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<p>To address the system instability caused by heterogeneous rock stiffness during the percussive drilling process of rock drills, this study applies bifurcation theory and nonlinear time series methods to investigate system stability and subsequently estimate rock stiffness. First, a dynamic model of the rock drill is established based on rock contact theory, examining the drilling characteristics of the system in the optimal stable state of “1-impact-per-cycle”. Using impact frequency as the control parameter and employing the variable-step pseudo-arclength continuation method, the study precisely identifies period-doubling bifurcation points and saddle-node bifurcation points through path tracking, providing a reference interval for maintaining the “1-impact-per-cycle” state. Subsequently, simulated percussive drilling experiments are conducted to identify loading and unloading stiffness parameters, investigating the influence of simulated rock device stiffness on drilling process stability. Finally, mutual information and false nearest neighbor methods are applied to perform nonlinear time series analysis on simulated and experimental drill bit acceleration data during stable drilling. Through 3D phase space reconstruction, the penetration time is calculated using peak values of the tangent vector direction gradient. Combined with analytical prediction methods, the study concludes that higher rock stiffness corresponds to shorter penetration time. This correlation mechanism can be utilized to estimate rock stiffness, thereby optimizing rock drill parameters during stable operation.</p>

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Parameter continuation of a rock drill model: application to rock stiffness estimation

  • 期刊论文

  • 发表日期：

    2026年6月20日

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  • Siyuan Chang,
  • Wei Ma,
  • Min Ye,
  • Xiang Tian,
  • Joseph Páez Chávez,
  • Yelin Li,
  • Yuchuan Ma,
  • Jiale Zhang

摘要

To address the system instability caused by heterogeneous rock stiffness during the percussive drilling process of rock drills, this study applies bifurcation theory and nonlinear time series methods to investigate system stability and subsequently estimate rock stiffness. First, a dynamic model of the rock drill is established based on rock contact theory, examining the drilling characteristics of the system in the optimal stable state of “1-impact-per-cycle”. Using impact frequency as the control parameter and employing the variable-step pseudo-arclength continuation method, the study precisely identifies period-doubling bifurcation points and saddle-node bifurcation points through path tracking, providing a reference interval for maintaining the “1-impact-per-cycle” state. Subsequently, simulated percussive drilling experiments are conducted to identify loading and unloading stiffness parameters, investigating the influence of simulated rock device stiffness on drilling process stability. Finally, mutual information and false nearest neighbor methods are applied to perform nonlinear time series analysis on simulated and experimental drill bit acceleration data during stable drilling. Through 3D phase space reconstruction, the penetration time is calculated using peak values of the tangent vector direction gradient. Combined with analytical prediction methods, the study concludes that higher rock stiffness corresponds to shorter penetration time. This correlation mechanism can be utilized to estimate rock stiffness, thereby optimizing rock drill parameters during stable operation.