Dynamic Interaction Analysis of Coupled Axial-Torsional-Lateral Mechanical Vibrations in Rotary Drilling Systems

Maintaining the integrity and longevity of structures is essential in many industries,such as aerospace,nuclear,and petroleum.To achieve the cost-effectiveness of large-scale systems in petroleum drilling,a strong emphasis on structural durability and monitoring is required.This study focuses on the mechanical vibrations that occur in rotary drilling systems,which have a substantial impact on the structural integrity of drilling equipment.The study specifically investigates axial,torsional,and lateral vibrations,which might lead to negative consequences such as bit-bounce,chaotic whirling,and high-frequency stick-slip.These events not only hinder the efficiency of drilling but also lead to exhaustion and harm to the system’s components since they are difficult to be detected and controlled in real time.The study investigates the dynamic interactions of these vibrations,specifically in their high-frequency modes,usingfield data obtained from measurement while drilling.Thefindings have demonstrated the effect of strong coupling between the high-frequency modes of these vibrations on drilling sys-tem performance.The obtained results highlight the importance of considering the interconnected impacts of these vibrations when designing and implementing robust control systems.Therefore,integrating these compo-nents can increase the durability of drill bits and drill strings,as well as improve the ability to monitor and detect damage.Moreover,by exploiting thesefindings,the assessment of structural resilience in rotary drilling systems can be enhanced.Furthermore,the study demonstrates the capacity of structural health monitoring to improve the quality,dependability,and efficiency of rotary drilling systems in the petroleum industry.

A progressive framework for rotary motion deblurring

The rotary motion deblurring is an inevitable procedure when the imaging seeker is mounted in the rotating missiles.Traditional rotary motion deblurring methods suffer from ringing artifacts and noise,especially for large blur extents.To solve the above problems,we propose a progressive rotary motion deblurring framework consisting of a coarse deblurring stage and a refinement stage.In the first stage,we design an adaptive blur extents factor(BE factor)to balance noise suppression and details reconstruction.And a novel deconvolution model is proposed based on BE factor.In the second stage,a triplescale deformable module CNN(TDM-CNN)is designed to reduce the ringing artifacts,which can exploit the 2D information of an image and adaptively adjust spatial sampling locations.To establish a standard evaluation benchmark,a real-world rotary motion blur dataset is proposed and released,which includes rotary blurred images and corresponding ground truth images with different blur angles.Experimental results demonstrate that the proposed method outperforms the state-of-the-art models on synthetic and real-world rotary motion blur datasets.The code and dataset are available at https://github.com/JinhuiQin/RotaryDeblurring.

Active Disturbance Rejection Control of Hydraulic Quadruped Robots Rotary Joints for Improved Impact Resistance

Hydraulic actuated quadruped robots have bright application prospects and significant research values in unmanned area investigation,disaster rescue and other scenarios,due to the advantages of high payload and high power to weight ratio.Among these fields,inevitable collision of robots may occur when contact with unknown objects,step on empty objects,or collapse,all of which have an impact on the working hydraulic system.To overcome the unknown external disturbances,this paper proposes an active disturbance rejection control(ADRC)strategy of double vane hydraulic rotary actuators for the hip joints of the quadruped robots.Considering the order of the valve-controlled actuator model,a three-stage tracking differentiator,a four-stage extended state observer,and a state error feedback controller are designed relatively,and the extended state observer is adopted to observe and compensate the uncertainty of external load torque of the system.The effectiveness of the ADRC method is verified in simulation environment and a single joint experimental platform.Moreover,the impact experiments of the limb leg unit are carried out after introducing the proposed ADRC strategy into hip joint,the limb leg unit of quadruped robots presents better impact resistance ability.

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

The Rotary Inverted Pendulum(RIP)is a widely used underactuated mechanical system in various applications such as bipedal robots and skyscraper stabilization where attitude control presents a significant challenge.Despite the implementation of various control strategies to maintain equilibrium,optimally tuning control gains to effectively mitigate uncertain nonlinearities in system dynamics remains elusive.Existing methods frequently rely on extensive experimental data or the designer’s expertise,presenting a notable drawback.This paper proposes a novel tracking control approach for RIP,utilizing a Linear Quadratic Regulator(LQR)in combination with a reduced-order observer.Initially,the RIP system is mathematically modeled using the Newton-Euler-Lagrange method.Subsequently,a composite controller is devised that integrates an LQR for generating nominal control signals and a reduced-order observer for reconstructing unmeasured states.This approach enhances the controller’s robustness by eliminating differential terms from the observer,thereby attenuating unknown disturbances.Thorough numerical simulations and experimental evaluations demonstrate the system’s capability to maintain balance below50Hz and achieve precise tracking below1.4 rad,validating the effectiveness of the proposed control scheme.

Impact Damage Testing Study of Shanxi-Beijing Natural Gas Pipeline Based on Decision Tree Rotary Tiller Operation

The North China Plain and the agricultural region are crossed by the Shanxi-Beijing natural gas pipeline.Resi-dents in the area use rototillers for planting and harvesting;however,the depth of the rototillers into the ground is greater than the depth of the pipeline,posing a significant threat to the safe operation of the pipeline.Therefore,it is of great significance to study the dynamic response of rotary tillers impacting pipelines to ensure the safe opera-tion of pipelines.This article focuses on the Shanxi-Beijing natural gas pipeline,utilizingfinite element simulation software to establish afinite element model for the interaction among the machinery,pipeline,and soil,and ana-lyzing the dynamic response of the pipeline.At the same time,a decision tree model is introduced to classify the damage of pipelines under different working conditions,and the boundary value and importance of each influen-cing factor on pipeline damage are derived.Considering the actual conditions in the hemp yam planting area,targeted management measures have been proposed to ensure the operational safety of the Shanxi-Beijing natural gas pipeline in this region.

Assessing cutter-rock interaction during TBM tunnelling in granite:Large-scale standing rotary cutting tests and 3D DEM simulations

The widespread utilisation of tunnel boring machines(TBMs)in underground construction engineering requires a detailed investigation of the cutter-rock interaction.In this paper,we conduct a series of largescale standing rotary cutting tests on granite in conjunction with high-fidelity numerical simulations based on a particle-type discrete element method(DEM)to explore the effects of key cutting parameters on the TBM cutter performance and the distribution of cutter-rock contact stresses.The assessment results of cutter performance obtained from the cutting tests and numerical simulations reveal similar dependencies on the key cutting parameters.More specifically,the normal and rolling forces exhibit a positive correlation with penetration but are slightly influenced by the cutting radius.In contrast,the side force decreases as the cutting radius increases.Additionally,the side force shows a positive relationship with the penetration for smaller cutting radii but tends to become negative as the cutting radius increases.The cutter's relative effectiveness in rock breaking is significantly impacted by the penetration but shows little dependency on the cutting radius.Consequently,an optimal penetration is identified,leading to a low boreability index and specific energy.A combined Hertz-Weibull function is developed to fit the cutter-rock contact stress distribution obtained in DEM simulations,whereby an improved CSM(Colorado School of Mines)model is proposed by replacing the original monotonic cutting force distribution with this combined Hertz-Weibull model.The proposed model outperforms the original CSM model as demonstrated by a comparison of the estimated cutting forces with those from the tests/simulations.The findings from this work that advance our understanding of TBM cutter performance have important implications for improving the efficiency and reliability of TBM tunnelling in granite.

Theoretical analysis on springback of L-section extrusion in rotary stretch bending process

The theoretical analysis of springback in rotary stretch bending process of L-section extrusion was studied. The models for characterizing the springback angle after unloading were established based on the stress and strain distributions in the cross-section of the part. With the proposed model, analysis of the effect of pre-stretch force and post-stretch force on springback angle shows that springback decreases as the pre-stretch force or post-stretch force increases. Comparative study with experiments clearly demonstrates that the prediction of springback can resort to the current model without the loss of accuracy.

Sensitivity of springback and section deformation to process parameters in rotary draw bending of thin-walled rectangular H96 brass tube

In order to study the effects of the process parameters on springback and section deformation, a sensitivity analysis model was established based on the combination use of the multi-parameter sensitivity analysis method and the springback/section deformation prediction finite element model, and by using this model the sensitivities of the springback and the section deformation to process parameters were analyzed and compared. The results show that the most sensitive process conditions for springback angle are the boost speed and the pressure of pressure die, and the most sensitive process condition for section deformation is the number of cores. When the clamp force, the boost speed and the pressure of pressure die are utilized to control section deformation, the effect of these process parameters on springback should be considered. When the process parameters are mainly used to control springback, the effect of these process parameters on the section deformation should be always considered.

Pipe reduction of miniature inner grooved copper tubes through rotary swaging process

A rotary swaging machine was applied to fabricating pipe reduction for miniature inner grooved copper tube （MIGCT） heat pipes. Compared with conventional swaging method, the axial feed of the designed rotary swaging machine was reached by a constant pushing force. The deformation of grooves in pipe reduced section during rotary swaging was analyzed. The shrinkage and extensibility of pipe reduction were measured and calculated. Furthermore, four aspects, including outer diameter, surface roughness, extensibility and processing time of pipe reduction, which were influenced by the pushing force, were considered. The results show that the tube wall thickness increases gradually along the z-axis at sinking section. However, the outer diameters, surface roughness and micro-cracks at reduced section tend to decrease along the z-axis. Besides, the effect of variation in the pushing force on the extensibility is limited while an increase in the pushing force results in a decrease of surface roughness. Therefore, a large pushing force within the limit is beneficial to pipe reduction manufacturing during rotary swaging process.

有限元分析冠状动脉新型刻痕球囊的安全性及有效性

背景:目前临床上使用的冠状动脉介入预扩张球囊主要是传统的高压球囊、乳突球囊等,它们在病变血管中可能会出现滑脱进而擦伤血管的情况。目的:评估新型旋刻球囊在血管扩张中的安全性及有效性。方法:(1)有限元分析:通过采集相关人体组织数据建立血管三维有限元模型,随后建立乳突球囊植入血管三维有限元模型与旋刻球囊植入血管三维有限元模型,分析不同充气压下球囊扩张时的血管应力、血管位移、球囊应力、球囊位移。(2)动物实验:将8只新西兰大耳兔随机分成2组,在髂动脉中分别植入乳突球囊与旋刻球囊进行扩张,每组4只。球囊撤出后取材,苏木精-伊红染色与透射电镜观察血管损伤情况。结果与结论:(1)有限元分析:两种球囊的弹力性质无明显差异,在相同充气压下,乳突球囊组血管应力、血管位移、球囊应力、球囊位移均远远大于旋刻球囊组,并且各指标的均匀性优于旋刻球囊组;随着充气压的增加,乳突球囊组血管应力、血管位移、球囊应力、球囊位移增加幅度远远大于旋刻球囊组。(2)动物实验:苏木精-伊红染色与透射电镜观察显示,旋刻球囊扩张造成的血管损伤只局限在内膜,而乳突球囊扩张造成的血管损伤比较严重,内膜、中膜损伤严重,部分节段可以看到血肿形成,血管周围的炎性细胞较多,局部可见有巨噬细胞堆积。(3)结果表明:相较于乳突球囊扩张,旋刻球囊扩张造成血管闭塞以及夹层的风险较小,但有一定出现球囊弯曲的概率。

Analytical Solution for Laminar Viscous Flow inthe Gap Between Two Parallel Rotary Disks

Aim To get the analytical for laminar viscous flow in the gap of two parallel rotating disks. Methods By estimating the order of magnitude of each term in the Navier-Stokes equations to drop small terms and achieve the required simplified differential equations, and by integrating the equations to obtain the solution for theflow between two rotary disks. Results Parameters related to the laminar viscous flow in the gap between two parallel rotary disks, such as the velocity, the pressure, the flowrate, the force, the shearing stress, the torque and the power derived. Conclusion The result provides a theoretical basis and an effective method for the designs of the devices connected with the laminar viscous flow in the gap between two parallel rotary disks.

基于3D艺术仿真建模的旋耕机产品设计

通过基于三维艺术的旋耕机产品设计,探究如何优化农业机械的设计和生产。首先,分析了三维艺术特点,以及将其应用在旋耕机产品设计的优势;接着,介绍了旋耕机核心零部件结构的设计,并基于三维艺术完成了旋耕机的3D外观模型设计。基于SolidWorks的旋耕机动力学仿真结果表明:传动齿轮接触力和刀辊反作用力满足设计需求,整个机器稳定性良好。

Effects of Nd and rotary forging on mechanical properties of AZ71 Mg alloys

The effects of Nd addition on the mechanical properties and plastic deformability of AZ71 Mg alloys were investigated.0.5%-2.0%（mass fraction） Nd was added to AZ71 Mg alloys.The grain size and the amount of brittle β-Mg17Al12 phase reduce with increasing the Nd addition,while nanosized AlxNdy precipitates form.In combination with 32% rotary forging and subsequent annealing,the grain size of Nd-added AZ71 Mg alloys reduces greatly from over 350 μm to below 30 μm.Both tensile strength and ductility increase with the Nd addition up to 1.0%.The addition of Nd beyond 1.0% leads to the aggregations of rod-shaped Al11Nd3 and blocky Al2 Nd precipitates,thereby deteriorating both strength and ductility.The 1.0% Nd-added AZ71 Mg alloy shows tensile strength up to 253 MPa and elongation of 10.7%.It is concluded that adding 1.0% Nd to AZ71 Mg alloy yields the optimum toughness,whether under as-cast or rotary forging and annealing conditions.

矿用本安型控制器防水性能测试平台设计

为测试矿用本安型控制器的防水性能,设计了一种旋转喷淋和浸泡测试于一体的平台。平台上部为最大压力可达10 MPa的旋转喷淋系统,平台下部为最大水深可达1.1 m的浸泡系统,测试过程中可实时监控本安型控制器的运行性能。实践证明,该平台为本安型产品防水性能在线实时测试提供了一种新的方法,有效提升了产品的测试效能。

基于FEM-SPG耦合的盾构滚刀破岩仿真研究

隧道施工过程中岩石在盾构滚刀破岩力的作用下会发生破碎,传统的有限元方法(FEM)无法探究这一现象。为解决使用FEM面临网格畸变及无法同时分析岩石破碎的问题,引入光滑粒子伽辽金(SPG)分析方法,通过FEM和SPG耦合的方式建立了滚刀回转切削岩石模型。结果表明:FEM-SPG方法能够有效地展示岩石的密实核破碎过程及岩渣飞溅的现象。通过与CSM模型进行对比验证,发现仿真得到的滚刀垂直力与CSM模型相比误差为1.8%,验证了模型的可靠性。该方法与模型能够为滚刀精准破岩研究及分析岩石破碎机理提供新思路。

An Innovative Process for Direct Reduction of Cold bound Pellets from Iron Concentrate with a Coal-based Rotary Kiln

Successfully developed an innovative process of direct reduction of cold bound pellets from iron ore concentrate with a coal based rotary kiln, in comparison with the traditional direct reduction of fired oxide pellets in coal based rotary kilns , possesses such advantages as: shorter flowsheet, lower capital investment, greater economic profit, good quality of direct reduced iron. The key technologies , such as the composite binder and corresponding feasible techniques were employed in practice. A mill utilizing this process and with an annual capacity of 50 thousand ton DRI has been put into operation.

Effects of key factors of rotary triboelectrostatic separator on efficiency of fly ash decarbonization

On the basis of understanding the principle of rotary triboelectrostatic separation, dynamic analysis of charged fly ash particles aimed at determining the key factors and separation experiments to improve decarbonization efficiency had been carried out Variables of electrode plate voltage and corrected wind speed are the key factors which affect the decarbonization efficiency on the separation of fly ash, The results of separation experiments show that:(1) With the plate voltage increasing, the efficiency of decarbonization continuously rises and in its selected range, the optimal voltage level is 45 KV;(2) The corrected wind speed can impact the efficiency of decarbonization significantly: with the speed increasing, the efficiency of decarbonization shows a trend of first decline, then increase and decrease again, and in its selected range, the optimal speed is 2.0 m/s. This study is of significance for the improvement of rotary triboelectrostatic separation performance and its decarbonization separation efficiency.

道路桥梁钻孔灌注桩施工技术研究

钻孔灌注桩因其适应性强、成本合理、施工便捷,在公路桥梁、港口等工程领域得到广泛应用。然而,其成桩过程复杂,影响质量的因素众多,因此需要严格控制每一环节并全面考虑各种影响因素。本文通过研究东山大桥道路桥梁工程的灌注桩施工,深入对比分析了旋挖成孔和冲击成孔两种方式的技术特性、工效及成本,旨在为类似工程提供有益参考。通过综合比较不同施工方案,可结合工程需求、施工条件和经济效益,选出最佳方案,进而提升工程质量,降低成本并缩短工期。

FE SIMULATION OF CENTER CRACK OCCURRENCE IN TUBE ROUNDS DURING TWO-ROLL ROTARY ROLLING PROCESS

With the aid of FE （finite element） code MSC.Superform 2005, 2-D coupled thermo-mechanical simulation of center-crack occurrence in round billet during 2-roll rotary rolling process was presented using Oyane ductile fracture criteria. A simple modeling is put forward based on the spiral motion of the workpiece as an essential characteristic in movement. The influence of the feed angle and the entry cone angle of the main roll on the process was taken into account in the modeling. The soundness for simplifying the 3-D rotary rolling into a 2-D problem was discussed. By adopting the parameters of Diescher piercer in 140mm mandrel mill of Bao Steel, the distribution and development of strain/stress were analyzed, and the eigen value of ductile fracture as well. The critical percentage of diameter reduction was obtained from the simulation. The result showed a good agreement with the experimental value, and therefore was of widely guiding significance to the practical process for rationally formulating the deformation parameters of steel tube piercing.

Rotary ultrasonic-assisted milling of brittle materials

In order to improve the machining efficiency of ultrasonic milling,the easiest and most effective approach was started with the improvement of tool design.The main objective of this research was to utilize rotary ultrasonic machining (RUM's) effectiveness in removing brittle materials to extend the applications of this independent,innovative manufacturing method (self-driving rotary ultrasonic machining),and to experimentally investigate its milling application on brittle materials.The designed tool was used in the conjunction with previously established RUM machine tools,and glass was selected as workpiece for experiments.The interrelationship between feed rate and depth of cut was discussed.By measuring the surface roughness of workpiece,the overall efficacy of utilizing RUM for milling was evaluated and presented.Ultrasonic assisted milling results in the reduction of milling resistance,which leads to a greater process rate.