MECHANICS OF DRILLSTRINGS AND MARINE RISERS DON W. DAREING ASME PRESS

Transcription

1 MECHANICS OF DRILLSTRINGS AND MARINE RISERS DON W. DAREING ASME PRESS

2 TABLE OF CONTENTS Preface xiii Nomenclature xv Chapter 1 Introduction Drillstrings Drill Pipe Drill Collars Rotary Shouldered Connections Static Analysis Neutral Point Drill Collar Buckling Stabilized Drill Collars Drill Pipe Buckling Dynamic Analysis Drillstring Vibrations Downhole Measurements of Drill Bit Forces and Motion Directional Drilling Stabilized Bottom Hole Assemblies Directional Control Using Downhole Motors Positive Displacement Motors (PDM) Downhole Drilling Turbines Marine Drilling and Production Risers Hydrodynamic Forces on Cylinders Vortex Shedding Boundary Conditions Marine Riser Response Prediction 21

3 iv Table of Contents Closed Form Method of Solution Riser Displacement due to Rig Offset Dynamic Response Maturity of Drilling and Production Technology 26 References 27 Chapter 2 Mechanics of Long Beam Columns Buckling Due to Weight of Vertical Column Oscillation of a Hanging Chain Natural Frequency of a Freely Hanging Chain Natural Frequencies of a Hanging Chain Constrained at the Lower End Short Beams Under Uniform Tension Constant Inside and Outside Pressure with Uniform Tension Static Analysis of Short Pipe Buckling of Short Pipe Buckling from Internal Pressure Uniformly Distributed Side Load Non-Uniformly Distributed Side Load Dynamic Analysis of Short Pipe Natural Frequencies and Mode Shapes Instability of Rotating Shafts with End Loads Modal Analysis ofshort Pipe Bending Equation for Long Beam Columns Hydrostatic Effects of Surrounding Fluids of Equal Density Hydrostatic Effects of Surrounding Fluids of Different Densities Unique Features of the Differential Equation of Bending 54

4 Table of Contents v Effective Tension Closed Form Solution Buckling and Frequencies of Long Vertical Pipe Pipes Completely Supported at the Top Synchronous Whirl of Long Pipe Fluid Density Greater Than Pipe Density Pipes Completely Supported at the Lower End Stability of Pipe Stands (Case 11) Comparison of Pipe and Chain Solutions (Case 12) Natural Frequencies of Steel Catenaries with Buoyancy Comparison of Steel Catenary with Elastic Pipe Solutions Torsion Buckling of Vertical Pipe Torsion Buckling of Short Pipe Torsion Buckling of Long Vertical Pipe Both Top and Bottom Ends Pinned Simply Supported at Both Ends with no End Thrust Top End Pinned and 2.7 Rotational Stability and Whirl Bottom End Fixed 85 of Vertical Pipe Stability of Long Vertical Pipe due to Torque, Rotation, and Damping Lower End Subjected to a Direct Pull Force Lower End Opened to Hydrostatic Pressure Mathematical Solution Stability Analysis Relative Whirl versus Absolute Whirl Parametric Resonance 99 References 102

5 vi Table of Contents Chapter 3 Drillstring Mechanics Buckling and Lateral Vibrations of Drill Pipe Differential Equation of Bending Method of Solution Use of Buckling Solution Natural Frequencies of Drill Pipe (Lateral Modes) Buckling of Drill Collars Bending Equation Lubinski's Solution Helical Buckling Within Well Bore or Casing Stabilizer Placement Analysis Method of Solution Example Calculation Buckling on an Inclined Plane Buckling of Drillstrings in Directional Wells Drill Collar Dynamics Whirling Motion in Drill Collars Differential Equations of Motion Effective Tension Mathematical Solution Establishing Ryand ly Criteria for Dynamic Stability Relative Whirl versus Absolute Whirl Synchronous Whirl Based on Zero Damping Experimental Measurements of Drill Collar Whirl Unbalanced Drill Collars Excitation by Positive Displacement Motors (PDM) Coupling of Axial and Lateral Vibrations Stick-Slip-Induced Vibration Theories of Axial and Torsion Vibration Forced Vibrations Roller Cone Drill Bits 144

6 Table of Contents vii Axial and Torsion Vibration Model Quantifying Damping for Axial Modes Natural Frequencies of Axial, Torsion, and Lateral Modes Natural Frequencies of Axial Modes Natural Frequencies of Torsion Modes Natural Frequencies of Polycrystalline Diamond Lateral Modes 159 Compact (PDC) Drill Bits Self-Exciting Mechanism Stability Analysis Experimental Verification of Theory Backward Whirl of PDC Drill Bits Gear Tracking Cutter Impulsive Force Accounting for Torsion Flexibility in Drill Collars Free Torsion Vibration Caused by CutterImpulse Vibration Control Roller Cone Drill Bits Shock Absorbers Drill Collar Design PDC Rock Bit Operation and Design for Regions of Stability Shock Absorber Design for PDC Drill Bit Applications Drill Bit Design Friction in Directional Wells Coefficient of Friction Soft Pipe Model Elastically Flexible Model Pulling Out ofwell Bore Putting Pipe Into Well Bore 189

7 viii Table of Contents References 191 Appendix 3A: Computer Model of Drill Collar Bending Between Multiple Stabilizers 195 Chapter 4 Mechanics of Marine Risers Static Analysis of Marine Risers Buckling of Marine Risers Static Displacement of Risers in One Plane Differential Equation of Bending Boundary Conditions Deflections Caused by Rig Offset BallJoint at Lower End Flex/Ball Joint Fixed Lower End Deflections Caused by Uniform Current Loading Differential Equation of Bending Method of Solution Effective Tension vs Average Effective Tension Tapered Flex Joints Equation of Bending Parabolic Approximation to Moment of Inertia Solution to Differential Equation Example Calculation Hydrostatic Effects Interfacing Tapered Flex Joints with Uniform Riser Pipe Boundary Conditions Tapered Flex Joint Section Uniform Riser Pipe Section Merging the Two Solutions Example Calculation Broader Applications of the Closed Form Solution Combining Two or Multiple Sections 241

8 i adie ot contents ix Intermediate Buoys in Riser Pipe Method of Segments Ultra Deep Risers Tapered Flex Joint, Short Riser Pipe, Steel Catenary Tapered Flex Joint Section Short Riser Pipe Section Steel Catenary Section Boundary Conditions Dynamic Analysis Natural Frequencies Differential Equation of Motion Ball Joint Attachment Structurally Fixed at BOP Natural Frequencies Based on Steel Catenary Model Alternate Methods for Determining Natural Frequencies Uniform Tension Iteration on Lateral Mode Dynamic Analysis Forced Vibration In-Line Vibration Caused by Ocean Currents and Waves Formulation of Equation of Motion Current Loading Rig Offset Forced Vibrations Example Calculation Vortex-Induced Vibrations Self-Exciting Mechanism Modal Analysis 278 Appendix 4A: Cables Suspended in Air 281 Appendix 4B: Comparison of Steel Catenary Approximation with Elastic Riser 284 References 286

9 x Table of Contents Chapter 5 Applied Drilling Mechanics Developing the Drilling Program Operational Requirements Design Specifications Creating Design Alternatives Evaluating Alternatives Drillstring Design Drill Bits Roller Cone Drill Bits Polycrystalline Diamond Compact (PDC) Bits Natural Diamond Bits Cost Analysis Bottom Hole Assemblies Positive Displacement Motors S Downhole Drilling Turbines Measurement While Tools 306 Drilling Directional Drilling Vibration Monitoring Stabilized Assemblies Building Assemblies Holding Assemblies Dropping Assemblies Drill Collars Drill Pipe Drill Pipe Stress Components Bending at Drill Pipe/Drill Collar Interface Effect of Dog Legs on Bending Stress Tool Joints and Make up Torque 322

10 Table of Contents xi 5.2 Hydraulics of Rotary Drilling Mud Pumps Parasitic Losses Nozzle Selection Annular Velocity Requirements Available Hydraulic Horsepower Power Demands of Downhole Motors Optimum Drilling Practice Drill Bit Selection Bit Weight and Rotation Speed Optimum Hydraulics for Drill Bit Cleaning Impact Force Pressure Balance Drilling Mud Properties Bottom Hole Assembly Design 339 References 339 Selected Topics in Marine Riser Design Marine Drilling Risers Drilling Mode Effective Tension and Riser Buckling Rota tion Across Flex/Ball Joint Non-Drilling Mode Replacing Drilling Mud with Sea Water Effect of Drilling Mud on Bending Stress Disconnect Mode Marine Production Risers Top-Mounted Tapered Flex Joint Optimizing Tapered Flex Joints Bending of Bundled Tubulars Attached to Production Risers Method of Solution Example Calculation 361

11 Table of Contents Appendix 6A: BOP Suspended at Lower End of Drilling Riser 364 Appendix 6B: Drill Pipe Whirl Within Drilling Risers 367 References 372 Index 373