Inclination control method and system of hanging ring system, electronic equipment and storage medium

Abstract

The invention belongs to the technical field of petroleum and natural gas drilling equipment, and provides an inclination control method and system of a lifting ring system, electronic equipment and a storage medium, and the method comprises the steps: collecting real-time data of a top drive, and storing the real-time data; analyzing the real-time data, and sending out a control signal; and performing top drive forward pushing, top drive backward pulling and / or top drive collision prevention based on the control signal until a preset target is reached. According to the method, different control methods are executed according to the conditions of top drive forward pushing, top drive backward pulling, top drive collision prevention and the like, real-time data of a front drive are continuously collected in the control process, then parameters of the inclination executing mechanism are continuously optimized, the control logic of the system is simplified, and the working efficiency of the system is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of oil and gas drilling equipment, and in particular relates to a tilt control method, system, electronic equipment and storage medium of a lifting ring system. Background Art

[0002] Top drive, short for top drive drilling device, consists of a power swivel and a pipe handling device, etc. It can drive the drill string to rotate and has the function of tightening or loosening the drill string joints. It can move up and down along the guide rail (it can also move forward) to complete the drilling operation (it can also operate in a small hole). It is installed inside the derrick and is suspended by a traveling block. It can directly rotate the drill pipe from the upper space of the derrick and send it down along a special guide rail. This device can significantly improve the capacity and efficiency of drilling operations and has become a standard product in the oil drilling industry.

[0003] The top drive pipe handling device is composed of a swivel head, a lifting ring, a back-up clamp arm and a back-up clamp. It is mainly used to grasp and release the drill pipe when the top drive is not drilling, to provide clamping force for tightening or loosening the connecting thread between the protection joint and the drill string joint, and to realize the functions of forward and backward tilting and rotation of the lifting ring. As the main component of the top drive pipe handling mechanism, the lifting ring tilting system of the top drive pipe handling device has an important influence on the operation of the top drive in terms of structure, efficiency and stability. At present, the lifting ring tilting system of the top drive pipe handling device only has an actuator (hydraulic cylinder) that controls the hydraulic action through a control valve group, and is powered by the ground or the hydraulic source of the top drive body. The hydraulic pipeline is long, the overall structure of the device is complex, and the control logic and system are lacking.

[0004] In the existing technical solutions, due to the harsh environment of some operating areas of the top drive, such as high temperature, severe cold, large temperature difference, wind and sand, etc., the seals of the top drive hydraulic mechanism may be damaged, resulting in hydraulic oil leakage, causing a lot of pollution to the environment; and the execution efficiency of the hydraulic system is greatly affected by temperature factors. Under extremely high or low temperature conditions, the fluidity of the hydraulic oil will be limited, thereby affecting the working efficiency of the system; the cleanliness of the hydraulic oil is required to be high. Once impurities or particles are mixed in the hydraulic oil, it may cause damage to the system components, and during use, there may be problems such as difficulty in synchronizing components and difficulty in accurately feedback of component position information. The fundamental reason is that the hydraulic system of the existing solution is relatively complex, including hydraulic pipelines, hydraulic pumps, hydraulic valves, cylinders, etc. In addition to the hydraulic energy supply to the hydraulic cylinder actuator, there is currently no mature solution that can realize the action of the top drive pipe handling device lifting ring tilting system. Summary of the invention

[0005] In order to solve the problems in the background technology, the present invention proposes a tilt control method, system, electronic device and storage medium for a lifting ring system.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The tilt control method of the lifting ring system comprises the following steps:

[0008] Collect real-time data of top drive and store it;

[0009] Analyze real-time data and issue control signals;

[0010] The top drive is pushed forward, pulled back and / or collision prevention is performed based on the control signal until the preset target is reached.

[0011] Furthermore, real-time data of top drive includes:

[0012] The displacement distance information of the lifting ring tilting system of the electric top drive pipe handling device, the force information of the lifting ring tilting system, the distance between the drilling rig and the tilting actuator, and the height of the top drive.

[0013] Further, the top drive is pushed forward based on the control signal until a preset target is reached, including the following steps:

[0014] Get the top drive position, determine the top drive's current height and lifting speed, detect whether the top drive has reached the preset height, and detect whether the top drive is in a stationary state; when the top drive height meets the preset value and the lifting is in a stationary state, send out the top drive in-place information;

[0015] After the top drive is in place, the tilt actuator is pushed forward to the set distance at a predetermined movement speed; if the tilt actuator has not reached the set distance and the forward push force reaches the preset maximum thrust, an alarm is issued to prompt the operator that the forward push movement is blocked and to ask the operator to confirm whether to continue the preset action; if the tilt actuator reaches the set distance, a signal that the tilt actuator is in place is issued.

[0016] Further, the top drive is pulled back based on the control signal until a preset target is reached, including the following steps:

[0017] Get the top drive position, determine the top drive's current height and lifting speed, detect whether the top drive has reached the preset height, and detect whether the top drive is in a stationary state; when the top drive height meets the preset value and the lifting is in a stationary state, send out the top drive in-place information;

[0018] After the top drive is in place, the tilt actuator is pulled back to the set distance at a predetermined movement speed; if the tilt actuator has not reached the set distance and the pull-back force reaches the preset maximum pulling force, an alarm is issued to prompt the operator that the pull-back movement is blocked and to ask the operator to confirm whether to continue the preset action; if the tilt actuator reaches the set distance, a signal that the tilt actuator is in place is issued.

[0019] Further, preventing the top drive collision based on the control signal until the preset target is reached includes the following steps:

[0020] Get the top drive position and determine the top drive's current height and lifting speed;

[0021] If the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message will be issued;

[0022] If the top drive tilt system actuator is not in the floating position and the resistance exceeds the preset value, the tilt actuator automatically moves to the floating position until the force is less than the preset value.

[0023] A tilt control system for a lifting ring system, comprising:

[0024] Acquisition unit, used to collect real-time data of top drive;

[0025] A data storage unit, connected to the acquisition unit, for storing real-time data;

[0026] A central processing unit, connected to the data storage unit, for analyzing real-time data;

[0027] A human-machine interface, connected to the central processing unit, for issuing control signals based on the analysis results;

[0028] The tilt actuator is connected to the central processing unit and is used to push the top drive forward, pull the top drive backward and / or prevent the top drive from colliding based on the control signal until a preset target is reached.

[0029] Furthermore, the acquisition unit comprises:

[0030] The top drive tilt system status signal input module is used to collect displacement distance information of the lifting ring tilt system of the electric top drive pipe processing device and force information of the lifting ring tilt system;

[0031] The drilling rig status signal input module is used to collect information including the distance between the drilling rig and the tilt actuator, and the height of the top drive.

[0032] Furthermore, the central processing unit comprises:

[0033] The first processing module is used to obtain the top drive position, determine the height and lifting speed of the top drive at this time, detect whether the top drive has reached the preset height, and detect whether the top drive is in a static state; when the top drive height meets the preset value and the lifting is in a static state, the top drive is in place information is generated;

[0034] The second processing module is used to determine whether the tilt actuator reaches the set distance when pushing forward and whether the forward force reaches the maximum preset value. If the tilt actuator does not reach the set distance and the forward force is the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated;

[0035] The third processing module is used to determine whether the tilt actuator reaches the set distance when pulling back and whether the force of pulling back reaches the maximum preset value. If the tilt actuator does not reach the set distance and the force of the front leg is the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated;

[0036] The fourth processing module is used to determine the height and lifting speed of the top drive at this time; if the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message is generated.

[0037] Furthermore, the human-machine operation interface includes:

[0038] A speed setting module, used to set the moving speed of the tilt actuator;

[0039] An execution confirmation module is used to determine whether to continue to execute the preset action;

[0040] Display module, used for issuing warning signals and positioning signals.

[0041] Furthermore, the tilt actuator comprises:

[0042] The first execution module is used to move a set distance by pushing forward or pulling backward according to a preset action.

[0043] An electronic device comprising a processor and a memory;

[0044] Memory, used to store computer programs;

[0045] The processor is used to implement the above-mentioned tilt control method of the lifting ring system when executing the program stored in the memory.

[0046] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements the above-mentioned method for controlling the tilt of a lifting ring system.

[0047] Beneficial effects of the present invention:

[0048] 1. The method of the present invention respectively executes different control methods according to the situations of top drive forward pushing, top drive backward pulling and top drive collision prevention, and the control process continuously collects the real-time data of the front drive, thereby continuously optimizing the parameters of the tilt actuator, simplifying the control logic of the system and improving the working efficiency of the system;

[0049] 2. The device of the present invention is safe, reliable and easy to install. It uses a central processing unit to ensure the tilt angle of the lifting ring through reasonable design, and realizes the positioning and precise control of the tilting system. The method of the present invention solves the shortcomings of the tilting mechanism of the top drive pipe processing device that cannot be accurately operated, has a slow response speed and a complex structure;

[0050] 3. The present invention focuses on solving the technical difficulties in the control logic of the tilting mechanism of the electric top drive pipe processing device, and fundamentally overcomes the problems that the traditional hydraulic cylinder actuator is greatly affected by the environment and the synchronization of components is difficult; the present invention designs the installation method according to the actual layout of the top drive, considers the top drive height, hanging weight, rotation speed, torque, the distance between the top drive lifting ring tilting mechanism and other equipment of the drilling rig, the force of the tilting mechanism, the tilting angle of the tilting mechanism and other parameters, designs the action logic control of the lifting ring tilting system from the perspective of safety and reliability, and forms a method and system for accurately controlling the lifting ring tilting system of the top drive pipe processing device.

[0051] Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or be understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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.

[0053] Figure 1 A schematic diagram showing a tilt control system of a lifting ring system of an electric top drive pipe handling device of the present invention is shown;

[0054] Figure 2 A schematic diagram of a collection unit of the present invention is shown;

[0055] Figure 3 The layout diagram of the tilt control system of the lifting ring system of the electric top drive pipe handling device of the present invention is shown;

[0056] Figure 4 A flow chart of the tilt control method of the lifting ring system of the present invention is shown.

[0057] In the figure: 1. acquisition unit; 101. top drive tilt system status signal input module; 102. drilling rig status signal input module; 2. data storage unit; 3. central processing unit; 4. human-machine operation interface; 5. tilt actuator; 6. top drive control signal output unit. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] A tilt control system for a lifting ring system, such as Figure 1 As shown, it includes a collection unit 1, a data storage unit 2, a central processing unit 3, a human-machine operation interface 4 and a tilt actuator 5. The collection unit 1 can collect real-time data of the top drive; the data storage unit 2 is connected to the collection unit 1 and can store the real-time data; the central processing unit 3 is connected to the data storage unit 2 and can analyze the real-time data; the human-machine operation interface 4 is connected to the central processing unit 3 and can send a control signal based on the analysis result; the tilt actuator 5 is connected to the central processing unit 3 and can push the top drive forward, pull the top drive backward and / or prevent the top drive from colliding based on the control signal until the preset target is reached.

[0060] It should be noted that the tilt actuator 5 may also be connected to a top drive control signal output unit 6 , which may receive a signal from the central processing unit 3 and then transmit the signal to the tilt actuator 5 .

[0061] like Figure 2 As shown, the acquisition unit 1 includes a top drive tilt system state signal input module 101 and a drilling rig state signal input module 102. The top drive tilt system state signal input module 101 can collect displacement distance information of the electric top drive pipe processing device lifting ring tilt system, force information of the lifting ring tilt system, etc. The drilling rig state signal input module 102 can collect information including the distance between the drilling rig and the tilt actuator 5, the height of the top drive, etc.

[0062] It should be noted that, combined with Figure 1 and Figure 2 After the acquisition unit 1 acquires data, it stores the acquired signal in the data storage unit 2. After the central processing unit 3 reads the data, it identifies the current working condition of the lifting ring tilting system of the top drive pipe handling device through the built-in algorithm, and displays the recommended top drive operation on the human-machine operation interface 4. After the driller confirms, the top drive control signal output unit 6 outputs it to control the corresponding action of the tilting actuator 5. The system can simultaneously monitor multiple state information related to the top drive to prevent the tilting actuator 5 from colliding with the drilling rig. In addition, the lifting ring tilting system and the tilting actuator 5 are part of the electric top drive pipe handling device.

[0063] like Figure 3 As shown, in this embodiment, the central processing unit 3, the top drive tilt system status signal input module 101, and the data storage unit 2 are installed in the top drive control room, the top drive control signal output unit 6 and the human-machine operation interface 4 are installed on the top drive control console, the drilling rig status signal input module 102 is installed in the driller's room, and the top drive tilt system actuator 7 is installed on the top drive body.

[0064] In some embodiments, the central processing unit 3 includes a first processing module, a second processing module, a third processing module and a fourth processing module. The first processing module is used to obtain the position of the top drive, determine the height and lifting speed of the top drive at this time, detect whether the top drive has reached the preset height, and detect whether the top drive is in a static state; when the top drive height meets the preset value and the lifting is in a static state, the top drive is in place information is generated;

[0065] The second processing module is used to determine whether the tilt actuator 5 reaches the set distance when pushed forward and whether the forward force reaches the maximum preset value. If the tilt actuator 5 does not reach the set distance and the forward force is the maximum preset value, an alarm signal is issued; if the tilt actuator 5 reaches the set distance, a position signal is generated;

[0066] The third processing module is used to determine whether the tilt actuator 5 reaches the set distance when pulled back and whether the force of pulling back reaches the maximum preset value. If the tilt actuator 5 does not reach the set distance and the force of the front leg is the maximum preset value, an alarm signal is issued; if the tilt actuator 5 reaches the set distance, a position signal is generated;

[0067] The fourth processing module is used to determine the height and lifting speed of the top drive at this time; if the top drive is not at the preset height and the tilt actuator 5 is not at the preset floating position, a warning message is generated.

[0068] It should be noted that each module of the central processing unit 3 can generate corresponding control signals based on the analyzed data, and then the operator can input corresponding operation instructions according to the control information.

[0069] In some embodiments, the human-machine operation interface 4 includes a speed setting module, an execution confirmation module and a display module. The speed setting module can set the moving speed of the tilt actuator 5; the execution confirmation module can determine whether to continue to execute the preset action; and the display module can send a warning signal and a position signal.

[0070] In some embodiments, the tilt actuator 5 includes a first actuator module, which can move a set distance by pushing forward or pulling backward according to a preset action.

[0071] It should be noted that, in general, the above system adopts a modular design and controls the top drive in parallel with the human-machine interface 4. When in use, after the driller confirms and obtains partial control rights, the top drive pipe handling device lifting ring tilting system provides early warning and anti-collision functions; the driller can obtain the control rights of the top drive pipe handling device lifting ring tilting system at any time. After the control rights are cancelled, the top drive console still controls the top drive. The system can be applied to various types of top drive systems. According to different top drive types and different control objects, different top drive tilting actuators 5, top drive tilting system status signal input modules 101, top drive control signal output units 6 and drilling rig status signal input modules 102 are replaced to achieve the general purpose.

[0072] like Figure 4 The figure shows the tilt control method of the lifting ring system, which is applied to Figure 1 The system comprises the following steps:

[0073] S1: Collect real-time data of top drive and store it.

[0074] S2: Analyze the real-time data and send out control signals.

[0075] S3: Push the top drive forward, pull the top drive backward and / or prevent the top drive from colliding based on the control signal until the preset target is reached.

[0076] It should be noted that Figure 4 There are three control methods in S3. Figure 1 - Figure 3 The system explains various situations, as follows:

[0077] In the first case, the top drive is pushed forward based on the control signal until the preset target is reached, including the following steps:

[0078] Step 1: Position determination. Specifically: 1. After the function is started, the position of the top drive of the drilling rig is received from the drilling rig status signal input module 102, and the height and lifting speed of the top drive are determined; whether the top drive has reached the preset height, and whether the top drive is in a stationary state; 2. When the top drive height meets the preset value and the lifting is in a stationary state, the top drive is sent out.

[0079] Step 2: The tilt actuator 5 is pushed forward to a set distance at a predetermined movement speed (the movement speed and movement distance can be set through the human-machine operation interface 4);

[0080] Step three: When the tilt actuator 5 of the top drive has not reached the set distance, but the forward thrust reaches the preset maximum thrust (the preset thrust can be set through the human-machine operation interface 4), a pop-up window appears on the human-machine operation interface 4 and an audible and visual alarm message appears, prompting the operator that the movement of the tilt actuator 5 of the top drive is blocked, and the operator needs to confirm through the human-machine operation interface 4 whether to continue to execute the preset action.

[0081] Step 4: When the tilt actuator 5 of the top drive reaches the set distance, a signal indicating that the tilt actuator 5 of the top drive is in place appears on the human-machine operation interface 4 .

[0082] In the second case, the top drive is pulled back based on the control signal until the preset target is reached, including the following steps:

[0083] Step 1: Position determination. Specifically: 1. After the function is started, the position of the top drive of the drilling rig is received from the drilling rig status signal input module 102, and the height and lifting speed of the top drive are determined; whether the top drive has reached the preset height, and whether the top drive is in a stationary state; 2. When the top drive height meets the preset value and the lifting is in a stationary state, the top drive is sent out.

[0084] Step 2: The tilt actuator 5 is pulled back to a set distance at a predetermined movement speed (the movement speed and movement distance can be set through the human-machine operation interface 4);

[0085] Step 3: When the tilt actuator 5 of the top drive has not reached the set distance, but the rear pulling force reaches the preset maximum pulling force (the preset pulling force can be set through the human-machine operation interface 4), a pop-up window and an audible and visual alarm message appear on the human-machine operation interface 4, prompting the operator that the movement of the tilt actuator 5 of the top drive is blocked, and the operator needs to confirm through the human-machine operation interface 4 whether to continue to execute the preset action.

[0086] Step 4: When the tilt actuator 5 of the top drive reaches the set distance, a signal indicating that the tilt actuator 5 of the top drive is in place appears on the human-machine operation interface 4 .

[0087] The third case is to prevent the top drive collision based on the control signal until the preset target is reached, including the following steps:

[0088] Step 1: Position determination: After the function is started, the position of the top drive of the drilling rig is received from the drilling rig status signal input module 102, and the height and lifting speed of the top drive at this time are determined.

[0089] Step 2: If the top drive is not at the preset height, and the tilt actuator 5 is not at the preset floating position (in the early stage of the top drive, the minimum force state is adjusted according to the force of the tilt mechanism, and recorded), a warning message appears on the human-machine operation interface 4 to remind the operator to pay attention;

[0090] Step 3: When the tilt actuator 5 of the top drive is not in the floating position, the tilt actuator 5 is subjected to a resistance exceeding a preset value, and then the tilt actuator 5 of the top drive automatically moves to the floating position until the force is less than the preset value.

[0091] It should be noted that, for the tilt actuator 5 of the top drive, the floating position is a position or state where the force is the smallest by adjusting the tilt actuator 5 according to the force applied to the top drive at the beginning of use, and the position or state is recorded. This position or state is considered to be the best position or state in which the system can automatically adjust to cope with the influence of gravity (the state of natural droop) during normal operation.

[0092] An electronic device comprises a processor and a memory, wherein:

[0093] The memory is used to store computer programs.

[0094] When the processor is used to execute the program stored in the memory, the above-mentioned tilt control method of the lifting ring system is implemented.

[0095] It should be noted that the memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory.

[0096] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0097] A computer-readable storage medium stores a computer program, which implements the above-mentioned method for controlling the tilt of a hoisting ring system when the computer program is executed by a processor.

[0098] It should be noted that the computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the drill string vibration reduction tool analysis method according to the embodiment of the present invention is implemented.

[0099] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0100] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the tilt of a lifting ring system, characterized in that: The following steps are involved: Collect real-time data of top drive and store it; Analyze real-time data and issue control signals; The top drive is pushed forward, pulled back and / or collision prevention is performed based on the control signal until the preset target is reached.

2. The method for controlling the tilt of a lifting ring system according to claim 1, characterized in that: Real-time data from the top drive includes: The displacement distance information of the lifting ring tilting system of the electric top drive pipe handling device, the force information of the lifting ring tilting system, the distance between the drilling rig and the tilting actuator, and the height of the top drive.

3. The method for controlling the tilt of a lifting ring system according to claim 2, characterized in that: The top drive is pushed forward based on the control signal until the preset target is reached, including the following steps: Get the top drive position, determine the top drive's current height and lifting speed, detect whether the top drive has reached the preset height, and detect whether the top drive is in a stationary state; when the top drive height meets the preset value and the lifting is in a stationary state, send out the top drive in-place information; After the top drive is in place, the tilt actuator is pushed forward to the set distance at a predetermined movement speed; if the tilt actuator has not reached the set distance and the forward push force reaches the preset maximum thrust, an alarm is issued to prompt the operator that the forward push movement is blocked and to ask the operator to confirm whether to continue the preset action; if the tilt actuator reaches the set distance, a signal that the tilt actuator is in place is issued.

4. The method for controlling the tilt of a suspension ring system according to claim 1, characterized in that: The top drive is pulled back based on the control signal until the preset target is reached, including the following steps: Get the top drive position, determine the top drive's current height and lifting speed, detect whether the top drive has reached the preset height, and detect whether the top drive is in a stationary state; when the top drive height meets the preset value and the lifting is in a stationary state, send out the top drive in-place information; After the top drive is in place, the tilt actuator is pulled back to the set distance at a predetermined movement speed; if the tilt actuator has not reached the set distance and the pull-back force reaches the preset maximum pulling force, an alarm is issued to prompt the operator that the pull-back movement is blocked and to ask the operator to confirm whether to continue the preset action; if the tilt actuator reaches the set distance, a signal that the tilt actuator is in place is issued.

5. The method for controlling the tilt of a lifting ring system according to claim 1, characterized in that: Preventing top drive collision based on control signals until the preset target is reached includes the following steps: Get the top drive position and determine the top drive's current height and lifting speed; If the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message will be issued; If the top drive tilt system actuator is not in the floating position and the resistance exceeds the preset value, the tilt actuator automatically moves to the floating position until the force is less than the preset value.

6. A tilt control system for a lifting ring system, characterized in that: include: Acquisition unit, used to collect real-time data of top drive; A data storage unit, connected to the acquisition unit, for storing real-time data; A central processing unit, connected to the data storage unit, for analyzing real-time data; A human-machine interface, connected to the central processing unit, for issuing control signals based on the analysis results; The tilt actuator is connected to the central processing unit and is used to push the top drive forward, pull the top drive backward and / or prevent the top drive from colliding based on the control signal until a preset target is reached.

7. The tilt control system of a suspension ring system according to claim 6, characterized in that: The acquisition unit comprises: The top drive tilt system status signal input module is used to collect displacement distance information of the lifting ring tilt system of the electric top drive pipe processing device and force information of the lifting ring tilt system; The drilling rig status signal input module is used to collect information including the distance between the drilling rig and the tilt actuator, and the height of the top drive.

8. The tilt control system of a suspension ring system according to claim 6, characterized in that: The central processing unit comprises: The first processing module is used to obtain the top drive position, determine the height and lifting speed of the top drive at this time, detect whether the top drive has reached the preset height, and detect whether the top drive is in a static state; when the top drive height meets the preset value and the lifting is in a static state, the top drive is in place information is generated; The second processing module is used to determine whether the tilt actuator reaches the set distance when pushing forward and whether the forward force reaches the maximum preset value. If the tilt actuator does not reach the set distance and the forward force is the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated; The third processing module is used to determine whether the tilt actuator reaches the set distance when pulling back and whether the force of pulling back reaches the maximum preset value. If the tilt actuator does not reach the set distance and the force of the front leg is the maximum preset value, an alarm signal is issued; if the tilt actuator reaches the set distance, a position signal is generated; The fourth processing module is used to determine the height and lifting speed of the top drive at this time; if the top drive is not at the preset height and the tilt actuator is not at the preset floating position, a warning message is generated.

9. The tilt control system of a suspension ring system according to claim 7, characterized in that: The human-machine operation interface comprises: A speed setting module, used to set the moving speed of the tilt actuator; An execution confirmation module is used to determine whether to continue to execute the preset action; The display module is used to issue warning signals and in-position signals.

10. A tilt control system for a suspension ring system according to any one of claims 6 to 9, characterized in that: The tilt actuator comprises: The first execution module is used to move a set distance by pushing forward or pulling backward according to a preset action.

11. An electronic device, characterized in that: including a processor and a memory; Memory, used to store computer programs; The processor is used to implement the tilt control method of the lifting ring system described in any one of claims 1 to 5 when executing the program stored in the memory.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the tilt control method of the lifting ring system according to any one of claims 1 to 5 is implemented.

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