A control method of ATM for oil automatic drilling rig

Abstract

The present application discloses a control method for an ATM used in an automated oil drilling rig, comprising: a motor and an ATM transmission, wherein the motor is controlled by a frequency converter, and the ATM transmission is controlled by a transmission controller; wherein the motor and the ATM transmission are output coupled. The present application takes into account the frequency conversion characteristics of industrial control motors, the control cycle is long and needs to be adapted to the control characteristics of the frequency converter, and realizes precise control of the ATM transmission shifting process by controlling the motor rotation before shifting and suppressing the frequency converter output during the shifting process.

Description

Technical Field

[0001] The present application relates to the field of gearbox control, and in particular to a control method for an ATM used in an automated oil drilling rig. Background Art

[0002] In the field of oil extraction, the traditional model of oil drilling rigs equipped with large main reducers has long dominated. However, this model has many drawbacks that are difficult to overcome. The high development costs make the initial investment costs of drilling rigs high, which brings a heavy economic burden to enterprises. More importantly, the single reduction ratio design of the large main reducer makes it unable to flexibly respond to the ever-changing load conditions in actual operations. This means that under different load conditions, the chain speed cannot be effectively adjusted, which leads to the oil extraction efficiency always being at a low level.

[0003] With the continuous advancement of technology, the introduction of AMT transmission has significant advantages in oil drilling rigs. AMT transmission has four reduction ratios, which enables it to accurately calculate the required torque according to the real-time load and accurately select the matching reduction ratio, thereby achieving precise adjustment of the chain speed. In this way, oil production efficiency is significantly improved and the operating efficiency of the drilling rig can be fully utilized.

[0004] However, when the power transmission system is in a special state of being stationary and without power output, the output end of the AMT transmission will be firmly locked by the mechanical structure and cannot rotate freely, while its input end is forced to remain at 0 speed under the action of the motor. At this time, when the gear shift operation is required, when the input shaft gear of the ATM transmission tries to mesh with the output shaft gear, there is a certain probability that the top gear phenomenon will occur because the speed and position relationship of the two are not completely synchronized. The occurrence of this top gear situation will directly lead to the obstruction of the gear shifting process, and the gear shifting cannot be completed smoothly, which seriously affects the normal operation of the entire equipment.

[0005] In the field of industrial control, the motors used are usually frequency converters. Compared with ordinary motors, frequency converters have many advantages, such as the ability to flexibly adjust the speed and torque according to actual needs, but they also have some special control difficulties. The most prominent problem is that their control cycle is relatively long, which means that there will be a certain time delay in the issuance and execution of control instructions. In this case, in order to ensure that the gear control method can perfectly adapt to the control characteristics of the frequency converter, in-depth optimization of the control strategy is required. Summary of the invention

[0006] To solve the above problems, the present application provides a control method for an ATM for an automated oil drilling rig, which aims to ensure that each time a gear switching operation is performed, the ATM transmission can accurately and correctly engage the required deceleration gear, achieving a 100% success rate.

[0007] A first aspect of an embodiment of the present invention provides a control method for an ATM used in an oil automated drilling rig, comprising: a motor and an ATM transmission, wherein the motor is controlled by a frequency converter, and the ATM transmission is controlled by a transmission controller;

[0008] Wherein, the motor and the ATM transmission are output coupled.

[0009] In an optional embodiment, the number of ATM transmissions is selected according to the load;

[0010] For each ATM transmission:

[0011] When the ATM transmission receives the gear position command, it determines whether the current torque and speed of the motor are zero. If not, it controls the inverter to reset the torque and speed of the motor to zero.

[0012] Determine whether the current ATM transmission is in the neutral position. If not, the transmission controller sends a "zero speed-disable" command to the inverter and controls the ATM transmission to be in the neutral position;

[0013] The transmission controller sends a "35rpm-enable" command to the inverter, and the inverter controls the torque output to make the motor rotate;

[0014] During the rotation of the motor, if the transmission controller detects that the motor speed is greater than 10rpm, the transmission controller will send a "zero speed-enable" command in advance until the motor speed rises to 35rpm and then drops to zero; the transmission controller will send a "zero speed-disable" command to the frequency converter, the frequency converter will stop controlling the torque output, and the transmission controller will control the ATM transmission to perform the shift operation and change to a new gear.

[0015] In an optional implementation, it further includes a load calculation module, which is used to calculate the size of the load and generate load information, wherein the load information includes driving torque information, power information and speed information required by the load.

[0016] In an optional implementation, the host computer receives the load information, and selects the number of ATM transmissions and the gear position issued by each selected ATM transmission according to the load information.

[0017] In an optional implementation, the gears include: 1st gear 20000Nm, 2nd gear 8000Nm, 3rd gear 4000Nm and 4th gear 2400Nm.

[0018] In an optional implementation, the maximum power provided by each motor is 380KW.

[0019] In an optional implementation, the ATM transmission further includes a position sensor, which determines whether the ATM transmission is currently in a neutral position.

[0020] A second aspect of the present application provides an ATM control device for an oil automated drilling rig, the device comprising: a first detection unit, a second detection unit, a first control unit, a second control unit and a gear shifting operation unit, wherein:

[0021] The first detection unit is used to determine whether the torque and speed of the current motor are zero when the ATM transmission receives the gear command. If not, the inverter is controlled to return the torque and speed of the motor to zero;

[0022] The second detection unit is used to determine whether the current ATM transmission is in the neutral position. If not, the transmission controller sends a "zero speed-disable" command to the frequency converter and controls the ATM transmission to be in the neutral position. The first control unit is used for the transmission controller to send a "35rpm-enable" command to the frequency converter, and the frequency converter controls the torque output to rotate the motor.

[0023] The second control unit is used for sending a "zero speed-enable" command in advance if the transmission controller detects that the motor speed is greater than 10 rpm during the motor rotation process, until the motor speed rises to 35 rpm and then drops to zero;

[0024] Shift operation unit: The transmission controller sends a "zero speed-disabled" command to the inverter, the inverter stops controlling the torque output, and the transmission controller controls the ATM transmission to perform the shift operation and change to a new gear.

[0025] A third aspect of an embodiment of the present invention provides an electronic device, characterized in that it includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, it implements a control method of ATM for oil automated drilling rigs.

[0026] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, a control method for an ATM to be used for an automated oil drilling rig is implemented.

[0027] In the disclosed embodiment, an ATM control method for an oil automated drilling rig is provided, the core of which is to ensure that the ATM transmission can accurately engage the required deceleration gear each time the gear is switched, thereby improving the reliability of the gear shift. This strategy takes into account the variable frequency characteristics of industrial control motors, that is, the control characteristics of a long control cycle and the need to adapt to the frequency converter, and achieves precise control of the ATM transmission shifting process by controlling the motor rotation before the gear shift and suppressing the frequency converter output during the gear shift.

[0028] The traditional large main reducer is replaced by a motor plus AMT transmission drive assembly. This new drive mode has higher flexibility and adaptability, and can dynamically adjust the number of drive assemblies and the reduction ratio according to the load size. Specifically, when the oil rig faces a large load and requires greater power and torque, a multi-motor plus multi-transmission coupled output control strategy can be selected to meet the needs of high-load operations. When the load is small and the required power and torque are reduced accordingly, energy utilization can be optimized and energy consumption can be reduced by reducing the number of drive assemblies and replacing the appropriate reduction ratio.

[0029] Compared with the traditional large main reducer, the new drive mode not only improves the reliability of gear shifting, but also greatly reduces the development cost and significantly improves the oil production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] Figure 1 This is a schematic diagram of an automated oil drilling method for an ATM used in an automated oil drilling rig, as proposed in one embodiment of the present application;

[0032] Figure 2 This is a flow chart of a control method of an ATM for an oil automated drilling rig proposed in one embodiment of the present application;

[0033] Figure 3 This is a schematic diagram of selecting the number of ATM transmissions according to load in a control method of an ATM for an automated oil drilling rig proposed in an embodiment of the present application;

[0034] Figure 4 This is a schematic diagram of a control method for an ATM used in an automated oil drilling rig proposed in an embodiment of the present application;

[0035] Figure 5This is a structural diagram of a control device for an ATM used in an automated oil drilling rig, as proposed in one embodiment of the present application;

[0036] Figure 6 It is a schematic diagram of an electronic device of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] Please refer to Figure 1 , Figure 1 Schematic diagram of an ATM control method for an oil automated drilling rig proposed in an embodiment of the present application. Figure 1 As shown, the three-phase line sequence detection method based on multi-dimensional visual analysis includes:

[0039] A motor and an ATM transmission, wherein the motor is controlled by a frequency converter and the ATM transmission is controlled by a transmission controller;

[0040] Wherein, the motor and the ATM transmission are output coupled.

[0041] In this embodiment, the ATM transmission has the function of reducing speed and increasing torque. Among them, the lower the gear of the ATM transmission, the greater the torque provided by the output end, and the slower the rotation speed; the higher the gear, the smaller the torque provided by the output end, and the faster the rotation speed. The industrial control motor mentioned in this application is a frequency converter. The speed and power of the motor can be adjusted by changing the input frequency. Since the control cycle of the frequency converter is long, the proposed control method needs to adapt to the control characteristics of the frequency converter. Therefore, coupling output control is achieved by increasing the number of motors and gearboxes. This flexibility enables the drilling rig to better adapt to different working conditions and needs.

[0042] Please refer to Figure 2 , Figure 2 This is a flow chart of a control method for an ATM used in an automated oil drilling rig, as proposed in one embodiment of the present application. Figure 2 As shown, the number of ATM transmissions is selected according to the load;

[0043] For each ATM transmission:

[0044] When the ATM transmission receives the gear position command, it determines whether the current torque and speed of the motor are zero. If not, it controls the inverter to reset the torque and speed of the motor to zero.

[0045] In this embodiment, the ATM transmission receives the gear shift instruction sent by the host computer. After receiving the gear shift instruction, the ATM transmission first checks whether the motor is in a state of 0 torque and 0 speed. If the motor does not meet this condition, that is, the torque or speed is not 0, the torque and speed of the motor are adjusted to 0 by controlling the frequency converter.

[0046] Determine whether the current ATM transmission is in the neutral position. If not, the transmission controller sends a "zero speed-disable" command to the inverter and controls the ATM transmission to be in the neutral position;

[0047] In this embodiment, an ATM transmission position sensor is used to determine whether the ATM transmission is currently in a neutral position. If the ATM transmission is not in neutral, a 0 speed, disabled command is sent to the frequency converter to prohibit the frequency converter from controlling the torque output. The transmission controller then controls the ATM transmission to perform a gear shifting operation and puts the ATM transmission in neutral.

[0048] The transmission controller sends a "35rpm-enable" command to the inverter, and the inverter controls the torque output to make the motor rotate;

[0049] In this embodiment, after confirming that the ATM transmission is in neutral, the transmission controller sends a request for 35 rpm of the generator and an enable command to the frequency converter; after receiving the command, the frequency converter starts to control the torque output to start the motor to rotate.

[0050] During the motor rotation process, if the transmission controller detects that the motor speed is greater than 10rpm, the transmission controller sends a "zero speed-enable" command in advance until the motor speed rises to 35rpm and then drops to zero;

[0051] In this embodiment, when the inverter controls the motor to rotate, the transmission controller monitors the motor speed. When the motor speed exceeds 10 rpm, the transmission controller requests the motor to rotate at 0 speed in advance, but maintains the enable command. This is done to allow the inverter to control the motor to go through a process of increasing the current speed to 35 rpm and then decreasing to 0.

[0052] The transmission controller sends a "zero speed-disabled" command to the inverter, and the inverter stops controlling the torque output. The transmission controller then controls the ATM transmission to perform a shift operation and change to a new gear.

[0053] In this embodiment, after the speed increases and decreases, the transmission controller sends a 0 speed, disabled command to the frequency converter again. At this time, the frequency converter no longer controls the torque output, and the transmission controller controls the ATM transmission to perform a shift operation and change the ATM transmission to a new gear.

[0054] Please refer to Figure 3 , Figure 3 The present invention is a schematic diagram of selecting the number of ATM transmissions according to the load in a control method of an ATM for an automated oil drilling rig proposed in an embodiment of the present invention. The present invention also includes a load calculation module, which is used to calculate the load size and generate load information, and the load information includes the driving torque information, power information and speed information required by the load.

[0055] Furthermore, the host computer receives the load information, and selects the number of ATM transmissions and the gear position issued by each selected ATM transmission according to the load information.

[0056] Furthermore, the gears include: 1st gear 20000Nm, 2nd gear 8000Nm, 3rd gear 4000Nm and 4th gear 2400Nm.

[0057] Furthermore, the maximum power provided by each motor is 380KW.

[0058] Furthermore, the ATM transmission also includes a position sensor, which determines whether the ATM transmission is currently in a neutral position.

[0059] In this embodiment, the load calculation module calculates the size of the received load and generates the required driving torque information, power information and speed information, and transmits the information to the host computer. The host computer receives the load information and determines whether the ATM transmission 1 needs to participate in the control. If necessary, it is necessary to further determine the gear position required by the ATM transmission 1; other ATM transmissions refer to the above method to make judgments in turn until all ATM transmissions are judged and stop.

[0060] like Figure 3 As shown, take three ATM transmissions as an example:

[0061] Example 1: If the load is large and the demand for driving torque and power is large, three ATM transmissions need to be selected for simultaneous control. At this time, the host computer can send a gear position demand 1st gear instruction to the three ATM transmissions. After the ATM transmissions are engaged in 1st gear, the host computer sends a drive instruction to the motor for control.

[0062] Example 2: If the load is small, and the driving torque requirement is not large, but there is a certain demand for speed, select three ATM transmissions to participate in the control at the same time. At this time, the host computer can send 3rd gear instructions to the three ATM transmissions. After the ATM transmission is engaged in the 3rd gear, the host computer sends a drive command to the motor. Example 3: If there is no load, and the driving torque and power requirements are small, but the output end is required to rotate quickly, the host computer needs to send a gear requirement 4th gear instruction to ATM transmission 1. After ATM transmission 1 is engaged in the 4th gear, the host computer sends a drive control instruction to motor 1.

[0063] Please refer to Figure 4 , Figure 4 FIG. 1 is a schematic diagram of a control method for an ATM used in an automated oil drilling rig according to an embodiment of the present application. Figure 4 As shown in the figure, the key signal variables from top to bottom are: required motor speed command, motor speed, ATM transmission target gear position, ATM transmission current gear position, required gear, motor execution speed up and down flags, and transmission shift execution process. The figure shows two ATM transmission shift processes, with black vertical lines dividing the process into ATM transmission directly executing the shift operation (process 1) and motor-controlled ATM transmission executing the shift operation (process 2):

[0064] Process 1: When the inverter is not controlled and the ATM transmission is directly engaged, the gear-entry phenomenon will occur. From the signal variables in the figure, it can be seen that the required motor speed command does not control the motor speed, and the motor speed is in a natural state. There is a demand for the target gear position of the ATM transmission, but the actual gear position of the ATM transmission cannot be changed, which indicates that the gear entry failed. Despite the demand and attempt to shift gears, the internal gears of the ATM transmission collide (top teeth) when the gear is engaged because the motor speed is not adjusted, resulting in a failure to engage smoothly and the ATM transmission cannot enter the target gear.

[0065] Process 2: A new control method is used to control the frequency converter. The motor speed is controlled by the required motor speed command. The motor speed is adjusted before shifting and rotated to a certain angle first. Then, when there is a shift demand at the target gear position of the ATM transmission, since the motor speed has been adjusted, the actual gear position of the ATM transmission can change smoothly and shift into gear. This new control method precisely controls the motor speed so that the internal gears of the ATM transmission reach the appropriate speed and position relationship before shifting into gear, thus avoiding the gear top gear phenomenon. Even if there is a slight top gear when shifting into gear for the first time, the motor speed can be adjusted multiple times to ensure that the required gear is accurately engaged, thereby improving the success rate and smoothness of the ATM transmission shifting and ensuring the normal operation of the equipment.

[0066] Please refer to Figure 5 , Figure 5 This is a structural diagram of a control device for an ATM used in an oil automated drilling rig proposed in one embodiment of the present application. Figure 5 As shown, the ATM control device 500 for petroleum automated drilling rigs includes: a first detection unit 501, a second detection unit 502, a first control unit 503, a second control unit 504 and a gear-advancing operation unit 505, wherein:

[0067] The first detection unit 501 is used to determine whether the torque and speed of the current motor are zero when the ATM transmission receives the gear position instruction. If not, the inverter is controlled to return the torque and speed of the motor to zero.

[0068] The second detection unit 502 is used to determine whether the current ATM transmission is in the neutral position. If not, the transmission controller sends a "zero speed-disabled" instruction to the inverter and controls the ATM transmission to be in the neutral position;

[0069] The first control unit 503 is used for the transmission controller to send a "35rpm-enable" instruction to the frequency converter, and the frequency converter controls the torque output to make the motor rotate;

[0070] The second control unit 504 is used for sending a "zero speed-enable" instruction in advance if the transmission controller detects that the motor speed is greater than 10 rpm during the motor rotation process, until the motor speed rises to 35 rpm and then drops to zero;

[0071] Shift operation unit 505: The transmission controller sends a "zero speed-disabled" command to the frequency converter, and the frequency converter stops controlling the torque output. The transmission controller controls the ATM transmission to perform the shift operation and change to a new gear.

[0072] The present disclosure also provides an electronic device. Figure 6 , Figure 6 Schematic diagram of an electronic device shown in an embodiment of the present disclosure. Figure 6 As shown, the electronic device 100 includes: a memory 110 and a processor 120. The memory 110 and the processor 120 are connected via a bus communication. A computer program is stored in the memory 110. The computer program can be run on the processor 120 to implement the steps in the control method of the ATM for oil automated drilling rigs disclosed in the embodiment of the present disclosure.

[0073] The disclosed embodiment also provides a computer-readable storage medium. When the instructions in the computer-readable storage medium are executed by a processor of a computer device, the computer device is able to execute the steps in the control method of using an ATM for an automated oil drilling rig as in the disclosed embodiment.

[0074] In summary, the present invention innovatively proposes a gear shift control method specifically for AMT transmissions. This method has been carefully designed and verified by a large number of experiments, aiming to ensure that each time a gear shift operation is performed, the AMT transmission can accurately and correctly engage the required deceleration gear, achieving a 100% success rate. The core principle of this method is to make full use of the driving capacity of the motor to drive the input shaft gear to rotate a certain specific angle at the critical moment when the AMT transmission is about to shift into the target gear. Through this active control method, the position and speed of the input shaft gear are cleverly adjusted so that it can perfectly match with the output shaft gear when it is meshing, thereby avoiding the occurrence of top tooth phenomenon and ensuring a smooth gear shift process;

[0075] In the process of controlling the frequency converter, a sophisticated control strategy is adopted. First, an enable signal is sent to the frequency converter to start rotating and gradually increase the speed to a certain speed. In this process, the speed change of the motor is closely monitored, and the motor output is gradually reduced to 0 speed after reaching a peak speed. Through such a speed adjustment process, the motor can be in an ideal state before the gear shifting operation to avoid unnecessary torque output during the gear shifting process. Because if the motor outputs torque when shifting, it may suppress the normal speed fluctuations generated during the engagement of the coupling teeth, thereby affecting the smooth engagement of the coupling teeth and causing the gear shifting to fail. Therefore, after the motor speed drops back to 0, the enable signal is turned off in time to ensure that the frequency converter does not output torque during the gear shifting process, thereby creating favorable conditions for the smooth engagement of the coupling teeth.

[0076] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, apparatuses, electronic devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0077] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0079] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0080] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0081] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0082] Finally, it should be noted that, in this article, relational terms such as first and second, etc. 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 terminal 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0083] The above is a detailed introduction to the control method of an ATM for an automated oil drilling rig provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for an ATM used in an oil automated drilling rig, characterized in that: include: A motor and an ATM transmission, wherein the motor is controlled by a frequency converter and the ATM transmission is controlled by a transmission controller; Wherein, the motor and the ATM transmission are output coupled.

2. The control method of ATM for oil automated drilling rig according to claim 1, characterized in that: Select the number of ATM transmissions according to the load; For each ATM transmission: When the ATM transmission receives the gear position command, it determines whether the current torque and speed of the motor are zero. If not, it controls the inverter to reset the torque and speed of the motor to zero. Determine whether the current ATM transmission is in the neutral position. If not, the transmission controller sends a "zero speed-disable" command to the inverter and controls the ATM transmission to be in the neutral position; The transmission controller sends a "35rpm-enable" command to the inverter, and the inverter controls the torque output to make the motor rotate; During the motor rotation process, if the transmission controller detects that the motor speed is greater than 10rpm, the transmission controller sends a "zero speed-enable" command in advance until the motor speed rises to 35rpm and then drops to zero; The transmission controller sends a "zero speed-disable" command to the inverter, and the inverter stops controlling the torque output. The transmission controller then controls the ATM transmission to perform a shift operation and change to a new gear.

3. The control method of ATM for oil automated drilling rig according to claim 2, characterized in that: It also includes a load calculation module, which is used to calculate the size of the load and generate load information. The load information includes driving torque information, power information and speed information required by the load.

4. The control method of ATM for oil automated drilling rig according to claim 3, characterized in that: The host computer receives the load information, and selects the number of ATM transmissions and the gear position issued by each selected ATM transmission according to the load information.

5. The control method of ATM for oil automated drilling rig according to claim 4, characterized in that: The gears include: 1st gear 20000Nm, 2nd gear 8000Nm, 3rd gear 4000Nm and 4th gear 2400Nm.

6. The control method of ATM for oil automated drilling rig according to claim 1, characterized in that: The maximum power provided by each motor is 380KW.

7. The control method of ATM for oil automated drilling rig according to claim 6, characterized in that: The ATM transmission also includes a position sensor, which determines whether the ATM transmission is currently in a neutral position.

8. An ATM control device for an oil automated drilling rig, characterized in that: The device comprises: a first detection unit, a second detection unit, a first control unit, a second control unit and a shift operation unit, wherein: The first detection unit is used to determine whether the torque and speed of the current motor are zero when the ATM transmission receives the gear command. If not, the inverter is controlled to return the torque and speed of the motor to zero; The second detection unit is used to determine whether the current ATM transmission is in the neutral position. If not, the transmission controller sends a "zero speed-disable" command to the inverter and controls the ATM transmission to be in the neutral position; The first control unit is used for the transmission controller to send a "35rpm-enable" command to the inverter, and the inverter controls the torque output to make the motor rotate; The second control unit is used for sending a "zero speed-enable" command in advance if the transmission controller detects that the motor speed is greater than 10 rpm during the motor rotation process, until the motor speed rises to 35 rpm and then drops to zero; Shift operation unit: The transmission controller sends a "zero speed-disable" command to the inverter, the inverter stops controlling the torque output, and the transmission controller controls the ATM transmission to perform the shift operation and change to a new gear.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method of the ATM for an automated oil drilling rig according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the ATM for an automated oil drilling rig as claimed in any one of claims 1 to 7 is implemented.

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