Multibody System Simulation of Drilling Rig and Work Platform Stability Assessment-Paper

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The publication presents a parameterizable multibody simulation of a Bauer BG 23H rotary drilling rig, developed in MATLAB/Simulink using Simscape Multibody. Its purpose is to quickly assess how operating movements and ground conditions affect rig stability and could lead to overturning.<br /><br />The model represents the rig’s tracks, upper carriage, mast, and connecting mechanisms. Components are generated from user-defined dimensions, and joints model the rig’s degrees of freedom, allowing movements to be actuated and measured. A reusable “Drilling Rig Simulation Library” provides interfaces for configuring machine geometry and operating parameters.<br /><br />To represent ground interaction, the model uses arrays of spring-damper connections distributed along the tracks. Users can specify different stiffness and damping values along or between the tracks, enabling simulations of uneven ground and settlement. Connections disengage when the tracks move upward, preventing unrealistic tensile soil reactions.<br /><br />Two scenarios demonstrate the model. During a full rotation of the upper carriage on uniform ground, the calculated track reaction-force distributions correspond to patterns consistent with the DIN EN 16228 standard’s rigid-soil assumption. In a second scenario, lower stiffness at the front of the tracks produces frontal tilting and loss of ground contact at the rear.<br /><br />The authors conclude that the model offers a flexible, computationally efficient tool for checking drilling-rig stability across different configurations and conditions. They propose extending it with additional equipment and using automatic code generation to run it in real time. Integrated with machine sensors, it could serve as a digital twin to monitor stability and flag potentially dangerous situations.

Keywords

multibody simulation

Bauer BG 23H

rotary drilling rig

Simscape Multibody

MATLAB/Simulink

rig stability

overturning analysis

ground interaction

spring-damper model

digital twin