Apparatus and method of connecting tubulars
The present disclosure generally relates to a method for making up a tubular joint. The method includes rotating a first tubular relative to a second tubular to engage the first and second tubulars while measuring a torque between the first and second tubulars, calculating a set point of a relative rotational speed between the first and second tubulars using the measured torque, and using the calculated set point with a closed-loop controller to control the relative rotational speed between the first and second tubulars.
1. A method for making up a tubular joint, comprising:
rotating a first tubular relative to a second tubular at a first speed to engage the first and second tubulars;
measuring a torque between the first and second tubulars while rotating; and
starting an automatic speed reduction operation to reduce rotating from the first speed to zero upon detection of a trigger condition, wherein starting an automatic speed reduction operation comprises:
calculating a set point of a relative rotational speed between the first and second tubulars using the measured torque; and
using the calculated set point with a controller to control the relative rotational speed between the first and second tubulars.
2. The method of claim 1 , wherein the trigger condition is one of: a measured torque between the first and second tubulars reaches a predetermined value, rotation of the first tubular has been performed for a predetermined time duration, and a predetermined turns is rotated between the first and second tubulars.
3. The method of claim 1 , wherein calculating the set point comprises using a function of the measured torque in which an increase in the measured torque results in a decrease in the relative rotational speed, and a target torque value corresponds to a zero speed.
4. The method of claim 3 , wherein the function is a sigmoidal function, a linear function, an exponential function, a logarithmic function, a polynomial function, or a combination.
5. The method of claim 1 , further comprising activating a set speed calculator in the controller when the measured torque reaches a start point.
6. The method of claim 5 , further comprising dynamically calculating the start point according to a system reaction time and a target torque value.
7. The method of claim 6 , wherein dynamically calculating the start point comprises:
calculating a system reaction torque allowance from the system reaction time and a current value of the relative rotational speed; and
subtracting the system reaction torque allowance from the target torque value.
8. The method of claim 7 , wherein calculating the system reaction torque allowance comprises:
determining a residual turns according to the system reaction time and the current value of the relative rotational speed; and
calculating the system reaction torque allowance from the residual turns and derivatives of the measured torque by turns.
9. The method of claim 6 , wherein rotating the first tubular relative to the second tubular comprises:
prior to the measured torque reaching the start point, rotating the first tubular relative to the second tubular at a first constant speed; and
prior to the measured torque reaches the start point, reducing the relative rotational speed from the first constant speed to a second constant speed when the measured torque reaches a first reference value, wherein the first reference value is a minimum shoulder torque of the first and second tubulars.
10. The method of claim 1 , wherein rotating a first tubular relative to a second tubular comprises rotating a pin of the first tubular relative to a box of the second tubular.
11. A method for making up a tubular joint, comprising:
relatively rotating a first tubular to a second tubular to engage the first tubular and the second tubular at a first speed while measuring a torque between the first and second tubulars;
when the measured torque reaches a start point, reducing a speed of relative rotation between the first and second tubulars from the first speed to zero; and
calculating a set point of the speed of relative rotation for a controller using the measured torque between the first and second tubulars.
12. The method of claim 11 , wherein calculating the set point comprises calculating the set point from the measured torque using a function.
13. The method of claim 12 , wherein the function is a sigmoidal function, a linear function, an exponential function, a logarithmic function, a polynomial function, or a combination.
14. The method of claim 13 , further comprising selecting parameters of the function based on parameters of a drive unit used to rotate the first tubular relative to the second tubular and parameters of the first and second tubulars.
15. The method of claim 11 , further comprising dynamically calculating the start point from a current relative rotational speed and a target torque value, wherein dynamically calculating the start point comprises:
calculating a system reaction torque allowance from a system reaction time and a current value of the relative rotational speed; and
subtracting the system reaction torque allowance from the target torque value.
16. The method of claim 15 , wherein calculating the system reaction torque allowance comprises:
determining a residual turns according to the system reaction time and the current value of the relative rotational speed; and
calculating the system reaction torque allowance from the residual turns and derivatives of the measured torque by turns.
17. The method of claim 11 , further comprising evaluating quality of the tubular joint according to the measured torque value.
18. A tubular makeup system, comprising:
a tubular makeup assembly comprising:
a first clamp for clamping to a first tubular;
a second clamp for clamping to a second tubular, wherein the first clamp and the second clamp are arranged to rotate the second tubular relative to the first tubular to make a tubular connection;
at least one load cell configured to measure torque applied between the tubulars; and
a controller including instructions, which when executed, perform operations comprising:
controlling a relative rotational speed between the first clamp and second clamp; and
starting an automatic speed reduction operation upon detection of a trigger condition to stop the rotation of the second tubular relative to the first tubular when a target torque value is reached.
19. The system of claim 18 , wherein the tubular makeup assembly is one of a tong assembly, an overdrive, a bucking unit, and a horizontal makeup unit.
20. The method of claim 18 , wherein the trigger condition is when the measured torque reaches a start point.
21. A method for making up a tubular joint, comprising:
relatively rotating a first tubular to a second tubular to engage the first tubular and the second tubular at a first speed while measuring a torque between the first and second tubulars;
dynamically calculating a start point from a current relative rotational speed and a target torque value, wherein dynamically calculating the start point comprises:
calculating a system reaction torque allowance from a system reaction time and a current value of the relative rotational speed; and
subtracting the system reaction torque allowance from the target torque value; and
when the measured torque reaches the start point, reducing a speed of relative rotation between the first and second tubulars from the first speed to zero.
22. A method for making up a tubular joint, comprising:
relatively rotating a first tubular to a second tubular to engage the first tubular and the second tubular at a first speed while measuring a torque between the first and second tubulars;
when the measured torque reaches a start point, reducing a speed of relative rotation between the first and second tubulars from the first speed to zero; and
evaluating quality of the tubular joint according to the measured torque value.