrito que induzem um regime de stick-slip no sistema em duas regiões distintas. O estudo incluiu a identificação de parâmetros da bancada de testes por meio de uma série de ensaios experimentais; e a caracterização do atrito, por meio do levantamento experimental da curva do coeficiente de atrito, em função da velocidade angular dos rotores principais. O intuito inicial foi a obtenção de um modelo numérico que fosse o mais simples possível e que representasse bem a bancada de testes. Uma vez obtido o modelo numérico, prosseguiu-se com uma série de simulações que permitissem uma caracterização indireta do regime de atrito ao qual estivessem submetidos os rotores principais, partindo-se apenas de medições de parâmetros no motor. Esse estudo é de grande relevância para a compreensão qualitativa da dinâmica do sistema real de perfuração, uma vez que ainda hoje não há técnicas totalmente confiáveis para caracterização do comportamento da coluna no fundo do poço a partir de dados da superfície somente. / [en] This paper presents a study of the dynamic behavior of a representative test bench of a real rotary drilling system, comprising a DC motor coupled to a very exible torsional system subjected to sources of friction which can induce self-excitation into two distinct regions of the system. The study includes the identification of parameter settings from the test bench by means of a series of experimental tests and characterization of friction, by obtaining the experimental curve of the friction coefficient as a function of the angular speed of the main rotor. The initial aim was to obtain a numerical model as simple as possible, capable of representing the test bench. Once obtained the numerical model, a series of numerical simulations were done, which allow an indirect characterization of the friction condition to which main rotors were subjected, starting only with the parameters measured at the drive. This study is of great importance for a qualitative understanding of the dynamics of the real drilling system, since today there is no fully reliable techniques to characterize the behavior of the column in the deep from surface data only.

[pt] Parte do processo de exploração e desenvolvimento de um campo de petróleo consiste nas operações de perfuração de poços de petróleo e gás. Particularmente para poços de águas profundas e ultra-profundas, a operação requer o controle de uma estrutura muito flexível que é sujeita a condições de contorno complexas, tais como as interações não-lineares entre broca e formação rochosa ou entre a broca e a parede de poço. Quanto a esta complexidade, o fenômeno stick-slip é um componente primordial relacionado à vibração torsional. Este pode excitar vibrações tanto axiais quanto laterais. Isso pode causar falha prematura de componentes de corda de perfuração. Assim, a redução e eliminação de oscilações do tipo stick-phase são itens muito valiosos em termos de economia financeira e de tempo de exploração. Com este propósito, este estudo tem como principal objetivo confrontar o problema de vibração torsional simulando uma estratégia de controle robusto em tempo real. A abordagem é obtida seguindo alguns passos, tais como: análise em malha aberta do sistema de perfuração considerando um atuador top drive e o sistema de coluna de perfuração; concepção de um novo controlador que utiliza diferentes velocidades angulares de referência num sistema de controle de malha fechada; controle da vibração torsional considerando a não-linearidade devida à interação de atrito na parede do poço e no fundo do poço; avaliar por meio de simulações sistemas de controle ininterruptos durante a perfuração; validação dos modelos por meio de simulações numéricas. Esta dissertação apresenta a base teórica por trás do sistema de perfuração, bem como exemplos de resultados numéricos que proporcionam uma operação de perfuração controlada estável e satisfatória. / [en] Part of the process of exploration and development of an oil field consists of the drilling operations for oil and gas wells. Particularly for deep water and ultra deep water wells, the operation requires the control of a very exible structure which is subjected to complex boundary conditions such as the nonlinear interactions between drill bit and rock formation and between the drill-string and borehole wall. Concerning this complexity the stick-slip phenomenon is a major component, related to the torsional vibration and it can excite both axial and lateral vibrations. That may cause premature failure of drill-string components. So, the reduction and avoidance of stickslip oscillations are very valuable items in terms of savings and exploration time. With these intentions, this study has the main goal of confronting the torsional vibration problem using a real-time robust control strategy. The approach is obtained following some steps such as: Open-loop analysis of the drilling system considering a top-drive actuator and the drill-string system; Design of a novel controller using different angular velocity setpoints in a closed-loop system; Control of the torsional vibration considering the nonlinearity due to friction interaction in the wall and in the donwhole system; valuate a non-stop control system while drilling; Verification by numerical simulations. In this presentation the theoretical basis behind the drilling system will be given, as well examples of numerical results providing a stable and satisfactory controlled drilling operation.

Le système de failles de Haiyuan qui borde le plateau du Tibet au Nord-Est est un système majeur sénestre. Au cours du dernier siècle, deux grands séismes (M~8) ont rompu ce système de failles: le séisme de Haiyuan en 1920 et le séisme de Gulang en 1927. A l'aide d'interférométrie radar à synthèse d'ouverture, nous analysons les variations spatiales et temporelles de la déformation intersismique au travers de la faille de Haiyuan, dans une zone étendue (150x150 km2) qui couvre l'extrémité Ouest de la rupture de 1920 et la lacune sismique de Tianzhu. Avec une approche dite en Small Baseline, nous traitons cinq séries temporelles d'images SAR, acquises par le satellite Envisat le long de tracks descendantes et ascendantes pendant la période allant de 2003 à 2009. Les cartes de vitesse moyenne de déformation dans la ligne de visée du satellite ainsi obtenues sont cohérentes avec un mouvement sénestre au travers de la faille et montrent des variations latérales du gradient de vitesse dans la zone de faille. Nous inversons ces cartes de vitesse moyenne en LOS pour obtenir le taux de chargement à court terme en profondeur et la distribution du glissement dans la partie sismogène le long du plan de faille. Le taux de chargement en profondeur est d'environ 5mm/an. Les sections de faille ayant rompu en 1920 et une grande partie de la lacune sismique de Tianzhu sont bloquées en surface. Entre ces deux sections, un segment de 35 km de long, qui montre une forte activité micro-sismique, glisse de manière asismique avec un taux de glissement horizontal qui atteint presque 5 mm/an. Cependant, le taux de glissement asismique le long de la partie sismogène varie le long du plan de faille et atteint localement des taux supérieurs au chargement tectonique, suggérant des variations temporelles du glissement asismique. La comparaison de profils moyens de vitesse parallèle à la faille issus de données InSAR sur les périodes 1993-1998 (données ERS) et 2003-2009 suggèrent une migration vers la surface du glissement asismique sur une période de 20~ans. Une analyse en séries temporelles des données Envisat, en appliquant un lissage temporel, montrent une accélération du taux de glissement asismique pendant l'année 2007. Cette accélération est précédée et a probablement été déclenchée par un séisme de magnitude 4.7 au sein même du glissement asismique. Enfin, nous étudions la relation entre l'évolution spatio-temporelle du glissement asismique en surface et la rugosité de la trace de la faille à l'aide d'une analyse multi-échelle. Nous montrons que les propriétés élastiques de la croûte cassante contrôlent la rugosité de la faille, qui exerce à son tour un contrôle sur la distribution de glissement asismique en surface. Le glissement asismique est fait de spasmes qui interagissent les uns avec les autres en suivant une loi d'échelle similaire à la loi de Gutenberg-Richter pour les séismes. / The Haiyuan fault system is a major left-lateral fault system bounding the tibetan plateau to the north-east. Two M~8 earthquakes ruptured that fault system in the past hundred years: the 1920, Haiyuan earthquake and the 1927, Gulang earthquake. Here, we use Synthetic Aperture Radar interferometry to explore the spatial and temporal variations of the interseismic deformation across the Haiyuan fault, over a broad (150x150 km2) area covering the 1920 rupture zone and the millennial Tianzhu seismic gap. Using a small baseline approach, we process five SAR images time series acquired by the Envisat satellite along descending and ascending orbits, spanning the 2003-2009 period. The resulting mean Line-Of-Sight velocity maps are, in overall, consistent with left-lateral motion across the fault and reveal lateral variations of the velocity gradient in the near fault zone. We invert these mean LOS velocity maps for the short-term loading rate on the fault plane at depth and for the shallow slip distribution along the seismogenic part of the fault. The short-term loading rate is about 5 mm/yr. The shallow sections of the fault, that ruptured in 1920 and the most part of the Tianzhu seismic gap are currently locked. In between, a 35 km-long section, that experiences a strong micro-seismic activity, is creeping at a mean horizontal rate of almost 5 mm/yr. However, the shallow creep rate varies along the fault strike and locally reaches values higher than the deep loading rate. This suggests temporal fluctuations of the observed aseismic slip. The comparison of InSAR-derived averaged profiles of the fault parallel velocity, spanning the 1993-1998 (ERS data) and 2003-2009 periods, suggests an upward migration of the creep over the 20 years-long observation period. A time series analysis on the Envisat dataset using a temporal smoothing reveals a creep rate increase during the year 2007. This rate increase follows and may have been triggered by a M4.7 earthquake that occurred on the creeping patch. We finally investigate the relationship between the spatio-temporal evolution of the surface creep and the roughness of the surface fault trace with a multiscale analysis. We show the control of the elastic properties of the brittle crust on the fault roughness, that in turn exerts a direct control on the surface aseismic slip distribution. The aseismic slip is made of locally interacting bursts that follow a scaling law similar to the Gutenberg-Richter law for earthquakes.