Counter-torque release method and device

Abstract

The present invention provides a method and device for releasing an anti-torque, the method comprising: determining whether it is necessary to enter an anti-torque release state; if so, reducing the output torque to the drive device, reducing the corresponding speed limit of the drive device, and monitoring whether an abnormal state occurs during the release process of the anti-torque, adjusting the output torque to the drive device when an abnormal state occurs, and continuing to reduce the output torque to the drive device after the abnormal state disappears, until the anti-torque release of the drive device is completed, and the speed limit is used to limit the speed of the drive device after the anti-torque release is completed. The present invention can reduce the wear on the brake disc, save manpower, and the drive device will not suddenly rotate quickly after the anti-torque release is completed, thereby ensuring safety after the anti-torque release is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of drilling, and in particular to a method and device for releasing counter-torque. Background Art

[0002] In the existing oil drilling system, the turntable or top drive (i.e., top drive) may generate reverse torque during the drilling process, which may cause the turntable or top drive to reverse rapidly. For example, when one column is completed and another column is about to be replaced, the turntable or top drive needs to be stopped before the column replacement work is carried out. However, if the drilling depth exceeds a certain well depth and the bottom of the well is hard, reverse torque will be generated. If the turntable or top drive is stopped at this time, the turntable or top drive will reverse rapidly under the action of the reverse torque. For another example, if a stall occurs during the drilling process, the drill speed automatically drops to zero. At this time, a very large reverse torque will be generated underground. If the frequency converter fails and cannot output torque to the turntable or top drive, the turntable or top drive will reverse rapidly.

[0003] In order to reduce the damage to the drilling system caused by the rapid reversal of the rotary table or top drive, the anti-torque needs to be released. The current anti-torque release method is generally for experienced drillers to use the inching brake method to slowly reverse the rotary table or top drive to release the anti-torque. However, this method will cause the brake disc to wear faster, and requires the driller to concentrate extremely and ensure that the brake can respond quickly. Summary of the invention

[0004] The present invention provides a method and device for releasing a counter-torque, which can automatically and slowly release the counter-torque of a driving device, and does not require the driller to use a jog brake, thereby reducing the wear of a brake disc and saving manpower.

[0005] In a first aspect, the present invention provides a method for releasing a counter-torque, the method comprising:

[0006] Determine whether it is necessary to enter the anti-torque release state;

[0007] If so, the output torque to the drive device is reduced, the corresponding speed limit of the drive device is reduced, and the release process of the counter-torque is monitored to see if any abnormal state occurs. When an abnormal state occurs, the output torque to the drive device is adjusted, and the output torque to the drive device continues to be reduced after the abnormal state disappears until the counter-torque of the drive device is released. The speed limit is used to limit the speed of the drive device after the counter-torque release is completed.

[0008] In a second aspect, the present invention provides a counter-torque release device, the method comprising:

[0009] A state determination module, used to determine whether it is necessary to enter a counter-torque release state;

[0010] The anti-torque release module is used to reduce the output torque to the drive device and reduce the corresponding speed limit of the drive device when it is determined that the anti-torque release state needs to be entered, and monitor whether an abnormal state occurs in the anti-torque release process. When an abnormal state occurs, the output torque to the drive device is adjusted, and the output torque to the drive device continues to be reduced after the abnormal state disappears until the anti-torque release of the drive device is completed. The speed limit is used to limit the speed of the drive device after the anti-torque release is completed.

[0011] In a third aspect, the present invention provides a frequency converter, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method provided in the first aspect when executing the computer program.

[0012] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method provided in the first aspect.

[0013] In a fifth aspect, the present invention provides a computer program comprising computer executable instructions, which, when executed, cause at least one processor to perform the steps of the method provided in the first aspect.

[0014] The anti-torque release scheme provided by the present invention reduces the output torque to the drive device when it is determined that it is necessary to enter the anti-torque release state, monitors whether an abnormal state occurs during the release process, and adjusts the output torque when an abnormal state occurs until the anti-torque release is completed. Therefore, the present invention can realize the automatic slow release of the anti-torque, reduce the damage caused to the drilling system by the abnormal state, and ensure the safety of the anti-torque release process. This process does not require experienced drillers to release the anti-torque by braking, so the wear on the brake disc caused by this method can be reduced, and manpower is also saved. Moreover, the present invention also reduces the speed limit corresponding to the drive device, so that the drive device will not suddenly rotate quickly after the anti-torque release is completed, thereby ensuring safety after the anti-torque release is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1a is a flow chart of a method for releasing a counter-torque provided by an embodiment of the present invention;

[0017] Figure 1b is a flow chart of step S120 in another embodiment of the present invention;

[0018] Figure 2 is a structural block diagram of a counter-torque release device provided by another embodiment of the present invention;

[0019] The reference numerals are as follows:

[0020]

[0021] DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] In the drilling system, the frequency converter is connected to the driving device, the driving device is connected to the drilling tool, the frequency converter outputs torque to the driving device, and the output torque drives the drill rod in the drilling tool to work through the driving device. The driving device is the top drive or the rotary table.

[0024] In a first aspect, the present invention provides a method for releasing a counter torque, which is executed by a frequency converter, such as Figure 1a As shown, the method may include the following steps S110 to S120:

[0025] S110, determining whether it is necessary to enter a counter-torque release state;

[0026] In specific implementation, there can be three processing modes: automatic mode, manual mode and off mode. The mode selection can be set on the human-machine interaction screen of the drilling system without adding a hardware switch. After the processing mode is set on the human-machine interaction screen, the corresponding mode information is sent to the frequency converter, which facilitates the frequency converter to perform corresponding processing. In automatic mode, the frequency converter can determine whether it is necessary to enter the anti-torque release state according to the on-site operation status and data collection situation. If necessary, the frequency converter will autonomously perform the anti-torque release operation. In manual mode, the driller manually determines whether it is necessary to enter the anti-torque release state. If necessary, the one-button release function on the human-machine interaction screen of the drilling system is activated, and then the frequency converter autonomously performs the anti-torque release operation. In off mode, the driller manually determines whether it is necessary to enter the anti-torque release state, and the driller manually performs the anti-torque release operation.

[0027] That is, step S110 may include: if the anti-torque release mode is configured as the automatic mode, obtaining the operating information of the drilling system during the drilling process, and judging whether the driving device is in the anti-torque saturation state according to the operating information; if so, determining that it is necessary to enter the anti-torque release state.

[0028] For example, in the drilling state, the anti-torque of the downhole drilling tool reaches the maximum limit, and the rotation speed of the driving device is close to 0. At this time, it is considered that the driving device is in the anti-torque saturation state.

[0029] Of course, a more quantitative judgment method can also be used. The operation information obtained may include the counter-torque generated by the drill pipe and the output efficiency of the drive device, and then it is judged whether the operation information meets the preset conditions; if it does, the drive device is in a counter-torque saturation state, and the counter-torque needs to be released. The preset conditions may include

[0030]

[0031] Wherein, T1 is the counter torque generated by the drill pipe, μ is the friction coefficient between the well wall and the drill tool, N is the number of drill pipes in the drill tool, m1 is the mass of a drill pipe, ρ1 is the density of the drill pipe material, m2 is the mass of the mud in a drill pipe, ρ2 is the density of the mud, α is the well inclination angle, T2 is the maximum torque output by the inverter, i is the reduction ratio of the drive device, and η2 is the output efficiency of the drive device.

[0032] It can be seen from the above preset conditions that when T1+9.8μN(m1ρ1+m2ρ2)*sinα>T2*i*η2, the driving device is considered to be in a counter-torque saturation state, wherein T1 is the counter-torque generated by the drill pipe, 9.8μN(m1ρ1+m2ρ2)*sinα is the friction force generated by the drill bit and the well wall, and T2*i*η2 is the maximum torque of the driving device. That is to say, if the sum of the counter-torque generated by the drill pipe and the friction force generated by the drill bit and the well wall is greater than the maximum torque of the driving device, it can be considered that the driving device is in a counter-torque saturation state.

[0033] Moreover, in the friction force generated between the drill bit and the well wall, not only the weight and density of the drill bit, but also the mass and density of the mud in the drill bit are taken into account, which is more in line with the actual working scenario. Moreover, since in the actual scenario, the drilling is not necessarily vertical, there may be a certain inclination. In fact, in many scenarios, the drill bit is drilled downward at a certain inclination angle. So considering this point, the angle α is set in 9.8μN(m1ρ1+m2ρ2)*sinα.

[0034] Furthermore, the reduction ratio here is the ratio of the output speed to the input speed. It is understandable that the torque output by the frequency converter is transmitted to the drill through the drive device, and the power input by the frequency converter to the drive device and the power output by the drive device to the drill will cause loss. The power after loss can be determined based on the reduction ratio. Further considering the output efficiency of the drive device, the maximum torque of the drive device is T2*i*η2.

[0035] It is understandable that when the above preset conditions are met, the rotation speed of the driving device is close to 0.

[0036] It can be seen from the above preset conditions that the preset conditions take into account the drill pipe's counter-torque, mass factor, density factor, friction factor, drilling inclination angle, reduction ratio and output efficiency, that is, multiple factors are taken into consideration to determine a matching preset condition that meets actual scenario requirements.

[0037] In specific implementation, if the anti-torque release mode is configured as the manual mode, if the staff activates the anti-torque release button on the human-machine interaction screen, it is determined that the anti-torque release state needs to be entered. In other words, the inverter responds to the triggering of the anti-torque release button on the human-machine interaction screen and determines that the anti-torque release state needs to be entered.

[0038] S120. If it is determined that it is necessary to enter the anti-torque release state, the output torque to the drive device is reduced, the corresponding speed limit of the drive device is reduced, and the release process of the anti-torque is monitored to see if any abnormal state occurs. When an abnormal state occurs, the output torque to the drive device is adjusted, and the output torque to the drive device continues to be reduced after the abnormal state disappears until the anti-torque release of the drive device is completed. The speed limit is used to limit the speed of the drive device after the anti-torque release is completed.

[0039] It is understandable that the role of the speed limit is to limit the speed of the drive device, not to limit the reverse speed. After the anti-torque is released, the inverter restores the output torque required for the normal operation of the drive device. For example, in normal operation, the output torque of the inverter to the drive device is N1. After the anti-torque is released, the output torque of the inverter to the drive device is reduced to N2. Since the drive device needs to work normally, the output torque of the inverter to the drive device is restored to N1 again. The drive device will suddenly rotate rapidly under the action of the restored output torque, and there may also be risks such as drilling accidents, so the original speed limit is reduced. For example, the original speed limit is 1000rpm, which is reduced to 2% of the original limit, that is, the speed limit is set to 20rpm, so that the drive device will not suddenly rotate rapidly under the action of the restored output torque, ensuring that no faults will occur after the anti-torque is released. After a period of normal operation, the speed limit can be restored to the original 1000rpm.

[0040] It is understandable that, no matter in automatic mode or manual mode, as long as the anti-torque release mode is entered, the anti-torque release operation is the same.

[0041] It is understandable that when the driving device is in the anti-torque saturation state, the anti-torque of the drill bit increases to the torque output by the frequency converter. At this time, the torque obtained by the driving device from the frequency converter and the anti-torque obtained from the drill bit reach a balance. At this time, if the frequency converter reduces the output torque to the driving device, the driving device will enter the reverse state, thereby releasing the anti-torque.

[0042] In specific implementation, the output torque to the drive device can be gradually reduced according to a preset ratio. For example, at the beginning, the output torque of the inverter to the drive device is 1000Nm, and the preset ratio is set to 2%. In this way, the output torque of the inverter to the drive device is reduced at a speed of 20Nm per second, 980, 960, 940..., until the anti-torque is released. Of course, the output torque of the previous second can also be reduced by 2%, for example, 980, 960.4, 941.192..., until the anti-torque is released. Because as the anti-torque decreases, the reverse speed of the drive device will increase. In this way, the release of the anti-torque can be appropriately slowed down, and the reverse speed of the drive device increases slowly.

[0043] In the specific implementation, the counter-torque needs to be released slowly. If the counter-torque is released too quickly, the release process will be abnormal. There are many abnormal conditions, for example, overvoltage of the frequency converter, too fast reverse speed may cause the drill pipe to buckle, etc. Different judgment methods are required for different abnormal conditions.

[0044] Among them, the monitoring of whether an abnormal state occurs in the release process of the counter-torque in S120, and adjusting the output torque to the drive device when an abnormal state occurs may include: monitoring whether the inverter is in an overvoltage state, and if so, determining that a first abnormal state occurs in the release process, and stopping reducing the output torque to the drive device.

[0045] When judging the first abnormal state, it can be specifically determined by monitoring whether the DC bus voltage of the inverter is higher than a preset voltage value. If the DC bus voltage is higher than the preset value, it is considered that the inverter is in an overvoltage state, and then it is considered that the first abnormal state has occurred in the release process.

[0046] It is understandable that when the frequency converter is in an overvoltage state, it may cause the frequency converter to fail. When the frequency converter cannot output torque to the drive device due to the failure, it will cause the drive device to reverse rapidly and create danger. Therefore, it is necessary to monitor whether the frequency converter is in an overvoltage state during the release of the counter-torque. If an overvoltage state occurs, the output torque to the drive device is stopped from being reduced, that is, the output torque to the drive device is kept unchanged, thereby alleviating the overvoltage state of the frequency converter. After the first abnormal state disappears, the output torque to the drive device is continued to be reduced.

[0047] Among them, see Figure 1b In S120, the process of monitoring whether the release process of the counter torque is in an abnormal state and adjusting the output torque of the driving device when the abnormal state occurs may also include the following steps S121 to S124:

[0048] S121, monitoring whether the reverse speed of the driving device is greater than or equal to a preset first reverse speed, and if so, determining that a second abnormal state occurs in the release process;

[0049] The first reversal speed may be determined based on experience. When the reversal speed of the driving device is greater than the first reversal speed, it is considered that the reversal speed of the driving device is fast, and a second abnormal state occurs during the release process.

[0050] S122, when the second abnormal state occurs during the release process, determining whether the reverse speed of the driving device is greater than or equal to the second reverse speed;

[0051] The second reverse speed is greater than the first reverse speed, and the second reverse speed is the minimum reverse speed at which the driving device can cause the drill rod to be buckled.

[0052] That is, when the second abnormal state occurs during the release process, two situations may occur: one is that the reverse speed of the driving device is less than the second reverse speed; the other is that the reverse speed of the driving device is greater than or equal to the second reverse speed. Different adjustments need to be made for different situations.

[0053] In specific implementation, the second reversal speed can be determined based on empirical values. However, due to different parameters of different drilling systems, a quantitative calculation standard can be used. Specifically, the second reversal speed can be determined using the first formula, which includes:

[0054]

[0055] Where n2 is the second reversal speed, t au The drill pipe accelerates from 0 to n c The time required, n c is the maximum reversal speed of the driving device that can cause the drill pipe to be buckled, T max is the maximum reverse torque of the driving device that can cause the drill pipe to be buckled, J rotor is the moment of inertia of the driving device, η1 is the mechanical efficiency of the drill rod; ρ1 is the density of the drill rod material, l is the length of the drill rod, R is the outer diameter of the drill rod, and r is the inner diameter of the drill rod.

[0056] Since the second reversal speed is the minimum reversal speed that can cause the drill pipe to be buckled, this minimum reversal speed is affected by many factors. As can be seen from the first formula, there are multiple factors that determine the second reversal speed.

[0057] Furthermore, the above first formula can be derived accordingly by the following formula:

[0058]

[0059]

[0060]

[0061] Among them, since the second reverse speed is the minimum reverse speed at which the driving device can cause the drill rod to be buckled, and n c is the maximum reversal speed at which the driving device can cause the drill pipe to be buckled. It can be seen from the above formula that the above minimum reversal speed is set to half of the above maximum reversal speed.

[0062] Among them, T max is the maximum reverse torque of the driving device that can cause the drill pipe to be buckled, J strange is the moment of inertia of the drill bit, η1 is the mechanical efficiency of the drill rod, J rotor is the moment of inertia of the drive device, so when calculating T max The moment of inertia of the drill bit is not only taken into account, but also taken into account, which is in line with the actual scenario. The moment of inertia of the drill bit can be calculated using the following formula:

[0063]

[0064] Wherein, m is the sum of the masses of all drill rods, and ρ1 is the density of the drill rod material.

[0065] S123, if the reverse speed of the driving device is greater than or equal to the second reverse speed, increasing the output torque of the driving device;

[0066] It is understandable that when the reverse speed of the drive device reaches the second reverse speed, the drilling system is more likely to be in danger, and effective measures must be taken to reduce the reverse speed of the drive device. In order to reduce the reverse speed of the drive device, the frequency converter needs to increase the output torque to the drive device.

[0067] In a specific implementation, a second formula may be used to calculate the output torque added to the driving device, wherein the second formula includes:

[0068]

[0069] In the formula, ΔT is the increased output torque, P is the power of the inverter, n1 is the reverse speed of the driving device, and n2 is the second reverse speed.

[0070] It is understandable that when the reverse speed of the driving device is greater, the output torque that needs to be increased is greater. After ΔT is calculated, ΔT is increased based on the current output torque of the driving device.

[0071] After increasing the output torque to the drive device, continue monitoring. If it is found after monitoring that the reverse speed of the drive device has not decreased, calculate a new ΔT again, and continue to increase the new ΔT based on the current output torque, and continue monitoring. If the reverse speed of the drive device begins to decrease, keep the current output torque unchanged until the reverse speed of the drive device is less than the first reverse speed.

[0072] S124: If the reverse speed of the driving device is less than the second reverse speed and greater than or equal to the first reverse speed, stop reducing the output torque of the driving device.

[0073] It is understandable that if, although the second abnormal state occurs during the release process, the reversal speed of the driving device is less than the second reversal speed, it means that although the reversal speed of the driving device is relatively large at this time, there is no risk of causing the drill bit to be reversed. At this time, it is only necessary to stop reducing the output torque of the driving device, that is, to keep the current output torque unchanged, until the reversal speed of the driving device is less than the first reversal speed, the second abnormal state disappears, and continue to reduce the output torque of the driving device.

[0074] In specific implementation, the above-mentioned counter-torque release is completed, which does not mean that the counter-torque is reduced to 0. In fact, the counter-torque of the drill bit will not be reduced to 0. Therefore, as long as the counter-torque is detected to be less than a certain value, the counter-torque release is considered to be completed. For example, the certain value is 2kNm. In other words, when it is detected that the counter-torque of the drill bit is less than a certain value, the counter-torque release is considered to be completed, and then the counter-torque release state is exited, and a prompt message indicating that the counter-torque release is completed is sent to the human-computer interaction screen.

[0075] It is understandable that, for the automatic mode, the frequency converter automatically determines whether it needs to enter the anti-torque release state, and monitors the operating state in real time, adjusts the output to the drive device, automatically determines whether the release is complete, etc., to achieve fully automated processing without the need for driller operation. Since the operating state is monitored during the anti-torque release process, the reverse speed of the drive device can be controlled to achieve a slow release of the anti-torque, avoiding the frequency converter from being in an overvoltage state and causing the frequency converter to fail, which in turn causes the drill to reverse rapidly and cause danger. At the same time, avoid the reverse speed being too fast and causing the drill to reverse, that is, automatically adjust the output torque to the drive device according to the size of the reverse speed, and automatically exit the anti-torque release state after the release is completed.

[0076] In a second aspect, the present invention provides a counter torque release device, such as Figure 2 As shown, the device 200 includes:

[0077] A state determination module 210, used to determine whether it is necessary to enter a counter-torque release state;

[0078] The anti-torque release module 220 is used to reduce the output torque to the drive device when it is determined that it is necessary to enter the anti-torque release state, monitor whether an abnormal state occurs in the anti-torque release process, adjust the output torque to the drive device when an abnormal state occurs, and continue to reduce the output torque to the drive device after the abnormal state disappears until the anti-torque release of the drive device is completed.

[0079] In some embodiments, the monitoring of the release process of the counter-torque in the counter-torque release module 220 to see if an abnormal state occurs and adjusting the output torque to the drive device when the abnormal state occurs may include: monitoring whether the frequency converter is in an overvoltage state; if so, determining that a first abnormal state occurs in the release process, and stopping reducing the output torque to the drive device.

[0080] In some embodiments, the monitoring of the release process of the counter-torque in the counter-torque release module 220 to see if an abnormal state occurs, and adjusting the output torque to the drive device when an abnormal state occurs, may include: monitoring whether the reverse speed of the drive device is greater than or equal to a preset first reverse speed, and if so, determining that a second abnormal state occurs in the release process; when the second abnormal state occurs in the release process, determining whether the reverse speed of the drive device is greater than or equal to the second reverse speed, and if so, increasing the output torque to the drive device; the second reverse speed is greater than the first reverse speed, and the second reverse speed is the minimum reverse speed of the drive device that can cause the drill rod to be buckled.

[0081] In some embodiments, the anti-torque release module 220 monitors whether an abnormal state occurs in the release process of the anti-torque, and adjusts the output torque to the drive device when the abnormal state occurs. It may also include: when the second abnormal state occurs in the release process, if the reverse speed of the drive device is less than the second reverse speed, stopping reducing the output torque to the drive device.

[0082] In some embodiments, the anti-torque release module 220 may determine the second reverse speed using a first formula, wherein the first formula includes:

[0083]

[0084] Where n2 is the second reversal speed, t au is the time required for the drill rod to accelerate from 0 to nc, nc is the maximum reversal speed of the driving device that can cause the drill rod to buckle, T max is the maximum reverse torque of the driving device that can cause the drill pipe to be buckled, J rotor is the moment of inertia of the driving device, η1 is the mechanical efficiency of the drill rod; ρ1 is the density of the drill rod material, l is the length of the drill rod, R is the outer diameter of the drill rod, and r is the inner diameter of the drill rod.

[0085] In some embodiments, the anti-torque release module 220 may use a second formula to calculate the output torque added to the driving device, wherein the second formula includes:

[0086]

[0087] In the formula, ΔT is the increased output torque, P is the power of the inverter, n1 is the reverse speed of the driving device, and n2 is the second reverse speed.

[0088] In some embodiments, the state determination module is further used to: if the anti-torque release mode is configured as an automatic mode, then obtain the operating information of the drilling system during the drilling process, and determine whether the driving device is in an anti-torque saturation state based on the operating information; if so, determine that it is necessary to enter the anti-torque release state; or, if the anti-torque release mode is configured as a manual mode, in response to triggering the anti-torque release button on the human-computer interaction screen, determine that it is necessary to enter the anti-torque release state.

[0089] In some embodiments, the operation information includes the counter-torque generated by the drill rod and the output efficiency of the drive device; judging whether the drive device is in a counter-torque saturation state according to the operation information in the state determination module may include: judging whether the operation information meets a preset condition; if so, the drive device is in a counter-torque saturation state, and the preset condition includes:

[0090]

[0091] Wherein, T1 is the counter torque generated by the drill pipe, μ is the friction coefficient between the well wall and the drill tool, N is the number of drill pipes in the drill tool, m1 is the mass of a drill pipe, ρ1 is the density of the drill pipe material, m2 is the mass of the mud in a drill pipe, ρ2 is the density of the mud, α is the well inclination angle, T2 is the maximum torque output by the inverter, i is the reduction ratio of the drive device, and η2 is the output efficiency of the drive device.

[0092] In a third aspect, the present invention provides a frequency converter, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method provided in the first aspect when executing the computer program.

[0093] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and the steps of the method provided in the first aspect are implemented when the computer program is executed by a processor. Specifically, a system or device equipped with a storage medium can be provided, on which a software program code for implementing the functions of any of the above-mentioned embodiments is stored, and the computer (or CPU or MPU) of the system or device reads out and executes the program code stored in the storage medium. In addition, the operating system etc. operated on the computer can also be made to complete part or all of the actual operations by instructions based on the program code. The program code read out from the storage medium can also be written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then the CPU etc. installed on the expansion board or expansion unit can be made to perform part and all of the actual operations based on the instructions of the program code, thereby realizing the functions of any of the above-mentioned embodiments. The storage medium implementation for providing the program code includes a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card and a ROM. Alternatively, the program code may be downloaded from a server computer via a communications network.

[0094] In a fifth aspect, the present invention further provides a computer program, comprising computer executable instructions, which, when executed, cause at least one processor to perform the steps of the method provided in the first aspect above.

[0095] Each embodiment of the present invention has at least the following beneficial effects:

[0096] When it is determined that it is necessary to enter the anti-torque release state, the output torque to the drive device is reduced, the release process is monitored for abnormal conditions, and the output torque is adjusted when an abnormal condition occurs until the anti-torque release is completed. Therefore, the present invention can realize the automatic and slow release of the anti-torque, reduce the damage caused to the drilling system by the abnormal condition, and ensure the safety of the anti-torque release process. This process does not require experienced drillers to use a point brake method to release the anti-torque, so the wear on the brake disc caused by this method can be reduced, and manpower is also saved. Moreover, the present invention also reduces the speed limit corresponding to the drive device, so that the drive device will not suddenly rotate quickly after the anti-torque release is completed, thereby ensuring safety after the anti-torque release is completed.

[0097] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the existence of other identical factors in the process, method, article or device including the elements.

[0098] Finally, it should be noted that the above is only a preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for releasing a counter-torque, executed by a frequency converter, characterized in that: include: Determine whether it is necessary to enter the anti-torque release state; If so, the output torque to the drive device is reduced, the corresponding speed limit of the drive device is reduced, and the release process of the counter-torque is monitored for abnormal conditions. When an abnormal condition occurs, the output torque to the drive device is adjusted, and the output torque to the drive device continues to be reduced after the abnormal condition disappears until the counter-torque of the drive device is released. The speed limit is used to limit the speed of the drive device after the counter-torque is released. The abnormal condition is caused by the excessively rapid release of the counter-torque, and the abnormal condition includes overvoltage of the inverter and excessive reverse speed of the drive device.

2. The method according to claim 1, characterized in that The monitoring of whether an abnormal state occurs during the release of the counter-torque and adjusting the output torque to the driving device when the abnormal state occurs include: Monitor whether the inverter is in overvoltage state; If so, it is determined that a first abnormal state occurs in the release process, and the reduction of the output torque to the drive device is stopped.

3. The method according to claim 1, characterized in that The monitoring of whether an abnormal state occurs during the release of the counter-torque and adjusting the output torque to the driving device when the abnormal state occurs include: monitoring whether the reverse speed of the driving device is greater than or equal to a preset first reverse speed, and if so, determining that a second abnormal state occurs in the release process; When the second abnormal state occurs during the release process, it is determined whether the reverse speed of the drive device is greater than or equal to the second reverse speed. If so, the output torque to the drive device is increased; the second reverse speed is greater than the first reverse speed, and the second reverse speed is the minimum reverse speed of the drive device that can cause the drill rod to be buckled.

4. The method according to claim 3, characterized in that The method of monitoring whether an abnormal state occurs during the release of the counter-torque and adjusting the output torque to the drive device when an abnormal state occurs also includes: When the second abnormal state occurs during the release process, if the reverse rotation speed of the driving device is less than the second reverse rotation speed, the reduction of the output torque to the driving device is stopped.

5. The method according to claim 3, characterized in that: The second reverse speed is determined by using a first formula, wherein the first formula includes: Where n2 is the second reversal speed, t au The drill pipe accelerates from 0 to n c The time required, n c is the maximum reversal speed of the driving device that can cause the drill pipe to be buckled, T max is the maximum reverse torque of the driving device that can cause the drill pipe to be buckled, J rotor is the moment of inertia of the driving device, η1 is the mechanical efficiency of the drill rod; ρ1 is the density of the drill rod material, l is the length of the drill rod, R is the outer diameter of the drill rod, and r is the inner diameter of the drill rod.

6. The method according to claim 3, characterized in that The output torque added to the driving device is calculated using a second formula, wherein the second formula includes: In the formula, ΔT is the increased output torque, P is the power of the inverter, n1 is the reverse speed of the driving device, and n2 is the second reverse speed.

7. The method according to any one of claims 3 to 6, characterized in that: The determining whether it is necessary to enter the anti-torque release state comprises: If the anti-torque release mode is configured as the automatic mode, then the operation information of the drilling system during the drilling process is obtained, and whether the driving device is in the anti-torque saturation state is determined according to the operation information; if so, it is determined that the anti-torque release state needs to be entered; Alternatively, if the anti-torque release mode is configured as the manual mode, in response to triggering the anti-torque release button on the human-machine interaction screen, it is determined that the anti-torque release state needs to be entered.

8. A counter-torque release device for a frequency converter, characterized in that: include: A state determination module, used to determine whether it is necessary to enter a counter-torque release state; The anti-torque release module is used to reduce the output torque to the drive device and the corresponding speed limit of the drive device when it is determined that the anti-torque release state needs to be entered, and monitor whether an abnormal state occurs in the anti-torque release process. When an abnormal state occurs, the output torque to the drive device is adjusted, and the output torque to the drive device continues to be reduced after the abnormal state disappears until the anti-torque release of the drive device is completed. The speed limit is used to limit the speed of the drive device after the anti-torque release is completed. The abnormal state is caused by the excessive release of the anti-torque, and the abnormal state includes inverter overvoltage and excessive reverse speed of the drive device.

9. A frequency converter, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

11. A computer program product comprising computer executable instructions, characterized in that: The computer executable instructions, when executed, cause at least one processor to perform the steps of the method of any one of claims 1 to 7.

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