The variation of the principal stress of formations with the working and geo-mechanical conditions can trigger wellbore instabilities and adversely affect the well completion.A finite element model,based on the theory...The variation of the principal stress of formations with the working and geo-mechanical conditions can trigger wellbore instabilities and adversely affect the well completion.A finite element model,based on the theory of poro-elasticity and the Mohr-Coulomb rock damage criterion,is used here to analyze such a risk.The changes in wellbore stability before and after reservoir acidification are simulated for different pressure differences.The results indicate that the risk of wellbore instability grows with an increase in the production-pressure difference regardless of whether acidification is completed or not;the same is true for the instability area.After acidizing,the changes in the main geomechanical parameters(i.e.,elastic modulus,Poisson’s ratio,and rock strength)cause the maximum wellbore instability coefficient to increase.展开更多
According to the transversely isotropic theory and weak plane criterion, and considering the mechanical damages due to stress unloading and hydration during drilling, a shale wellbore stability model with the influenc...According to the transversely isotropic theory and weak plane criterion, and considering the mechanical damages due to stress unloading and hydration during drilling, a shale wellbore stability model with the influence of stress unloading and hydration was established using triaxial test and shear test. Then, factors influencing the wellbore stability in shale were analyzed. The results indicate that stress unloading occurs during drilling in shale. The larger the confining pressure and axial stress, the more remarkable weakening of shale strength caused by stress unloading. The stress unloading range is positively correlated with the weakening degree of shale strength. Shale with a higher development degree of bedding is more prone to damage along bedding. In this case, during stress unloading, the synergistic effect of weak structural plane and stress unloading happens, leading to a higher weakening degree of shale strength and poorer mechanical stability, which brings a higher risk of wellbore instability. Fluid tends to invade shale through bedding, promoting the shale hydration. Hydration also can weaken shale mechanical stability, causing the decline of wellbore stability. Influence of stress unloading on collapse pressure of shale mainly occurs at the early stage of drilling, while the influence of hydration on wellbore stability mainly happens at the late stage of drilling. Bedding, stress unloading and hydration jointly affect the wellbore stability in shale. The presented shale wellbore stability model with the influence of stress unloading and hydration considers the influences of the three factors. Field application demonstrates that the prediction results of the model agree with the actual drilling results, verifying the reliability of the model.展开更多
Natural gas hydrate(NGH)reservoirs consist of the types of sediments with weak cementation,low strength,high plasticity,and high creep.Based on the kinetics and thermodynamic characteristics of NGH decomposition,herei...Natural gas hydrate(NGH)reservoirs consist of the types of sediments with weak cementation,low strength,high plasticity,and high creep.Based on the kinetics and thermodynamic characteristics of NGH decomposition,herein a heat-fluid-solid coupling model was established for studying the wellbore stability in an NGH-bearing formation to analyze the effects of the creep characteristics of NGH-bearing sediments during long-term drilling.The results demonstrated that the creep characteristics of sediments resulted in larger plastic yield range,thus aggravating the plastic strain accumulation around the wellbore.Furthermore,the creep characteristics of NGH-bearing sediments could enhance the effects induced by the difference in horizontal in situ stress,as a result,the plastic strain in the formation around the wellbore increased nonlinearly with increasing difference in in situ stress.The lower the pore pressure,the greater the stress concentration effects and the higher the plastic strain at the wellbore.Moreover,the lower the initial NGH saturation,the greater the initial plastic strain and yield range and the higher the equivalent creep stress.The plastic strain at the wellbore increased nonlinearly with decreasing initial saturation.展开更多
Wellbore collapse frequently happens in the clay shale formation.To maintain wellbore stability,appropriate mud pressure is a vital factor.When clay formation is opened,drilling unloading occurs,modifying rock structu...Wellbore collapse frequently happens in the clay shale formation.To maintain wellbore stability,appropriate mud pressure is a vital factor.When clay formation is opened,drilling unloading occurs,modifying rock structure and strength at the wall of borehole,which affects the selection of mud pressure.Currently,mechanism of drilling unloading is still poorly understood which in return will bring a concern to wellbore stability.Therefore,in this study,a combination of triaxial compressive test and ultrasonic wave test has been used to simulate drilling unloading and analyze its mechanism.Results indicate that more void space is created inside the clay shale sample due to unloading.This structure change leads to a decline of strength and acoustic amplitude.Additionally,unloading influence is depended on varying drilling unloading parameters.Small unloading range and fast unloading rate are able to enhance stability.With various degrees of unloading impact,collapse pressure equivalent density has a clear modification,proving that unloading is a non-negligible influencing factor of wellbore stability.Besides,the unloading effect is much stronger in large confining pressure,implying that more attention should be given to unloading when drilling is in extreme deep or high geostress formation.Findings in this paper can offer theoretical guidance for drilling in the clay shale formation.展开更多
Through embedding modified nano-silica particles on the surface of polystyrene using the method of Pickering emulsion polymerization,a kind of nano/micro oleophobic agent named OL-1 was developed.The effects of OL-1 o...Through embedding modified nano-silica particles on the surface of polystyrene using the method of Pickering emulsion polymerization,a kind of nano/micro oleophobic agent named OL-1 was developed.The effects of OL-1 on the rock surface properties and its performance in inhibiting the oil phase imbibition into the rock were explored.The performance and mechanisms of OL-1 in improving the wellbore stability of shale gas wells were evaluated and analyzed.OL-1 could absorb on the surface of the shale core to form a membrane with a micro-nano two-stage roughness,making the surface energy of the core decrease to 0.13 mN/m and the contact angle of the white oil on the core surface increase from 16.39°to 153.03°.Compared with the untreated capillary tube,when immersed into 3#white oil,the capillary tube treated by OL-1 had a reversal of capillary pressure from 273.76 Pa to-297.71 Pa,and the oil imbibition height inside the capillary tube decreased from 31 mm above the external liquid level to 33 mm below the external liquid level.The amount of oil invading into the rock core modified by OL-1 decreased by 64.29%compared with the untreated one.The shale core immersed into the oil-based drilling fluids with 1%OL-1 had a porosity reduction rate of only 4.5%.Compared with the core immersed in the drilling fluids without OL-1,the inherent force of the core treated by 1%OL-1 increased by 24.9%,demonstrating that OL-1 could effectively improve the rock mechanical stability by inhibiting oil phase imbibition.展开更多
Deep wellbores/boreholes are generally drilled into rocks for oil and gas exploration,monitoring of tectonic stresses purposes.Wellbore and tunnel in depth are generally in true triaxial stress state,even if the groun...Deep wellbores/boreholes are generally drilled into rocks for oil and gas exploration,monitoring of tectonic stresses purposes.Wellbore and tunnel in depth are generally in true triaxial stress state,even if the ground is under axisymmetric loading condition.Stability of such wellbores is very critical and collapse of wellbore must be avoided.Mogi-Coulomb failure criterion is a better representation of rock strength under true triaxial condition.In this paper,an analytical solution is proposed using Mogi-Coulomb failure criterion.The solution is obtained for rock mass exhibiting elastic-perfectly plastic or elastic-brittle-plastic behaviour considering in-plane isotropic stresses.The proposed solution is then compared with exact analytical solution for incompressible material and experimental results of thickwall cylinder.It is shown that the results obtained by the proposed analytical solution are in good agreement with the experimental results and exact analytical solution.A reduction of about 13%e20%in plastic zone from the proposed closed-form solution is observed,as compared to the results from the finite element method(FEM)based Mohr-Coulomb criterion.Next,the influences of various parameters such as Poisson’s ratio,internal pressure(mud weight),dilation angle,and out-of-plane stress are studied in terms of stress and deformation responses of wellbore.The results of the parametric study reveal that variation in the out-of-plane stress has an inverse relation with the radius of plastic zone.Poisson’s ratio does not have an appreciable influence on the tangential stress,radial stress and radial deformation.Dilation angle has a direct relation with the deformation.Internal pressure is found to have an inverse relation with the radial deformation and the radius of plastic zone.展开更多
The wellbore stability of a vertical well through the sandstone reservoir layers of the Asmari oil-bearing formation in south-west Iran is investigated.The safe drilling-fluid density range for maintaining wellbore st...The wellbore stability of a vertical well through the sandstone reservoir layers of the Asmari oil-bearing formation in south-west Iran is investigated.The safe drilling-fluid density range for maintaining wellbore stability is determined and simulated using FLAC3 D software and a finite volume model established with drilled strata geomechanical features.The initiation of plastic condition is used to determine the safe mud weight window(SMWW)in specific sandstone layers.The effects of rock strength parameters,major stresses around the wellbore and pore pressure on the SMWW are investigated for this wellbore.Sensitivity analysis reveals that a reduction in cohesion and internal friction angle values leads to a significant narrowing of the SMWW.On the other hand,the reduction of pore pressure and the ratio between maximum and minimum horizontal stresses causes the SMWW to widen significantly.The ability to readily quantify changes in SMWW indicates that the developed model is suitable as a well planning and monitoring tool.展开更多
Wellbore instability is a key problem restricting efficient production of coal-bed methane. In order to perform thorough and systematic research regarding coal-bed wellbore stability problems, a new discrete element m...Wellbore instability is a key problem restricting efficient production of coal-bed methane. In order to perform thorough and systematic research regarding coal-bed wellbore stability problems, a new discrete element model which fully considers the features of cleat coal-beds is established based on the Kirsch equation. With this model, the safe pipe tripping speed, drilling fluid density window and coal-bed collapse/fracture pressure are determined; in addition, the relationships between pipe tripping speed and pipe size, cleat size, etc. and wellbore stability are analyzed in the coal-bed drilling and pipe tripping processes. The case studies show the following results: the wellbore collapses(collapse pressure: 4.33 MPa) or fractures(fracture pressure: 12.7 MPa) in certain directions as a result of swab or surge pressure when the pipe tripping speed is higher than a certain value; the cleat face size has a great influence on wellbore stability, and if the drilling fluid pressure is too low, the wellbore is prone to collapse when the ratio of the face cleat size to butt cleat size is reduced; however, if the drilling fluid pressure is high enough, the butt cleat size has no influence on the wellbore fracture; the factors influencing coal-bed stability include the movement length, pipe size, borehole size.展开更多
Drilling through chemically-active shale formations is of special importance due to time-dependent drilling fluideshale interactions.The physical models presented so far include sophisticated input parameters,requirin...Drilling through chemically-active shale formations is of special importance due to time-dependent drilling fluideshale interactions.The physical models presented so far include sophisticated input parameters,requiring advanced experimental facilities,which are costly and in most cases unavailable.In this paper,sufficiently-accurate,yet highly practical,models are presented containing parameters easilyderived from well-known data sources.For ion diffusivity coefficient,the chemical potential was formulated based on the functionality of water activity to solute concentration for common solute species in field.The reflection coefficient and solute diffusion coefficient within shale membrane were predicted and compared with experimental measurements.For thermally-induced fluid flow,a model was utilized to predict thermo-osmosis coefficient based on the energy of hydrogen-bond that attained a reasonably-accurate estimation from petrophysical data,e.g.porosity,specific surface area(SSA),and cation exchange capacity(CEC).The coupled chemo-thermo-poroelastic governing equations were developed and solved using an implicit finite difference scheme.Mogi-Coulomb failure criterion was adopted for mud weight required to avoid compressive shear failure and a tensile cut-off failure index for mud weight required to prevent tensile fracturing.Results showed a close agreement between the suggested model and experimental data from pressure transmission tests.Results from a numerical example for a vertical wellbore indicated that failure in shale formations was time-dependent and a failure at wellbore wall after 85 min of mudeshale interactions was predicted.It was concluded that instability might not firstly occur at wellbore wall as most of the conventional elastic models predict;perhaps it occurs at other points inside the formation.The effect of the temperature gradient between wellbore and formation on limits of mud window confirmed that the upper limit was more sensitive to the temperature gradient than the lower limit.展开更多
Wellbore failure can occur at different stages of operations. For example, wellbore collapse might happen during drilling and/or during production. The drilling process results in the removal of an already stressed ro...Wellbore failure can occur at different stages of operations. For example, wellbore collapse might happen during drilling and/or during production. The drilling process results in the removal of an already stressed rock material. If the induced stresses near the wellbore exceed the strength of rock, wellbore failure occurs. The production process also changes the effective stresses around the wellbore. Such changes in stresses can be significant for high drawdown pressures and can trigger wellbore failure. In this paper, the Mohr–Coulomb failure criterion with a hyperbolic hardening is used. The model parameters are identified from triaxial compression tests. The numerical simulations of laboratory tests showed that the model can reproduce the mechanical behaviour of sandstone. In addition, the simulations of multilateral junction stability experiments showed that the model was able to reproduce yielding and failure at the multilateral junction for different levels of applied stresses. Finally, a numerical example examining multilateral junction stability in an open borehole during drilling and production is presented. The results illustrate the development of a localized failure zone proximate to the area where two wellbore tracks join, particularly on the side with a sharp approaching angle, which would significantly increase the risk of wellbore collapse at the junction.展开更多
The analysis of wellbore stability in deepwater gas wells is vital for effective drilling operations, especially in deepwater remote areas and for modern drilling technologies. Wellbore stability problems usually occu...The analysis of wellbore stability in deepwater gas wells is vital for effective drilling operations, especially in deepwater remote areas and for modern drilling technologies. Wellbore stability problems usually occur when drilling through hydrocarbon formations such as shale, unconsolidated sandstone, fractured carbonate formations and HPHT formations with narrow safety mud window. These problems can significantly affect drilling time, costs and the whole drilling operations. In deepwater gas wells, there is also the possible of gas hydrate problems because of the low temperature and high pressure conditions of the environment as well as the coexistence of gas and water inside the wellbore. These hydrates can block the mud line, surface choke line and even the BOP stack if no hydrate preventive measures are considered. In addition, the dissociation of these hydrates in the wellbore may gasify the drilling fluid and reduce drilling mud density, hydrostatic pressure, change mud rheology and cause wellbore instabilities. Traditional wellbore stability analysis considered the formation to be isotropic and assumed that the rock mechanical properties are independent of in-situ stress direction. This assumption is invalid for formations with layers or natural fractures because the presence of these geological features will influence rock anisotropic properties, wellbore stress concentration and failure behavior. This is a complicated phenomenon because the stress distribution around a wellbore is affected by factors such as rock properties, far-field principal stresses, wellbore trajectory, formation pore pressure, reservoir and drilling fluids properties and time. This research work reviews the major causes of wellbore stability problems in deepwater gas wells and outlines different preventive measures for effective drilling operation, because real-time monitoring of drilling process can provide necessary information for solving any wellbore stability problems in a short time.展开更多
Geomechanics as the knowledge of rock deformation and stability is an indispensable part of all field development plans.Conducting geomechanical analyses leads to a safer and more efficient operation otherwise differe...Geomechanics as the knowledge of rock deformation and stability is an indispensable part of all field development plans.Conducting geomechanical analyses leads to a safer and more efficient operation otherwise different kinds of instability and distortion might occur.In this study,the geomechanical behavior of Ilam and Sarvak formations of an oil field in southwest of Iran was investigated.The research objectives can be summarized as wellbore stability evaluation and predicting the value of reservoir subsidence due to pressure drop as a result of reservoir fluid production.To fulfill these,a set of petrophysical logs run in the exploration well of this green field were collected.Next,using empirical correlations and statistical methods,required data for evaluating wellbore stability during drilling,specifying safe mud window to discover reservoir breakdown pressure,predicting the possibility of wellbore collapse in field lifetime,and assessing reservoir subsidence were determined.The results revealed that the average subsidence value as the consequence of production within 21 years is 0.275 ft Which is not significant.In terms of wellbore stability,it was concluded that all horizontal and vertical wells remain stable during this time period.Briefly to conclude,field development is not associated with alarming incidents from geomechanical aspect.展开更多
With the development of intelligent and interconnected traffic system,a convergence of traffic stream is anticipated in the foreseeable future,where both connected automated vehicle(CAV)and human driven vehicle(HDV)wi...With the development of intelligent and interconnected traffic system,a convergence of traffic stream is anticipated in the foreseeable future,where both connected automated vehicle(CAV)and human driven vehicle(HDV)will coexist.In order to examine the effect of CAV on the overall stability and energy consumption of such a heterogeneous traffic system,we first take into account the interrelated perception of distance and speed by CAV to establish a macroscopic dynamic model through utilizing the full velocity difference(FVD)model.Subsequently,adopting the linear stability theory,we propose the linear stability condition for the model through using the small perturbation method,and the validity of the heterogeneous model is verified by comparing with the FVD model.Through nonlinear theoretical analysis,we further derive the KdV-Burgers equation,which captures the propagation characteristics of traffic density waves.Finally,by numerical simulation experiments through utilizing a macroscopic model of heterogeneous traffic flow,the effect of CAV permeability on the stability of density wave in heterogeneous traffic flow and the energy consumption of the traffic system is investigated.Subsequent analysis reveals emergent traffic phenomena.The experimental findings demonstrate that as CAV permeability increases,the ability to dampen the propagation of fluctuations in heterogeneous traffic flow gradually intensifies when giving system perturbation,leading to enhanced stability of the traffic system.Furthermore,higher initial traffic density renders the traffic system more susceptible to congestion,resulting in local clustering effect and stop-and-go traffic phenomenon.Remarkably,the total energy consumption of the heterogeneous traffic system exhibits a gradual decline with CAV permeability increasing.Further evidence has demonstrated the positive influence of CAV on heterogeneous traffic flow.This research contributes to providing theoretical guidance for future CAV applications,aiming to enhance urban road traffic efficiency and alleviate congestion.展开更多
The efficient development and exploitation of shale oil depends on long-distance horizontal wells. As the degreeof cleaning of the wellbore plays a key role in these processes, in this study, this problem is investiga...The efficient development and exploitation of shale oil depends on long-distance horizontal wells. As the degreeof cleaning of the wellbore plays a key role in these processes, in this study, this problem is investigated experimentallyby focusing on the dimensionless cuttings bed height. A method is proposed to calculate the horizontalwellhydraulic extension taking into account the influence of the wellbore cleaning degree on the wellborepressure distribution and assess the effect of a variety of factors such as the bottom hole pressure, the circulatingpressure drop, the drilling pump performance and the formation properties. The analysis shows that the hydraulicextension of horizontal wells decreases with an increase in the cuttings bed height, and the higher the displacementof drilling fluid, the faster the hydraulic extension declines. The annular pressure drop of the horizontalsection increases with the increase of the cuttings bed height, resulting in a higher bottom-hole pressure. Severalarguments are provided to guide the safe drilling of shale oil horizontal wells and overcome the limits of currenttechnological approaches.展开更多
Rechargeable batteries have brought us lots of convenience and changed the way we live.However,the demand for higher energy density,longer cycle life,and more fast charging ability urges researchers to develop advance...Rechargeable batteries have brought us lots of convenience and changed the way we live.However,the demand for higher energy density,longer cycle life,and more fast charging ability urges researchers to develop advanced battery material and chemistry[1,2].展开更多
Boron phosphide(BP)has gained significant research attention due to its unique photoelectric and mechanical properties.In this work,we investigated the stability of BP under high pressure using x-ray diffraction and s...Boron phosphide(BP)has gained significant research attention due to its unique photoelectric and mechanical properties.In this work,we investigated the stability of BP under high pressure using x-ray diffraction and scanning electron microscope.The phase diagram of BP was explored in both B-rich and P-rich environments,revealing crucial insight into its behavior at 5.0 GPa.Additionally,we measured the melting curve of BP from 8.0 GPa to 15.0 GPa.Our findings indicate that the stability of BP under high pressure is improved within B-rich and P-rich environments.Furthermore,we report a remarkable observation of melting curve frustration at 10.0 GPa.This study will enhance our understanding of stability of BP under high pressure,shedding light on its potential application in semiconductor,thermal,and light-transmitting devices.展开更多
A common reclamation practice for closed coal surface mines is filling them with water to form pit lakes.The creation and sustainability of these lakes are significantly affected by the stability of the corresponding ...A common reclamation practice for closed coal surface mines is filling them with water to form pit lakes.The creation and sustainability of these lakes are significantly affected by the stability of the corresponding slopes.The present study provides a general framework for analyzing the water filling’s effect on slope stability based on a new water filling index,which can indirectly consider the factors affecting the process and efficiently quantify the filling speed’s influence.The assumptions of the proposed approach are thoroughly discussed,and the range of the water filling index is identified.Furthermore,the safety factor is calculated using the finite element method with the shear strength reduction technique during the filling process for various conditions(soil properties,slope geometry,hydraulic conditions,and water filling speed).Results are presented as normalized stability charts for practical use.During the water filling,the stability gradually decreases until the reservoir reaches a critical level of 10%e40%of the total height;it then increases to even more stable conditions than the initial one.Overall,the present analysis allows for the preliminary stability evaluation of a coal mine during the formation of a pit lake and the appropriate quantification of the water filling’s effect.展开更多
The stability analysis of a finite Stokes layer is of practical importance in flow control. In the present work, the instantaneous stability of a finite Stokes layer with layer interactions is studied via a linear sta...The stability analysis of a finite Stokes layer is of practical importance in flow control. In the present work, the instantaneous stability of a finite Stokes layer with layer interactions is studied via a linear stability analysis of the frozen phases of the base flow. The oscillations of two plates can have different velocity amplitudes, initial phases, and frequencies. The effects of the Stokes-layer interactions on the stability when two plates oscillate synchronously are analyzed. The growth rates of two most unstable modes when δ < 0.12 are almost equal, and δ = δ*/h*, where δ*and h*are the Stokes-layer thickness and the half height of the channel, respectively. However, their vorticities are different. The vorticity of the most unstable mode is symmetric, while the other is asymmetric. The Stokes-layer interactions have a destabilizing effect on the most unstable mode when δ < 0.68, and have a stabilizing effect when δ > 0.68. However, the interactions always have a stabilizing effect on the other unstable mode. It is explained that one of the two unstable modes has much higher dissipation than the other one when the Stokes-layer interactions are strong. We also find that the stability of the Stokes layer is closely related to the inflectional points of the base-flow velocity profile. The effects of inconsistent velocity-amplitude, initial phase, and frequency of the oscillations on the stability are analyzed. The energy of the most unstable eigenvector is mainly distributed near the plate of higher velocity amplitude or higher oscillation frequency. The effects of the initial phase difference are complicated because the base-flow velocity is extremely sensitive to the initial phase.展开更多
The recognition on the trend of wind energy stability is still extremely rare,although it is closely related to acquisition efficiency,grid connection,equipment lifetime,and costs of wind energy utilization.Using the ...The recognition on the trend of wind energy stability is still extremely rare,although it is closely related to acquisition efficiency,grid connection,equipment lifetime,and costs of wind energy utilization.Using the 40-year(1979–2018)ERA-Interim data from the European Center for Medium-Range Weather Forecasts,this study presented the spatial-temporal distribution and climatic trend of the stability of global offshore wind energy as well as the abrupt phenomenon of wind energy stability in key regions over the past 40 years with the climatic analysis method and Mann-Kendall(M-K)test.The results show the following 5 points.(1)According to the coefficient of variation(C_(v))of the wind power density,there are six permanent stable zones of global offshore wind energy:the southeast and northeast trade wind zones in the Indian,Pacific and Atlantic oceans,the Southern Hemisphere westerly,and a semi-permanent stable zone(North Indian Ocean).(2)There are six lowvalue zones for both seasonal variability index(S_(v))and monthly variability index(M_(v))globally,with a similar spatial distribution as that of the six permanent stable zones.M_(v) and S_(v) in the Arabian Sea are the highest in the world.(3)After C_(v),M_(v) and S_(v) are comprehensively considered,the six permanent stable zones have an obvious advantage in the stability of wind energy over other sea areas,with C_(v) below 0.8,M_(v) within 1.0,and S_(v) within 0.7 all the year round.(4)The global stability of offshore wind energy shows a positive climatic trend for the past four decades.C_(v),M_(v) and S_(v) have not changed significantly or decreased in most of the global ocean during 1979 to2018.That is,wind energy is flat or more stable,while the monthly and seasonal variabilities tend to shrink/smooth,which is beneficial for wind energy utilization.(5)C_(v) in the low-latitude Pacific and M_(v) and S_(v) in both the North Indian Ocean and the low-latitude Pacific have an obvious abrupt phenomenon at the end of the20th century.展开更多
Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to...Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.展开更多
基金This work is financially sponsored by Tarim Oilfield“Study on Adaptability Evaluation and Parameter Optimization of Completion Technology in Bozi Block,Tarim Oilfield”(Item Number:201021113436).
文摘The variation of the principal stress of formations with the working and geo-mechanical conditions can trigger wellbore instabilities and adversely affect the well completion.A finite element model,based on the theory of poro-elasticity and the Mohr-Coulomb rock damage criterion,is used here to analyze such a risk.The changes in wellbore stability before and after reservoir acidification are simulated for different pressure differences.The results indicate that the risk of wellbore instability grows with an increase in the production-pressure difference regardless of whether acidification is completed or not;the same is true for the instability area.After acidizing,the changes in the main geomechanical parameters(i.e.,elastic modulus,Poisson’s ratio,and rock strength)cause the maximum wellbore instability coefficient to increase.
基金Supported by the National Natural Science Foundation of China(42202194)Science and Technology Cooperation Project of the CNPC-SWPU Innovation Alliance(2020CX040102).
文摘According to the transversely isotropic theory and weak plane criterion, and considering the mechanical damages due to stress unloading and hydration during drilling, a shale wellbore stability model with the influence of stress unloading and hydration was established using triaxial test and shear test. Then, factors influencing the wellbore stability in shale were analyzed. The results indicate that stress unloading occurs during drilling in shale. The larger the confining pressure and axial stress, the more remarkable weakening of shale strength caused by stress unloading. The stress unloading range is positively correlated with the weakening degree of shale strength. Shale with a higher development degree of bedding is more prone to damage along bedding. In this case, during stress unloading, the synergistic effect of weak structural plane and stress unloading happens, leading to a higher weakening degree of shale strength and poorer mechanical stability, which brings a higher risk of wellbore instability. Fluid tends to invade shale through bedding, promoting the shale hydration. Hydration also can weaken shale mechanical stability, causing the decline of wellbore stability. Influence of stress unloading on collapse pressure of shale mainly occurs at the early stage of drilling, while the influence of hydration on wellbore stability mainly happens at the late stage of drilling. Bedding, stress unloading and hydration jointly affect the wellbore stability in shale. The presented shale wellbore stability model with the influence of stress unloading and hydration considers the influences of the three factors. Field application demonstrates that the prediction results of the model agree with the actual drilling results, verifying the reliability of the model.
基金financially supported by the National Natural Science Foundation of China(51974353,51991362)Natural Science Foundation of Shandong Province(ZR2019ZD14)CNPC’s Major Science and Technology Projects(ZD2019-184-003)。
文摘Natural gas hydrate(NGH)reservoirs consist of the types of sediments with weak cementation,low strength,high plasticity,and high creep.Based on the kinetics and thermodynamic characteristics of NGH decomposition,herein a heat-fluid-solid coupling model was established for studying the wellbore stability in an NGH-bearing formation to analyze the effects of the creep characteristics of NGH-bearing sediments during long-term drilling.The results demonstrated that the creep characteristics of sediments resulted in larger plastic yield range,thus aggravating the plastic strain accumulation around the wellbore.Furthermore,the creep characteristics of NGH-bearing sediments could enhance the effects induced by the difference in horizontal in situ stress,as a result,the plastic strain in the formation around the wellbore increased nonlinearly with increasing difference in in situ stress.The lower the pore pressure,the greater the stress concentration effects and the higher the plastic strain at the wellbore.Moreover,the lower the initial NGH saturation,the greater the initial plastic strain and yield range and the higher the equivalent creep stress.The plastic strain at the wellbore increased nonlinearly with decreasing initial saturation.
基金This work was supported by the National Natural Science Foundation of China(No.41772151)the National Science and Technology Major Project of the Ministry of Science and Technology of China(No.2011ZX05020-007-06)the Application Basic Research Project of Sichuan Province(No.2014JY0092)。
文摘Wellbore collapse frequently happens in the clay shale formation.To maintain wellbore stability,appropriate mud pressure is a vital factor.When clay formation is opened,drilling unloading occurs,modifying rock structure and strength at the wall of borehole,which affects the selection of mud pressure.Currently,mechanism of drilling unloading is still poorly understood which in return will bring a concern to wellbore stability.Therefore,in this study,a combination of triaxial compressive test and ultrasonic wave test has been used to simulate drilling unloading and analyze its mechanism.Results indicate that more void space is created inside the clay shale sample due to unloading.This structure change leads to a decline of strength and acoustic amplitude.Additionally,unloading influence is depended on varying drilling unloading parameters.Small unloading range and fast unloading rate are able to enhance stability.With various degrees of unloading impact,collapse pressure equivalent density has a clear modification,proving that unloading is a non-negligible influencing factor of wellbore stability.Besides,the unloading effect is much stronger in large confining pressure,implying that more attention should be given to unloading when drilling is in extreme deep or high geostress formation.Findings in this paper can offer theoretical guidance for drilling in the clay shale formation.
基金Supported by the CNPC Scientific Research and Technological Development Project(2021DJ3804)Scientific Research and Technological Development Project of PetroChina Company Limited(2020E-2803(JT))China CNPC Low Carbon Strategic Forward-Looking Major Science and Technology Project(2021DJ6601).
文摘Through embedding modified nano-silica particles on the surface of polystyrene using the method of Pickering emulsion polymerization,a kind of nano/micro oleophobic agent named OL-1 was developed.The effects of OL-1 on the rock surface properties and its performance in inhibiting the oil phase imbibition into the rock were explored.The performance and mechanisms of OL-1 in improving the wellbore stability of shale gas wells were evaluated and analyzed.OL-1 could absorb on the surface of the shale core to form a membrane with a micro-nano two-stage roughness,making the surface energy of the core decrease to 0.13 mN/m and the contact angle of the white oil on the core surface increase from 16.39°to 153.03°.Compared with the untreated capillary tube,when immersed into 3#white oil,the capillary tube treated by OL-1 had a reversal of capillary pressure from 273.76 Pa to-297.71 Pa,and the oil imbibition height inside the capillary tube decreased from 31 mm above the external liquid level to 33 mm below the external liquid level.The amount of oil invading into the rock core modified by OL-1 decreased by 64.29%compared with the untreated one.The shale core immersed into the oil-based drilling fluids with 1%OL-1 had a porosity reduction rate of only 4.5%.Compared with the core immersed in the drilling fluids without OL-1,the inherent force of the core treated by 1%OL-1 increased by 24.9%,demonstrating that OL-1 could effectively improve the rock mechanical stability by inhibiting oil phase imbibition.
文摘Deep wellbores/boreholes are generally drilled into rocks for oil and gas exploration,monitoring of tectonic stresses purposes.Wellbore and tunnel in depth are generally in true triaxial stress state,even if the ground is under axisymmetric loading condition.Stability of such wellbores is very critical and collapse of wellbore must be avoided.Mogi-Coulomb failure criterion is a better representation of rock strength under true triaxial condition.In this paper,an analytical solution is proposed using Mogi-Coulomb failure criterion.The solution is obtained for rock mass exhibiting elastic-perfectly plastic or elastic-brittle-plastic behaviour considering in-plane isotropic stresses.The proposed solution is then compared with exact analytical solution for incompressible material and experimental results of thickwall cylinder.It is shown that the results obtained by the proposed analytical solution are in good agreement with the experimental results and exact analytical solution.A reduction of about 13%e20%in plastic zone from the proposed closed-form solution is observed,as compared to the results from the finite element method(FEM)based Mohr-Coulomb criterion.Next,the influences of various parameters such as Poisson’s ratio,internal pressure(mud weight),dilation angle,and out-of-plane stress are studied in terms of stress and deformation responses of wellbore.The results of the parametric study reveal that variation in the out-of-plane stress has an inverse relation with the radius of plastic zone.Poisson’s ratio does not have an appreciable influence on the tangential stress,radial stress and radial deformation.Dilation angle has a direct relation with the deformation.Internal pressure is found to have an inverse relation with the radial deformation and the radius of plastic zone.
文摘The wellbore stability of a vertical well through the sandstone reservoir layers of the Asmari oil-bearing formation in south-west Iran is investigated.The safe drilling-fluid density range for maintaining wellbore stability is determined and simulated using FLAC3 D software and a finite volume model established with drilled strata geomechanical features.The initiation of plastic condition is used to determine the safe mud weight window(SMWW)in specific sandstone layers.The effects of rock strength parameters,major stresses around the wellbore and pore pressure on the SMWW are investigated for this wellbore.Sensitivity analysis reveals that a reduction in cohesion and internal friction angle values leads to a significant narrowing of the SMWW.On the other hand,the reduction of pore pressure and the ratio between maximum and minimum horizontal stresses causes the SMWW to widen significantly.The ability to readily quantify changes in SMWW indicates that the developed model is suitable as a well planning and monitoring tool.
文摘Wellbore instability is a key problem restricting efficient production of coal-bed methane. In order to perform thorough and systematic research regarding coal-bed wellbore stability problems, a new discrete element model which fully considers the features of cleat coal-beds is established based on the Kirsch equation. With this model, the safe pipe tripping speed, drilling fluid density window and coal-bed collapse/fracture pressure are determined; in addition, the relationships between pipe tripping speed and pipe size, cleat size, etc. and wellbore stability are analyzed in the coal-bed drilling and pipe tripping processes. The case studies show the following results: the wellbore collapses(collapse pressure: 4.33 MPa) or fractures(fracture pressure: 12.7 MPa) in certain directions as a result of swab or surge pressure when the pipe tripping speed is higher than a certain value; the cleat face size has a great influence on wellbore stability, and if the drilling fluid pressure is too low, the wellbore is prone to collapse when the ratio of the face cleat size to butt cleat size is reduced; however, if the drilling fluid pressure is high enough, the butt cleat size has no influence on the wellbore fracture; the factors influencing coal-bed stability include the movement length, pipe size, borehole size.
基金the financial and technical supports from the Petroleum Engineering Department at the University of North Dakota。
文摘Drilling through chemically-active shale formations is of special importance due to time-dependent drilling fluideshale interactions.The physical models presented so far include sophisticated input parameters,requiring advanced experimental facilities,which are costly and in most cases unavailable.In this paper,sufficiently-accurate,yet highly practical,models are presented containing parameters easilyderived from well-known data sources.For ion diffusivity coefficient,the chemical potential was formulated based on the functionality of water activity to solute concentration for common solute species in field.The reflection coefficient and solute diffusion coefficient within shale membrane were predicted and compared with experimental measurements.For thermally-induced fluid flow,a model was utilized to predict thermo-osmosis coefficient based on the energy of hydrogen-bond that attained a reasonably-accurate estimation from petrophysical data,e.g.porosity,specific surface area(SSA),and cation exchange capacity(CEC).The coupled chemo-thermo-poroelastic governing equations were developed and solved using an implicit finite difference scheme.Mogi-Coulomb failure criterion was adopted for mud weight required to avoid compressive shear failure and a tensile cut-off failure index for mud weight required to prevent tensile fracturing.Results showed a close agreement between the suggested model and experimental data from pressure transmission tests.Results from a numerical example for a vertical wellbore indicated that failure in shale formations was time-dependent and a failure at wellbore wall after 85 min of mudeshale interactions was predicted.It was concluded that instability might not firstly occur at wellbore wall as most of the conventional elastic models predict;perhaps it occurs at other points inside the formation.The effect of the temperature gradient between wellbore and formation on limits of mud window confirmed that the upper limit was more sensitive to the temperature gradient than the lower limit.
文摘Wellbore failure can occur at different stages of operations. For example, wellbore collapse might happen during drilling and/or during production. The drilling process results in the removal of an already stressed rock material. If the induced stresses near the wellbore exceed the strength of rock, wellbore failure occurs. The production process also changes the effective stresses around the wellbore. Such changes in stresses can be significant for high drawdown pressures and can trigger wellbore failure. In this paper, the Mohr–Coulomb failure criterion with a hyperbolic hardening is used. The model parameters are identified from triaxial compression tests. The numerical simulations of laboratory tests showed that the model can reproduce the mechanical behaviour of sandstone. In addition, the simulations of multilateral junction stability experiments showed that the model was able to reproduce yielding and failure at the multilateral junction for different levels of applied stresses. Finally, a numerical example examining multilateral junction stability in an open borehole during drilling and production is presented. The results illustrate the development of a localized failure zone proximate to the area where two wellbore tracks join, particularly on the side with a sharp approaching angle, which would significantly increase the risk of wellbore collapse at the junction.
文摘The analysis of wellbore stability in deepwater gas wells is vital for effective drilling operations, especially in deepwater remote areas and for modern drilling technologies. Wellbore stability problems usually occur when drilling through hydrocarbon formations such as shale, unconsolidated sandstone, fractured carbonate formations and HPHT formations with narrow safety mud window. These problems can significantly affect drilling time, costs and the whole drilling operations. In deepwater gas wells, there is also the possible of gas hydrate problems because of the low temperature and high pressure conditions of the environment as well as the coexistence of gas and water inside the wellbore. These hydrates can block the mud line, surface choke line and even the BOP stack if no hydrate preventive measures are considered. In addition, the dissociation of these hydrates in the wellbore may gasify the drilling fluid and reduce drilling mud density, hydrostatic pressure, change mud rheology and cause wellbore instabilities. Traditional wellbore stability analysis considered the formation to be isotropic and assumed that the rock mechanical properties are independent of in-situ stress direction. This assumption is invalid for formations with layers or natural fractures because the presence of these geological features will influence rock anisotropic properties, wellbore stress concentration and failure behavior. This is a complicated phenomenon because the stress distribution around a wellbore is affected by factors such as rock properties, far-field principal stresses, wellbore trajectory, formation pore pressure, reservoir and drilling fluids properties and time. This research work reviews the major causes of wellbore stability problems in deepwater gas wells and outlines different preventive measures for effective drilling operation, because real-time monitoring of drilling process can provide necessary information for solving any wellbore stability problems in a short time.
文摘Geomechanics as the knowledge of rock deformation and stability is an indispensable part of all field development plans.Conducting geomechanical analyses leads to a safer and more efficient operation otherwise different kinds of instability and distortion might occur.In this study,the geomechanical behavior of Ilam and Sarvak formations of an oil field in southwest of Iran was investigated.The research objectives can be summarized as wellbore stability evaluation and predicting the value of reservoir subsidence due to pressure drop as a result of reservoir fluid production.To fulfill these,a set of petrophysical logs run in the exploration well of this green field were collected.Next,using empirical correlations and statistical methods,required data for evaluating wellbore stability during drilling,specifying safe mud window to discover reservoir breakdown pressure,predicting the possibility of wellbore collapse in field lifetime,and assessing reservoir subsidence were determined.The results revealed that the average subsidence value as the consequence of production within 21 years is 0.275 ft Which is not significant.In terms of wellbore stability,it was concluded that all horizontal and vertical wells remain stable during this time period.Briefly to conclude,field development is not associated with alarming incidents from geomechanical aspect.
基金Project supported by the Fundamental Research Funds for Central Universities,China(Grant No.2022YJS065)the National Natural Science Foundation of China(Grant Nos.72288101 and 72371019).
文摘With the development of intelligent and interconnected traffic system,a convergence of traffic stream is anticipated in the foreseeable future,where both connected automated vehicle(CAV)and human driven vehicle(HDV)will coexist.In order to examine the effect of CAV on the overall stability and energy consumption of such a heterogeneous traffic system,we first take into account the interrelated perception of distance and speed by CAV to establish a macroscopic dynamic model through utilizing the full velocity difference(FVD)model.Subsequently,adopting the linear stability theory,we propose the linear stability condition for the model through using the small perturbation method,and the validity of the heterogeneous model is verified by comparing with the FVD model.Through nonlinear theoretical analysis,we further derive the KdV-Burgers equation,which captures the propagation characteristics of traffic density waves.Finally,by numerical simulation experiments through utilizing a macroscopic model of heterogeneous traffic flow,the effect of CAV permeability on the stability of density wave in heterogeneous traffic flow and the energy consumption of the traffic system is investigated.Subsequent analysis reveals emergent traffic phenomena.The experimental findings demonstrate that as CAV permeability increases,the ability to dampen the propagation of fluctuations in heterogeneous traffic flow gradually intensifies when giving system perturbation,leading to enhanced stability of the traffic system.Furthermore,higher initial traffic density renders the traffic system more susceptible to congestion,resulting in local clustering effect and stop-and-go traffic phenomenon.Remarkably,the total energy consumption of the heterogeneous traffic system exhibits a gradual decline with CAV permeability increasing.Further evidence has demonstrated the positive influence of CAV on heterogeneous traffic flow.This research contributes to providing theoretical guidance for future CAV applications,aiming to enhance urban road traffic efficiency and alleviate congestion.
基金supported by CNPC Key Core Technology Research Projects (2022ZG06)project funded by China Postdoctoral Science Foundation (2021M693508)Basic research and strategic reserve technology research fund project of institutes directly under CNPC.
文摘The efficient development and exploitation of shale oil depends on long-distance horizontal wells. As the degreeof cleaning of the wellbore plays a key role in these processes, in this study, this problem is investigated experimentallyby focusing on the dimensionless cuttings bed height. A method is proposed to calculate the horizontalwellhydraulic extension taking into account the influence of the wellbore cleaning degree on the wellborepressure distribution and assess the effect of a variety of factors such as the bottom hole pressure, the circulatingpressure drop, the drilling pump performance and the formation properties. The analysis shows that the hydraulicextension of horizontal wells decreases with an increase in the cuttings bed height, and the higher the displacementof drilling fluid, the faster the hydraulic extension declines. The annular pressure drop of the horizontalsection increases with the increase of the cuttings bed height, resulting in a higher bottom-hole pressure. Severalarguments are provided to guide the safe drilling of shale oil horizontal wells and overcome the limits of currenttechnological approaches.
基金supported by the National Natural Science Foundation of China (62105277)Natural Science Founda-tion of Henan Province (232300420139)+2 种基金Program for Innovative Research Team (Science and Technology) in University of Henan Province (24IRTSTHN004)Internationalization Training of High-Level Talents of Henan ProvinceNanhu Scholars Program for Young Scholars of XYNU
文摘Rechargeable batteries have brought us lots of convenience and changed the way we live.However,the demand for higher energy density,longer cycle life,and more fast charging ability urges researchers to develop advanced battery material and chemistry[1,2].
基金Project supported by the National Natural Science Foundation of China (Grant No.12074273)the Sichuan Science and Technology Program (Grant No.2022NSFSC1810)。
文摘Boron phosphide(BP)has gained significant research attention due to its unique photoelectric and mechanical properties.In this work,we investigated the stability of BP under high pressure using x-ray diffraction and scanning electron microscope.The phase diagram of BP was explored in both B-rich and P-rich environments,revealing crucial insight into its behavior at 5.0 GPa.Additionally,we measured the melting curve of BP from 8.0 GPa to 15.0 GPa.Our findings indicate that the stability of BP under high pressure is improved within B-rich and P-rich environments.Furthermore,we report a remarkable observation of melting curve frustration at 10.0 GPa.This study will enhance our understanding of stability of BP under high pressure,shedding light on its potential application in semiconductor,thermal,and light-transmitting devices.
基金This work has received funding from the European Union’s Research Fund for Coal and Steel under the projects RAFF grant agreement No.847299 and POMHAZ grant agreement No.101057326.Financial assistance by the European Commission is much appreciated.
文摘A common reclamation practice for closed coal surface mines is filling them with water to form pit lakes.The creation and sustainability of these lakes are significantly affected by the stability of the corresponding slopes.The present study provides a general framework for analyzing the water filling’s effect on slope stability based on a new water filling index,which can indirectly consider the factors affecting the process and efficiently quantify the filling speed’s influence.The assumptions of the proposed approach are thoroughly discussed,and the range of the water filling index is identified.Furthermore,the safety factor is calculated using the finite element method with the shear strength reduction technique during the filling process for various conditions(soil properties,slope geometry,hydraulic conditions,and water filling speed).Results are presented as normalized stability charts for practical use.During the water filling,the stability gradually decreases until the reservoir reaches a critical level of 10%e40%of the total height;it then increases to even more stable conditions than the initial one.Overall,the present analysis allows for the preliminary stability evaluation of a coal mine during the formation of a pit lake and the appropriate quantification of the water filling’s effect.
基金Project supported by the National Natural Science Foundation of China (No. 11402211)。
文摘The stability analysis of a finite Stokes layer is of practical importance in flow control. In the present work, the instantaneous stability of a finite Stokes layer with layer interactions is studied via a linear stability analysis of the frozen phases of the base flow. The oscillations of two plates can have different velocity amplitudes, initial phases, and frequencies. The effects of the Stokes-layer interactions on the stability when two plates oscillate synchronously are analyzed. The growth rates of two most unstable modes when δ < 0.12 are almost equal, and δ = δ*/h*, where δ*and h*are the Stokes-layer thickness and the half height of the channel, respectively. However, their vorticities are different. The vorticity of the most unstable mode is symmetric, while the other is asymmetric. The Stokes-layer interactions have a destabilizing effect on the most unstable mode when δ < 0.68, and have a stabilizing effect when δ > 0.68. However, the interactions always have a stabilizing effect on the other unstable mode. It is explained that one of the two unstable modes has much higher dissipation than the other one when the Stokes-layer interactions are strong. We also find that the stability of the Stokes layer is closely related to the inflectional points of the base-flow velocity profile. The effects of inconsistent velocity-amplitude, initial phase, and frequency of the oscillations on the stability are analyzed. The energy of the most unstable eigenvector is mainly distributed near the plate of higher velocity amplitude or higher oscillation frequency. The effects of the initial phase difference are complicated because the base-flow velocity is extremely sensitive to the initial phase.
基金The Open Fund Project of Shandong Provincial Key Laboratory of Ocean EngineeringOcean University of China under contract No.kloe201901the Open Research Fund of State Key Laboratory of Estuarine and Coastal Research under contract No.SKLEC-KF201707。
文摘The recognition on the trend of wind energy stability is still extremely rare,although it is closely related to acquisition efficiency,grid connection,equipment lifetime,and costs of wind energy utilization.Using the 40-year(1979–2018)ERA-Interim data from the European Center for Medium-Range Weather Forecasts,this study presented the spatial-temporal distribution and climatic trend of the stability of global offshore wind energy as well as the abrupt phenomenon of wind energy stability in key regions over the past 40 years with the climatic analysis method and Mann-Kendall(M-K)test.The results show the following 5 points.(1)According to the coefficient of variation(C_(v))of the wind power density,there are six permanent stable zones of global offshore wind energy:the southeast and northeast trade wind zones in the Indian,Pacific and Atlantic oceans,the Southern Hemisphere westerly,and a semi-permanent stable zone(North Indian Ocean).(2)There are six lowvalue zones for both seasonal variability index(S_(v))and monthly variability index(M_(v))globally,with a similar spatial distribution as that of the six permanent stable zones.M_(v) and S_(v) in the Arabian Sea are the highest in the world.(3)After C_(v),M_(v) and S_(v) are comprehensively considered,the six permanent stable zones have an obvious advantage in the stability of wind energy over other sea areas,with C_(v) below 0.8,M_(v) within 1.0,and S_(v) within 0.7 all the year round.(4)The global stability of offshore wind energy shows a positive climatic trend for the past four decades.C_(v),M_(v) and S_(v) have not changed significantly or decreased in most of the global ocean during 1979 to2018.That is,wind energy is flat or more stable,while the monthly and seasonal variabilities tend to shrink/smooth,which is beneficial for wind energy utilization.(5)C_(v) in the low-latitude Pacific and M_(v) and S_(v) in both the North Indian Ocean and the low-latitude Pacific have an obvious abrupt phenomenon at the end of the20th century.
基金the National Natural Science Foundation of China(No.51965032)the National Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Excellent Dectoral Student Foundation of Gansu Province of China(No.23JRRA842)the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)。
文摘Given the unconstrained characteristics of the multi-robot coordinated towing system,the rope can only provide a unidirectional constraint force to the suspended object,which leads to the weak ability of the system to resist external disturbances and makes it difficult to control the trajectory of the suspended object.Based on the kinematics and statics of the multi-robot coordinated towing system with fixed base,the dynamic model of the system is established by using the Newton-Euler equations and the Udwadia-Kalaba equations.To plan the trajectories with high stability and strong control,trajectory planning is performed by combining the dynamics and stability of the towing system.Based on the dynamic stability of the motion trajectory of the suspended object,the stability of the suspended object is effectively improved through online real-time planning and offline manual adjustment.The effectiveness of the proposed method is verified by comparing the motion stability of the suspended object before and after planning.The results provide a foundation for the motion planning and coordinated control of the towing system.
