No / There are several types of disc brake instabilities associated with the brake systems; however, they are usually classified into two main categories depending on the frequency range: brake groan 0–300 Hz and brake squeal 1– 16 kHz. The groan is associated with the stick-slip motion while the squeal is associated with the modal coupling. This paper presents a detailed analysis of low frequency noise (0–300 Hz) in a commercial vehicle trailer disc brake as a result of stick-slip vibration. A range of experimental techniques are used to understand the characteristic behaviour of the caliper and the brake pads during braking events on a laboratory test rig. The analysed brake system comprised a full disc brake assembly and the trailer suspension system with a beam axle. Laser-based optical displacement sensors were used to investigate the deformation of the caliper body and the brake pads during a braking application. The contact pressure distribution at the disc/pad interfaces were also measured to gain more insight into the contact profile of the pad surfaces. Results revealed that the stick-slip phenomenon, in this study, was a result of the combination of the deformation of the caliper and the friction material formulation of the brake pads. In addition, it was observed through the testing of two different sets of pads that a low compression modulus would help to reduce the stick-slip phenomenon.

La partie superficielle des zones de subduction (0-10 km de profondeur) a longtemps été considérée comme asismique. Cependant la découverte de séismes très basses fréquences dans cette zone, ainsi que la propagation très superficielle de la rupture cosismique lors du séisme de Tohoku-Oki (Japon) remettent en question cette hypothèse jusqu’alors largement admise. L’une des raisons pour lesquelles le potentiel sismogénique de cette zone est mal contraint réside dans le fait que les processus qui y règnent sont complexes, mêlant déformation et diagenèse (principalement la transformation des argiles de type transition smectite vers illite), et ainsi difficilement reproductibles en laboratoire. Au cours de cette thèse, des expérimentations en presse triaxiale sur échantillons smectitiques (représentatifs des matériaux accrétés dans les prismes d’accrétion) et illitiques ont été réalisées sous différentes conditions de pression de confinement (de 50 à 200 MPa) et de température (20°C et 300°C). Ces expériences ont été menées afin d’identifier les modes de déformation de ces échantillons, et de déterminer les effets couplés de cette déformation et de la diagenèse sur la rhéologie de ces roches et notamment leur potentiel à générer des instabilités de glissement. Dans ces expériences, le style de déformation est à chaque fois similaire, avec, tout d’abord, une localisation progressive de la déformation le long d’une zone de cisaillement, puis formation d’une fracture. Malgré cette constance dans le style de déformation, le comportement rhéologique des échantillons, lui, est drastiquement opposé entre les expériences à 20 et à 300°C, avec un comportement exclusivement durcissant à 20°C (i.e. stable) quel que soit la minéralogie, et un comportement qui évolue systématiquement vers du stick-slip (i.e. instable) à 300°C (pour les échantillons smectitiques). Ces résultats montrent que la réactivité chimique des smectites au cours de la diagenèse (activée dans les expériences à 300°C) conditionne la formation d’instabilités de glissement. Nous proposons que la réactivité chimique des smectites dans les zones de subduction pourrait promouvoir la propagation de la rupture cosismique vers la surface. / The shallow portion of subduction zones (0-10 km depth) has long been considered as unable to store and release seismic energy. However, the detection of very-low frequency earthquakes in this zone, as well as the propagation of the coseismic rupture to the trench during the Tohoku-Oki earthquake, question this hypothesis. The difficulty to assess the seismogenic potential of this shallow portion lies principally in the complexity of the processes that occur in this zone, combining deformation and diagenesis (especially the smectite-to-illite transition), and hence not easily reproducible in laboratory. In order to analyse the mechanical properties of the shallow portion of subduction zones, triaxial tests have been performed with smectitic and illitic samples, under confining pressure between 50 and 200 MPa and at temperature of 20 and 300°C. The aim of these experiments was to identify the deformation modes of such sedimentary material and to determine the effects of deformation and diagenesis on rheology of these materials and on the rock potential to exhibit instable failure. In the experiments, deformation operates under the same pattern with a progressive localisation from shear band to fracturation. Even if the deformation style does not differ much between experiments, the rheology of the samples tested at 20°C and at 300°C contrasts drastically. Indeed, while the samples (smectitic and illitic) tested at 20°C show exclusively a strengthening behaviour (i.e. stable), the smectitic samples tested at 300°C exhibit a rheology that systematically evolves from strengthening to stick-slip behaviour (i.e. unstable). These results indicate that the chemical reactivity of smectite under diagenetic conditions (diagenesis is activated in the experiments conducted at 300°C) constitutes a weakening mechanism promoting unstable sliding. Finally, we propose that, at the subduction zone scale, the chemical metastability of smectite could promote the propagation of the coseismic rupture to the very shallow portion of accretionary prisms.

La microrobotique est un domaine de recherche en croissance rapide et les microsystèmes sont très demandés par un large éventail de notre vie. Aujourd’hui, des solutions d'automatisation massive sont déjà disponibles pour la production en série des microsystèmes, tandis que la production de petites quantités s'appuie principalement sur des processus manuels en l'absence de système de micro-manipulation flexible. Un processus manuel impose des contraintes à la productivité et la précision, ce qui accroît les difficultés pour les petites et moyennes entreprises à conquérir leur place sur le marché international. Dans ce contexte, la société pionnière pour la microrobotique Percipio Robotics a proposé une plate-forme cobotique Chronogrip, qui vise à gérer la micro-manipulation flexible. Toutefois, la solution n'est pas encore complète et il y a trois principaux défis à résoudre :• la dynamique de l'actionneur piézo-électrique stick-slip n'est pas entièrement comprise, ce qui retarde le développement des stratégies de suivi de trajectoire;• les interfaces haptiques ont peu de bande passante en raison des propriétés mécaniques, par conséquent il n'y a aucune option disponible qui soit capable de reproduire des informations haptiques de haute dynamique depuis le micromonde;• pour la micro-manipulation à la pince dans l'horlogerie, aucune interface haptique existante n'est en mesure d'assurer un fonctionnement intuitif et efficace.L’objectif de la thèse consiste à répondre à ces trois défis. La première partie de la thèse est consacrée à l'élaboration d'un modèle dynamique non linéaire de l'actionneur piézo-électrique stick-slip. Le résultat montre qu'il est le premier modèle dynamique qui puisse décrire la dynamique de l'actionneur dans des domaines temporels et fréquentiels, pour les fonctionnements en sous-pas et en grand déplacement, et à la fois pour les directions vers l'avant et l’arrière. La deuxième partie de la thèse est consacrée à développer une méthode pour étendre la bande passante d’une interface haptique en double étage en utilisant la technique de signal crossover. Le résultat montre que la bande passante est uniformément étendue à 1 kHz, ce qui rend possible la reproduction des phénomènes de haute dynamique depuis le micromonde. La troisième partie de la thèse vise à concevoir une interface haptique intuitive dédiée aux opérations d’horlogerie à la pince. Le design est également compatible avec l'utilisation conventionnelle d’une pince. Il est prévu d'intégrer tous les résultats de ces trois sujets de recherches dans la plate-forme de cobotique Chronogrip afin d’améliorer la productivité et l'efficacité de la micro-manipulation. / Microrobotics is a fast growing field of research and microsystems are in high demand from across a wide spectrum of our life. Nowadays, mass automation solutions are already available for large batch production of microsystems, while small batch production mainly relies on handmade processes due to the lack of flexible micro-manipulation system. Handmade processes have limited productivity and accuracy, which makes it more and more difficult for small and medium-sized enterprises to conquer their place on the international market. Under such circumstances, pioneer microrobotics company Percipio Robotics has proposed a desktop cobotic platform, Chronogrip, which aims to handle flexible micro-manipulation. However, the solution is not yet complete and there are three main challenges to resolve:• the dynamics of the piezoelectric stick-slip actuator is not fully understood, which delays the development of trajectory tracking strategies;• existing haptic interfaces have limited bandwidth due to their mechanical properties, consequently there is no available option that is able to render high dynamic haptic information from the microworld;• for tweezers-based micro-manipulation in watchmaking process, no existing haptic interface is able to provide intuitive and effective operation.The objective of thesis is to address these three issues. The first part of the thesis is dedicated to the development of nonlinear dynamic model of the piezoelectric stick-slip actuator. The result shows that it is the first dynamic model which can describe the actuator dynamics in time and frequency domain, for stepping and scanning mode, and for both forward and backward motion. The second part of the thesis is devoted to develop a method to extend the bandwidth of dual-stage haptic interface by using the signal crossover technique. The result shows that the bandwidth is uniformly extended to 1 kHz, which makes it possible to reproduce high dynamic phenomena from the microworld. The third part of the thesis aims to design an intuitive haptic interface for tweezers-based watchmaking operations. The design is also compatible with conventional tweezers-based usage. It is expected to integrate all of the three research results into the cobotic platform Chronogrip to enhance the productivity and effectiveness of micro-manipulation.

No description available.

[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.

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.

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.