In rotary drilling, a drillstring is an assembly of slender pipes. It is used to transmit the driving torque of a motor at the drilling surface to the drill bit at the bottom hole of a 3D well. Numerous vibratory phenomena are induced during the drilling: whirling, stick-slip, bit-bouncing, lateral instability, inducing in particular reduction of the rate of penetration and mean time between failures. For the rotordynamics prediction of such a structure, the drillpipes are modelled with Timoshenko beam elements, containing 12 degrees of freedom, equipped with distributed radial stop-ends. The rotary motion is assumed to have a constant speed of rotation imposed at the top of the drillstring. The drilling mud is taken into account by using a fluid-structure interaction model. The numerical simulations concern a real 3D-borehole and a parametric analysis is carried out for determining the role of the mud density and of the flows rate on the drillstring dynamics. It is shown that increasing the flow rate and densifying the drilling fluid reduce the fluid damping effect that increases drillstring lateral vibrations.