Control of pipe connections based on estimation of remaining turns.

Abstract

A method of connecting tubular components includes positioning a first tubular component at a surface location and a second tubular component at least partially disposed in a borehole to initiate a threaded connection, and rotating the first tubular component relative to the second tubular component by a tubular connection system, and during the rotating, measuring at least one of a rotational position of the first tubular component and / or a component of the tubular connection system, relative to the second tubular component, and a rotational speed of the first tubular component and / or the component of the tubular connection system. The method further includes measuring a torque, estimating a number of turns remaining to reach a target torque on the first tubular component, and controlling a rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component.

Description

1 / 19 Control of pipe connections based on estimation of remaining turns. CROSS-REFERENCE WITH RELATED ORDERS

[0001] This application claims the benefit of Application No. U.S. 18 / 182119, filed March 10, 2023, which is incorporated herein by reference in its entirety. BACKGROUND

[0002] In the resource recovery industry and the fluid sequestration industry, various devices, structures, and components are deployed in subsurface regions. For example, as a borehole is drilled and / or a drill string is deployed into a borehole, the joining of several pipes is carried out at a surface location, such as a drilling rig or platform. Several pipes are joined, typically by box stud connections.

[0003] An example of a joining system includes a torque wrench system with a support torque wrench (also called a support) and a hydraulic torque wrench. When adding a tubular to a platform or other support structure, the support holds the first tubular and the hydraulic torque wrench holds the second tubular. The support prevents the first tubular from rotating while the hydraulic torque wrench rotates the second tubular to connect the pin end to the housing end, forming a connection. The joining system may include one or more sensors to determine if a correctly made connection has been formed between the first and second tubulars. An incorrectly made connection may require the removal and replacement of the tubular, resulting in significant delay and cost. SUMMARY

[0004] One embodiment of a tubular component connection method includes positioning a first tubular component at a surface location and engaging the first tubular component with a tubular connection system and a second Petition 870250102567, dated 10 / 11 / 2025, p. 9 / 31 2 / 19 tubular component to initiate a threaded connection, the second tubular component at least partially disposed in a hole. The method also includes rotating the first tubular component relative to the second tubular component through the tubular connection system and, during rotation, measuring at least one of a rotational position of at least one of between the first tubular component and a component of the tubular connection system, relative to the second tubular component, and the rotational speed of at least one of between the first tubular component and the component of the tubular connection system.The method also includes measuring a torque applied to the first tubular component by the tubular connection system; estimating the number of turns remaining to achieve a target torque on the first tubular component; and controlling, by a speed controller coupled to the tubular connection system, a rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component.

[0005] An embodiment of a system for connecting tubular components includes a tubular connection system configured to form a threaded connection between a first tubular component and a second tubular component, rotating the first tubular component relative to the second tubular component, the second tubular component at least partially disposed in a borehole, and a control system coupled to the tubular connection system. The control system is configured to measure, during rotation, at least one of the following: a rotational position of at least one of the first tubular component and a component of the tubular connection system, relative to the second tubular component, and a rotational speed of at least one of the first tubular component and the component of the tubular connection system.The control system is also configured to measure a torque applied to the first tubular component by the tubular connection, estimate a number of turns remaining to achieve a target torque on the first tubular component, and control a rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component. Petition 870250102567, dated 10 / 11 / 2025, p. 10 / 31 3 / 19 BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The following descriptions should not be considered limiting in any way. With reference to the accompanying drawings, similar elements are numbered similarly:

[0007] Figure 1 is a view of a borehole system including a tubular connection system, as disclosed herein;

[0008] Figure 2 represents an embodiment of a tubular connection system including a set of hydraulic torque wrenches;

[0009] Figure 3 is a flow diagram representing one embodiment of a method for forming a connection between tubular structures; and

[0010] Figure 4 represents an example of estimating the remaining revolutions and aspects of controlling the rotational speed according to the method in Figure 3. DETAILED DESCRIPTION

[0011] A detailed description of one or more embodiments of the apparatus and methods disclosed is presented here by way of example and not limitation with reference to the Figures.

[0012] Devices, systems, and methods are provided for controlling pipe connection processes performed by a pipe connection system (e.g., a hydraulic torque wrench system). One embodiment of a connection method includes sampling torque information (e.g., measuring the current torque at a given sampling time) and turns information (i.e., a total number of turns that have been made up to the given sampling time). The torque and turns information are used to estimate the number of turns or rotations remaining to achieve a fully completed connection. For example, at each sampling point, a torque value and a turns value (indicating the number of turns made up to the sampling time) are determined. A linear or polynomial regression, or other analytical or numerical technique, is applied to generate a prediction as to the number of turns remaining. Petition 870250102567, dated 10 / 11 / 2025, p. 11 / 31 4 / 19

[0013] The method also includes a revolution-based adaptive speed control method that can be triggered based on the number of revolutions remaining and / or based on a ratio of the current torque to a target torque. The revolution-based speed control method is implemented by a speed controller or other processing device to gradually reduce the rotational speed depending on the number of revolutions remaining. The rotational speed can be reduced according to an exponential decay function derived from historical data (e.g., speed, torque, and rotation data from other linking processes) to reduce the rotational speed until the target torque is reached.

[0014] The embodiments described here offer several advantages. The embodiments provide methodologies that achieve precise pipe connections, reducing reliance on human operators.

[0015] Embodiments can be used to tighten a tubular connection with a much smaller standard deviation in the torque achieved compared to other methods. For example, some existing methods monitor torque and send control signals to a hydraulic transfer valve, which diverts hydraulic power to the hydraulic rotation motor of a hydraulic torque wrench. Such methods can be time-consuming and may not be consistently reliable, which can cause a variable difference between the target torque and the torque actually achieved. Embodiments address this limitation and demonstrate greater accuracy and reduced time requirements compared to these other methods.

[0016] With reference to Figure 1, one embodiment of a borehole system 10 includes a borehole string 12 arranged in a borehole 14 in an underground region that includes, for example, an underground formation 16 (e.g., a hydrocarbon-containing formation). The borehole string 12 is operationally connected to Petition 870250102567, dated 10 / 11 / 2025, p. 12 / 31 5 / 19 a surface structure or surface equipment 18, such as a drilling platform.

[0017] The hole system 10 can be used to perform various operations at the bottom of the well, such as drilling, measurement, stimulation, oil and gas production, carbon sequestration, geothermal energy production, and others. For example, the hole string 12 is a hole string that includes one or more tubular components or members connected to a bottomhole assembly (BHA) 20 and a drill bit 22.

[0018] System 10 may include one or more of several tools configured to perform selected functions at the bottom of the well, such as performing measurements at the bottom of the well and facilitating communications. For example, one or more downhole tools 24 may be included to perform measurements, such as logging while drilling (LWD) or measurement while drilling (MWD).

[0019] One or more downhole components and / or one or more surface components may communicate with and / or be controlled by a processing device or system, such as a surface processing unit 26. The surface processing unit 26, in one embodiment, includes an input / output (I / O) device 28, a processor 30 and a data storage device 32 (e.g., memory, computer-readable media, etc.) for storing data, models and / or computer programs or software that cause the processor to execute aspects of the methods and processes described herein.As discussed further below, the surface processing unit 26 can be configured to control aspects of pipe bonding, such as position control (e.g., control of the vertical position of the components of a pipe bonding system), monitoring (e.g., measurements of rotational speed, position and torque) and speed control (e.g., control of the rotational speed of a pipe). Petition 870250102567, dated 10 / 11 / 2025, p. 13 / 31 6 / 19

[0020] Surface equipment 18 includes various components to facilitate drilling, production and / or other operations. For example, surface equipment 18 includes components such as a surface drive or rotary table, a drilling tower and a winch for raising and lowering drill pipes and other downhole components.

[0021] Surface equipment 18 includes a connection system for joining (tightening) and disconnecting (loosening) pipes. The connection system includes a pipe joining system, such as a set of hydraulic torque wrenches 34. The set of hydraulic torque wrenches 34 facilitates the connection and disconnection of pipes. When adding a tubular to hole 12, the set of hydraulic torque wrenches 34 is positioned around the upper pipe 36 that projects from hole 14 and functions to form a threaded connection from the upper pipe 36 to a pipe 38 (shown in Figure 2) suspended above. For example, the upper tubular 36 includes a box end 40 that forms part of the threaded connection made with a pin end of the tubular 38 (or vice versa).

[0022] Figure 2 illustrates an embodiment of the hydraulic torque wrench assembly 34, which can be used for connecting tubulars and other downhole components. For example, the hydraulic torque wrench assembly 34 is used for connecting the housing end 40 of the upper tubular 36 and the pin end 42 of the tubular 38. The hydraulic torque wrench assembly 34 can be a manually operated system or a fully automated or partially automated system, in which one or more operations of the hydraulic torque wrench assembly 34 are controlled by a processing device, such as the surface processing unit 26.

[0023] In one embodiment, the set of hydraulic torque wrenches 34 includes a support wrench 50 or support 50, which is mechanically connected to a hydraulic torque wrench 52 via one or more support elements 54. The support 50 includes a clamping part with gripping elements 56. Various mechanisms are included in a housing part 58 for joining the elements of Petition 870250102567, dated 10 / 11 / 2025, p. 14 / 31 7 / 19 gripping 56 to hold the tubular 36 and to separate the gripping elements 56 to release the tubular 36 after, for example, making a connection. These mechanisms may have several gears. For example, at least one high gear and at least one low gear (not shown) are located in the hydraulic torque wrench assembly 34.

[0024] The torque wrench 52 includes clamping members 60, which are movable by actuation of a rotary drive system 62 (for example, by a speed controller in the surface processing unit 26 or other control system). The rotary drive system 62 rotates the tubular 38 and the pin end 42 at the end of the housing 40 to form a threaded connection.

[0025] In one embodiment, the hydraulic torque wrench assembly 34 includes or is connected to a monitoring system that functions to monitor a tightening process and determine whether a threaded connection has been made correctly or whether a problem has occurred during the formation of the threaded connection that results in a poor seal or a poor structural connection. The monitoring system includes one or more processing devices, which may be arranged on the hydraulic torque wrench assembly 34 and / or in other location(s), and may be operable to control aspects of a pipe bonding process. For example, the monitoring system includes the surface processing system 26 or other processing device that receives data from one or more sensors on the hydraulic torque wrench assembly 34 and transmits commands to the hydraulic torque wrench assembly 34.In another example, the set of hydraulic torque wrenches 34 includes one or more processing devices 64 that perform monitoring and / or control functions (independently or in conjunction with the surface processing system 26 or other remote processor).

[0026] The monitoring system includes or receives data from various sensors and / or detection systems to monitor parameters such as rotational position, rotational speed, torque, and others. For example, the Petition 870250102567, dated 10 / 11 / 2025, p. 15 / 31 The 8 / 19 monitoring system includes, or is operationally coupled to, a rotary encoder or turn encoder 66 configured to determine the number of turns of the tubular 38 while forming the threaded connection. A load transducer 68 coupled to the housing 58 is configured to detect torque levels associated with the formation of the threaded connection. Other sensors may include a temperature transducer 70 that monitors the temperatures associated with the formation of the threaded connection.

[0027] Figure 3 illustrates a method 100 for forming a pipe connection. Method 100 includes one or more of the steps 101-125 described herein, at least parts of which may be performed by a processor (e.g., the monitoring system, the processing device(s) 64 and / or the surface processing unit 26). In one embodiment, method 100 includes performing all steps 101-125 in the order described. However, certain steps may be omitted, steps may be added, or the order of the steps may be changed.

[0028] In one embodiment, method 100 is a real-time method that includes sampling or other form of sensor measurement acquisition and real-time rotational speed control, as discussed below.

[0029] Method 100 is discussed in conjunction with the hydraulic torque wrench set 34, the top tubular 36 and the tubular 38 in Figure 2. However, method 100 is not so limited and can be used with any suitable tubular connection system and with any suitable downhole components.

[0030] In step 101, the tubular 38 is lowered by means of a winch, so that the end of the pin 42 is close to the end of the housing 40 of the upper tubular 36. Several input parameters are received in a control system (e.g., the surface processing unit 26 or other processor). The input parameters include, for example, tubular properties (e.g., dimensions), torque parameters, positions of the hydraulic torque wrench of the hydraulic gate and the torque wrench. Petition 870250102567, dated 10 / 11 / 2025, p. 16 / 31 9 / 19 torque support, clamping pressure support, hydraulic torque wrench clamping pressure, and others.

[0031] In step 102, tubular 38 is initially engaged with the upper tubular 36, and the control system receives a command to automatically position the hydraulic torque wrench 52 and the positioning device equipment.

[0032] In step 103, the detected position is compared with a target position. If the detected position does not match the target position, the tubular position is adjusted until tubular 38 is positioned at the target position (step 104).

[0033] In step 105, the control system determines whether an automatic tightening or loosening procedure is required. If so, the requested procedure begins in step 106.

[0034] In step 107, the support torque wrench door and the hydraulic torque wrench door are closed. In step 108, the gripping elements 56 of the support torque wrench 50 are brought together and secure the tubular 36 with the desired gripping pressure of the support torque wrench. The gripping elements 60 of the hydraulic torque wrench 52 are also brought together and secure the tubular 38.

[0035] In phase 109, the control system checks the status of the auxiliary hydraulic key door and the hydraulic key door to ensure they are closed.

[0036] In phase 110, the control system selects the requested mode (i.e., on mode or off mode) and starts monitoring the torque applied to the tubular 38. The control system also starts monitoring the rotational position and / or rotational speed of the tubular 38 and / or the hydraulic torque wrench 52 (i.e., the position of the hydraulic torque wrench rotor and / or rotor speed) and, in addition, starts monitoring the number of revolutions. The measurements taken as a result of the monitoring can be stored locally or transmitted for remote monitoring and / or remote control of the tightening or loosening process. Petition 870250102567, dated 10 / 11 / 2025, page 17 / 31 10 / 19

[0037] In one embodiment, the requested mode is the assembly mode for performing a tightening procedure. The following description refers to the control of the hydraulic torque wrench set 34 for assembling a connection between the pipes; however, note that aspects of method 100 can be performed to disconnect or loosen a pipe.

[0038] In stage 111, the rotary drive system 62 is engaged in high gear and the rotary drive system rotates the tubular at a high speed (e.g., at a speed greater than about 3.5 RPM, or a percentage of the maximum speed) until a first torque threshold is reached (high gear torque threshold).

[0039] During rotation, a torque measurement is obtained (e.g., from load transducer 68) at each of a plurality of sampling times to provide an actual torque value. In addition, at each sampling time, the rotation position or an output from the revolution encoder 66 is obtained to provide an estimate of an actual total number of revolutions, defined as the total number of revolutions that have been completed up to the sampling time. Other values ​​may be obtained or calculated at each sampling time, such as the rotational speed.

[0040] A turn refers to a quantity of rotation or change in rotational position. A turn can be a 360-degree rotation of the tubular and can be expressed in terms of complete turns (i.e., 360-degree rotations) and fractions of a turn.

[0041] In step 112, the current torque is periodically or continuously compared (e.g., at each sampling moment) with the high-speed torque threshold. High-speed rotation is maintained until the current torque reaches the high-speed threshold, i.e., is equal to the high-speed torque threshold or is within a range of the high-speed torque threshold.

[0042] In phase 113, when the current torque reaches the high gear torque threshold, the torque switch first stops the rotation. Then, the gearbox Petition 870250102567, dated 10 / 11 / 2025, p. 18 / 31 11 / 19 gear is shifted to a lower gear and the rotation restarts at a lower gear (phase 114). The current torque, the current total number of revolutions and / or the rotation speed continue to be monitored.

[0043] In phase 115, the monitored values ​​are compared with a reference value to determine when to activate the speed-based speed control. In one embodiment, the reference value is a torque value that can be expressed relative to the target torque. For example, the current torque is compared with a low-gear torque threshold, which can be a selected torque value or be based on a ratio of the desired or target torque. The low-gear torque threshold is, for example, a selected ratio of the target torque, such as approximately 25% of the target torque.

[0044] Lap-based speed control can be activated based on other information. For example, the control system can monitor the number of laps remaining and activate lap-based speed control when the number of laps remaining is less than a threshold number (e.g., 0.1 laps remaining). The number of laps remaining corresponds to a number of laps estimated to be needed to achieve the target torque and can be calculated as discussed below.

[0045] In phase 116, when the current torque reaches the low gear torque threshold, the hydraulic torque switch assembly 34 transitions to a revolution-based speed control mode, in which the engine speed is gradually reduced based on an estimate of the number of revolutions remaining.

[0046] The lap-based speed control mode provides a real-time control methodology that can be triggered based on the number of laps remaining or based on a ratio of the current torque to the maximum torque or target torque. The speed control method is performed by a speed controller or other processing device of the control system to gradually reduce the rotational speed depending on the number of laps remaining. The speed Petition 870250102567, dated 10 / 11 / 2025, p. 19 / 31 12 / 19 of the rotation can be reduced according to a function derived from historical data (e.g., speed, torque, and revolution data from other bonding processes) to reduce the rotational speed until the target torque is reached or the limit of remaining revolutions is reached.

[0047] In phase 117, the remaining laps are calculated at least during the rotation at the lowest speed, and the rotation speed is controlled as a function of the number of laps remaining. In one mode, the speed is gradually reduced based on the number of laps remaining, i.e., as the number of laps remaining decreases, until the target torque is reached or the limit of laps remaining is reached.

[0048] In one embodiment, the number of remaining revolutions is calculated by collecting information on torque and revolutions. This includes the torque measured at each sampling point and the current number of revolutions at each sampling point. This information is used to generate a torque-rev curve that represents a relationship between torque and the total number of revolutions. For example, the torque-rev curve is calculated by taking a moving average of the torque over a selected period or number of samples (e.g., 80 samples) as a function of the current total number of revolutions. The torque-rev curve is analyzed by performing linear regression or polynomial regression to fit the torque-rev curve to a linear or polynomial function. The fitted curve is then extrapolated to predict the number of revolutions remaining.

[0049] The rotation speed is controlled according to the function derived from historical data. In one embodiment, the function is an exponential decay function. For example, historical data representing speed as a function of laps is used to determine an exponential decay function. The exponential decay function can be weighted by applying a sequence of weights. The weight calculated for a given sample set can be based on a difference between the total number of laps already completed and a number of laps completed during the sample set. Petition 870250102567, dated 10 / 11 / 2025, p. 20 / 31 13 / 19

[0050] In step 118.0 the control system monitors the number of remaining revolutions and determines when the remaining revolutions approach zero (i.e., are within a selected range of zero). As a result of the calculation of the remaining revolutions, the target torque should be achieved when the remaining revolutions approach zero.

[0051] In step 119, when the number of remaining turns approaches zero and the target torque is reached, the measurements stop and the rotation is interrupted. After the rotation is interrupted and before calling the zero torque key function, the hydraulic torque key 52 is rotated in the opposite direction for a short period (e.g., a few seconds) to release the torque.

[0052] In step 120, a zero torque key function is initiated to determine whether torque key 52 is in the zero position or whether hydraulic torque key 52 has received the command to move to the zero position (step 121). An opening and release function is then initiated (step 122) after a successful zero torque key function, in which hydraulic torque key 52 and support 50 are released from the tubulars and the torque key doors are opened. The system confirms that the support torque key door is open (step 123) and that the hydraulic torque key door is open (step 124). At this point, the tightening procedure is complete (phase 125). After forming the threaded connection, the drill string 12 can proceed to the bottom of the well. If additional tubulars are added, method 100 is repeated as needed.

[0053] Adaptive speed control according to method 100 provides a gradual decrease in the rotational speed of the hydraulic torque wrench to achieve, which can achieve a much more precise torque application compared to current systems that employ a mixture of electrical computing systems and hydraulic valves. These current systems are subject to variable physical times, which can result in inconsistent torque application. This new method can also reduce the amount of kinetic energy present at the end of a procedure. Petition 870250102567, dated 10 / 11 / 2025, p. 21 / 31 14 / 19 compensation and extends the time during which stored energy is dissipated in the system, resulting in a reduction in the potential for damage to threaded connections.

[0054] Figure 4 illustrates an example of laps remaining calculations and speed control based on a number of laps remaining. In this example, torque and laps remaining were acquired at each of a plurality of sampling points.

[0055] In this example, the number of remaining revolutions was calculated by generating a torque-revolutions curve based on historical data. The torque-revolutions curve was subjected to linear regression using logarithmic transformations. Figure 4 shows a graph 130 including an example of a torque-revolutions curve 132.

[0056] The number of laps remaining was calculated using linear regression of the collected historical data points, and the number of laps remaining was used to control the rotation speed in real time according to a speed curve 134 that includes speed adjustment points calculated using an exponential decay function.

[0057] Some of the modalities of the previous disclosure are established below:

[0058] Embodiment 1: A method of connecting tubular components, comprising: positioning a first tubular component at a surface location and engaging the first tubular component with a tubular connection system and a second tubular component to initiate a threaded connection, the second tubular component at least partially disposed in a hole; rotating the first tubular component relative to the second tubular component by the tubular connection system; during rotation, measuring at least one of the following: a rotational position of at least one of the following: the first tubular component and a component of the tubular connection system, relative to the second tubular component, and a rotational speed of at least one of the following: the first tubular component and the component of the tubular connection system; measuring a Petition 870250102567, dated 10 / 11 / 2025, page 22 / 31 15 / 19 torque applied to the first tubular component by the tubular connection system; estimate the number of turns remaining to achieve a target torque on the first tubular component; and control, by means of a speed controller coupled to the tubular connection system, a rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component.

[0059] Modality 2: The method, in accordance with any previous modality, which further comprises, based on the measured torque, achieving the desired torque, disengaging the rotary drive of the first tubular component and implanting the first tubular component into the hole.

[0060] Embodiment 3: The method according to claim 1, wherein controlling the rotational speed includes gradually reducing the rotational speed as a function of the estimated number of revolutions remaining.

[0061] Modality 4: The method, in accordance with any previous modality, wherein the estimation of the number of remaining revolutions includes measuring a current torque at each of a plurality of sampling moments, measuring a total number of revolutions at each of the plurality of sampling moments, and generating a torque-revolution curve that represents a relationship between an amount of torque applied to the first tubular component and a number of revolutions made by the rotation.

[0062] Modality 5: The method, in accordance with any previous modality, with the number of remaining revolutions being estimated by fitting the torque-revolutions curve to a function.

[0063] Modality 6: The method, in accordance with any previous modality, and the adjustment of the torque-turns curve includes performing a linear regression or a polynomial regression.

[0064] Mode 7: The method, in accordance with any previous mode, and the control of the rotation speed is initiated based Petition 870250102567, dated 10 / 11 / 2025, pp. 23 / 31 16 / 19 in a ratio between the measured torque and the target torque being greater than a torque ratio threshold.

[0065] Mode 8: The method, in accordance with any previous mode, and the control of the rotation speed is initiated based on at least one of: the number of remaining laps being less than a limit number of laps and a difference between the number of remaining laps and a number of laps already completed by the rotation.

[0066] Modality 9: The modality, in accordance with any previous modality, and the control of the rotation speed is based on the collection of historical data from one or more previous tubular bonding processes.

[0067] Mode 10: The mode, in accordance with any previous mode, with control of the rotation speed including the decrease of the rotation speed according to an exponential decay function derived from historical data.

[0068] Embodiment 11: A system for connecting tubular components, comprising: a tubular connection system configured to form a threaded connection between a first tubular component and a second tubular component, rotating the first tubular component relative to the second tubular component, the second tubular component at least partially disposed in a hole; and a control system coupled to the tubular connection system, the control system configured to: during rotation, measure at least one of a rotational position of at least one of between the first tubular component and a component of the tubular connection system, relative to the second tubular component, and a rotational speed of at least one of between the first tubular component and the component of the tubular connection system; measure a torque applied to the first tubular component by the tubular connection system;to estimate the number of revolutions remaining to achieve a target torque in the first tubular component; and to control the rotational speed of the first tubular component based on the estimated number of revolutions; Petition 870250102567, dated 10 / 11 / 2025, pages 24 / 31 17 / 19 remaining to connect the first tubular component to the second tubular component.

[0069] Modality 12: The system, in accordance with any previous embodiment, wherein the control system is configured to, based on the measured torque, achieve the target torque, disengage the tubular connection system from the first tubular component.

[0070] Mode 13: The system, in accordance with any previous mode, with the control system configured to gradually reduce the rotation speed based on the estimated number of laps remaining.

[0071] Modality 14: The system, in accordance with any previous modality, wherein the control system is configured to estimate the number of remaining revolutions by measuring an actual torque at each of a plurality of sampling moments, measuring a total number of revolutions at each of the plurality of sampling moments, and generating a torque-revolution curve that represents a relationship between an amount of torque applied to the first tubular component and a number of revolutions made by the rotation.

[0072] Mode 15: The system, in accordance with any previous mode, wherein the number of remaining revolutions is estimated by fitting the torque-revolutions curve to a function.

[0073] Mode 16: The system, in accordance with any previous mode, where the adjustment of the torque-revolutions curve includes performing a linear regression or a polynomial regression.

[0074] Modality 17: The system, according to any previous embodiment, and the tubular connection system includes a hydraulic torque wrench.

[0075] Mode 18: The system, in accordance with any previous mode, wherein the control system is configured to initiate rotational speed control based on a ratio between the measured torque and the target torque being greater than a torque ratio threshold. Petition 870250102567, dated 10 / 11 / 2025, pp. 25 / 31 18 / 19

[0076] Mode 19: The system, in accordance with any previous mode, wherein the control system is configured to initiate rotation speed control based on at least one of the following: the number of laps remaining being less than a lap limit and a difference between the number of laps remaining and a number of laps already completed by the rotation.

[0077] Modality 20: The system, in accordance with any previous embodiment, and the control system is configured to control the rotational speed of the first tubular component based on historical data collected from one or more previous tubular connection processes.

[0078] The use of the terms a and an and the / the like in the context of the invention description (especially in the context of the following claims) is intended to be interpreted as encompassing both the singular and the plural, unless otherwise indicated herein or clearly contradicted by the context. Additionally, it should be noted that the terms first, second, and the like in this document do not denote any order, quantity, or importance, but instead are used to distinguish one element from another. The terms about, substantially, and generally are intended to include the degree of error associated with measuring the specific quantity based on the equipment available at the time of filing the application. For example, about and / or substantially and / or generally includes a range of ±8% of a given value or other desired range.

[0079] The teachings of this disclosure can be used in a variety of well operations. These operations may involve the use of one or more treatment agents to treat a formation, the fluids residing in a formation, a borehole, and / or in-borehole equipment such as production tubing. Treatment agents may be found in the form of liquids, gases, solids, semi-solids, and mixtures thereof. Illustrative treatment agents include, but are not limited to, fracturing fluids, acids, steam, brine, anti-corrosion agents, cement, Petition 870250102567, dated 10 / 11 / 2025, pp. 26 / 31 19 / 19 permeability modifiers, drilling muds, emulsifiers, demulsifiers, tracers, flow improvers, etc. Illustrative well operations include, but are not limited to, hydraulic fracturing, stimulation, tracer injection, cleaning, acidification, steam injection, water soaking, cementing, etc.

[0080] Although the invention has been described with reference to an exemplary embodiment or embodiments, it will be understood by those skilled in the art that various alterations may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In addition, various modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof.Therefore, it is intended that the invention is not limited to the particular embodiment disclosed as the best contemplated way to carry out this invention, but that the invention includes all embodiments falling within the scope of the claims. Likewise, in the drawings and description, exemplary embodiments of the invention have been disclosed and, although specific terms may have been used, they are used, unless otherwise indicated, only in a generic and descriptive sense and not for purposes of limitation, so the scope of the invention is not limited. Petition 870250102567, dated 10 / 11 / 2025, pp. 27 / 31

Claims

1 / 4 CLAIMS 1. Method for connecting tubular components (38), characterized by: positioning a first tubular component at a surface location and engaging the first tubular component with a tubular connection system and a second tubular component to initiate a threaded connection, the second tubular component at least partially disposed in a well; rotating the first tubular component relative to the second tubular component by the tubular connection system; during rotation, measuring at least one of: a rotational position of at least one of the first tubular component and a component of the tubular connection system, relative to the second tubular component, and a rotational speed of at least one of the first tubular component and the component of the tubular connection system; measuring a torque applied to the first tubular component by the tubular connection system;estimate a number of turns remaining to reach a target torque in the first tubular component; and control, by a speed controller coupled to the tubular connection system, a rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component (38).; 2. Method according to claim 1, characterized by, based on the measured torque reaching the desired torque, disengaging the rotary drive of the first tubular component (38) and disposing of the first tubular component in the well.

3. Method (100), according to claim 1, characterized in that the control of the rotational speed includes gradually reducing the rotational speed as a function of the estimated number of revolutions remaining. Petition 870250080816, dated 09 / 09 / 2025, page 13 / 101 2 / 4 4. Method (100), according to claim 1, characterized in that the estimation of the number of remaining turns includes measuring a current torque at each of a plurality of sample times, measuring a total number of turns at each of the plurality of sample times and generating a torque-turn curve representing a relationship between an amount of torque applied to the first tubular component and a number of turns performed by the rotation.

5. Method (100), according to claim 4, characterized in that the number of remaining revolutions is estimated by fitting the torque-revolution curve (132) to a function.

6. Method (100), according to claim 5, characterized in that the adjustment of the torque-turn curve (132) includes performing a linear regression or a polynomial regression.

7. Method (100), according to claim 1, characterized in that the control of the rotational speed is initiated based on a ratio between the measured torque and the target torque being greater than a torque ratio threshold.

8. Method (100), according to claim 1, characterized in that the control of the rotation speed is initiated based on at least one of: the number of remaining revolutions being less than a threshold number of revolutions and a difference between the number of remaining revolutions and a number of revolutions already completed by the rotation.

9. Method (100), according to claim 1, characterized in that the control of the rotation speed is based on the collection of historical data from one or more previous tubular connection processes.

10. Method (100), according to claim 9, characterized in that the control of the rotation speed includes decreasing the rotation speed according to an exponential decay function derived from historical data.

11. System (10) for connecting tubular components (38), characterized by: Petition 870250080816, dated 09 / 09 / 2025, page 14 / 101 3 / 4 a tubular connection system configured to form a threaded connection between a first tubular component (38) and a second tubular component (38) by rotating the first tubular component (38) relative to the second tubular component, the second tubular component (38) at least partially disposed in a well (14); and a control system coupled to the tubular connection system, the control system configured to: during rotation, measure at least one of: a rotational position of at least one of the first tubular component and a component of the tubular connection system, relative to the second tubular component, and a rotational speed of at least one of the first tubular component and the component of the tubular connection system; measure a torque applied to the first tubular component by the tubular connection system;Estimate the number of turns remaining to achieve a target torque in the first tubular component; and control the rotational speed of the first tubular component based on the estimated number of turns remaining to connect the first tubular component to the second tubular component.

12. System (10), according to claim 11, characterized in that the control system is configured to, based on the measured torque reaching the target torque, disengage the tubular connection system (38) from the first tubular component.

13. System (10), according to claim 11, characterized in that the control system is configured to gradually reduce the rotational speed as a function of the estimated number of revolutions remaining.

14. System (10), according to claim 11, characterized in that the control system is configured to estimate the number of remaining revolutions by measuring a current torque at each of a plurality of sample times, measuring a total number of revolutions at each of the plurality of sample times and generating a torque-revolution curve representing a relationship between an amount of torque applied to the first tubular component and a number of revolutions made by the rotation, 15. System (10), according to claim 11, characterized in that the control system is configured to initiate control of the rotational speed based on at least one of: the number of remaining revolutions being less than a limit number of revolutions and a difference between the number of remaining revolutions and a number of revolutions already completed by the rotation. Petition 870250080816, dated 09 / 09 / 2025, p. 16 / 101

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