Autonomous connection evaluation and automated shoulder detection for tubular makeup
A method of connecting a first threaded tubular to a second threaded tubular includes engaging the threads of the tubulars and rotating the first tubular relative to the second tubular to makeup a threaded connection. The method further includes, during makeup of the threaded connection: measuring time, measuring torque applied to the connection, and measuring turns of the first tubular. The method further includes using a programmable logic controller for: evaluating at least one of the measured turns, measured torque, and measured time for at least one of a discontinuity, a torque spike, and a torque drop and accepting or rejecting the connection based on the evaluation.
1. A method of connecting a first threaded tubular to a second threaded tubular, comprising:
engaging threads of the first tubular and the second tubular;
rotating the first tubular relative to the second tubular to makeup a threaded connection;
during makeup of the threaded connection:
measuring time;
measuring torque applied to the connection; and
measuring turns of the first tubular;
using a controller for:
evaluating at least one of the measured turns, the measured torque, and the measured time for at least one of a discontinuity, a torque spike, and a torque drop;
accepting or rejecting the connection based on the evaluation; and
finding at least one candidate for a shoulder position of the threaded connection from at least one of the measured torque and the measured turns comprising:
graphing the measured torque and the measured turns on a torque-turns curve;
overlaying a first line from a measured final torque value on the torque-turns curve to a point along the torque-turns curve;
overlaying a second line from a measured starting torque value on the torque-turns curve to the point; and
measuring an angle between the first line and the second line.
2. The method of claim 1 , further comprising evaluating the at least one of the measured turns, the measured torque, and the measured time for a lack of connection, comprising at least one of:
determining whether the measured turns of the first tubular are less than a minimum turns threshold; and
determining whether the measured torque is less than a minimum torque threshold.
3. The method of claim 1 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the torque spike further comprising at least one of:
determining whether the torque spike exceeds a first torque threshold; and
determining whether the torque spike exceeds a second torque threshold within a time threshold.
4. The method of claim 1 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the torque drop further comprising:
calculating a torque drop height from the measured torque by using a start and an end measured torque values of the torque drop; and
comparing the torque drop height to a torque drop threshold.
5. The method of claim 4 , wherein the torque drop height is calculated using an average of the start and the end measured torque values.
6. The method of claim 1 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the discontinuity, wherein the discontinuity is at least one of:
a change in measured torque at constant measured turns;
a change in measured turns at constant measured torque;
a decrease in measured turns; and
a decrease in measured time.
7. The method of claim 1 , further comprising: analyzing the at least one candidate for a shoulder position of the threaded connection; and accepting or rejecting the connection based on the analysis.
8. The method of claim 1 , wherein the controller comprises a programmable logic controller.
9. The method of claim 1 , wherein at least one of the first tubular and the second tubular includes a coupling.
10. The method of claim 9 , wherein rotating the first tubular relative to the second tubular comprises rotating the first tubular relative to a coupling of the second tubular.
11. The method of claim 1 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the discontinuity, wherein the discontinuity results from a malfunction.
12. A method of connecting a first threaded tubular to a second threaded tubular, comprising:
engaging threads of the first tubular and the second tubular;
rotating the first tubular relative to the second tubular to makeup a threaded connection;
during makeup of the threaded connection:
measuring torque applied to the connection; and
measuring turns of the first tubular;
using a controller for:
finding at least one candidate for a shoulder position of the threaded connection from the at least one of the measured torque and the measured turns;
analyzing the at least one candidate; and
detecting the shoulder position of the threaded connection based on the analysis;
wherein finding the at least one candidate comprises:
graphing the measured torque and the measured turns on a torque-turns curve;
overlaying a first line from a measured final torque value on the torque-turns curve to a point along the torque-turns curve;
overlaying a second line from a measured starting torque value on the torque-turns curve to the point; and
measuring an angle between the first line and the second line.
13. The method of claim 12 , further comprising determining the shoulder position of the connection based on the measured angle.
14. A tubular makeup system, comprising:
a power drive operable to rotate a first threaded tubular relative to a second threaded tubular;
a torque cell;
a turns counter; and
a controller operably connected to the power drive and in communication with the torque cell and the turns counter, wherein the controller is configured to control an operation, the operation comprising:
engaging threads of the first tubular and the second tubular;
rotating the first tubular relative to the second tubular to makeup a threaded connection;
during makeup of the threaded connection:
measuring time;
measuring torque applied to the connection; and
measuring turns of the first tubular;
evaluating at least one of the measured turns, the measured torque, and the measured time for at least one of a discontinuity, a torque spike, and a torque drop;
accepting or rejecting the connection based on the evaluation; and
finding the at least one candidate for a shoulder position of the threaded connection from the at least one of the measured torque and the measured turns comprising:
graphing the measured torque and the measured turns on a torque-turns curve;
overlaying a first line from a measured final torque value on the torque-turns curve to a point along the torque-turns curve;
overlaying a second line from a measured starting torque value on the torque-turns curve to the point; and
measuring an angle between the first line and the second line.
15. The system of claim 14 , wherein the operation further comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for a lack of connection, comprising at least one of:
determining whether the measured turns of the first tubular are less than a minimum turns threshold; and
determining whether the measured torque is less than a minimum torque threshold.
16. The system of claim 14 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the torque spike further comprising at least one of:
determining whether the measured torque exceeds a first torque threshold; and
determining whether a spike in the measured torque exceeds a second torque threshold within a time threshold.
17. The system of claim 14 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the torque drop further comprising:
calculating a torque drop height from the measured torque by using a start and an end measured torque values of the torque drop; and
comparing the torque drop height to a torque drop threshold.
18. The system of claim 14 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the discontinuity, wherein the discontinuity is at least one of:
a change in measured torque at constant measured turns;
a change in measured turns at constant measured torque;
a decrease in measured turns; and
a decrease in measured time.
19. The system of claim 14 , wherein the evaluating comprises evaluating the at least one of the measured turns, the measured torque, and the measured time for the discontinuity, wherein the discontinuity results from a malfunction.
20. A tubular makeup system, comprising:
a power drive operable to rotate a first threaded tubular relative to a second threaded tubular;
a torque cell;
a turns counter; and
a controller operably connected to the power drive and in communication with the torque cell and the turns counter, wherein the controller is configured to control an operation, the operation comprising:
engaging threads of the first tubular and the second tubular;
rotating the first tubular relative to the second tubular to makeup a threaded connection;
during makeup of the threaded connection:
measuring a torque applied to the connection; and
measuring turns of the first tubular;
finding at least one candidate for a shoulder position of the threaded connection from the at least one of the measured torque and the measured turns;
analyzing the at least one candidate; and
detecting the shoulder position of the threaded connection based on the analysis;
wherein finding the at least one candidate comprises:
graphing the measured torque and the measured turns on a torque-turns curve;
overlaying a first line from a measured final torque value on the torque-turns curve to a point along the torque-turns curve;
overlaying a second line from a measured starting torque value on the torque-turns curve to the point; and
measuring an angle between the first line and the second line.
21. The system of claim 20 , wherein the operation further comprises determining the shoulder position of the connection based on the measured angle.