粘滑振动是一种典型的非线性自激振动，是钻杆在钻井过程中面临的最为常见的危害，发生概率高达40%。是造成钻杆和钻具组合疲劳甚至断裂，钻头磨损的主要原因。粘滑振动还会导致钻头偏离期望的钻井方向，或者损坏井壁使井壁坍塌。粘滑振动过程中钻头转速瞬间达到很大值，扭矩波动也很大。

 　　软扭矩控制是一种针对粘滑振动进行主动控制的方法，能够有效地抑制粘滑振动,基于顶部驱动钻井技术的地面控制技术，硬件结构简单，无需添加任何井底设备，与现有变频器顶驱PLC控制系统无缝集成，变频器与软扭矩控制器通过CAN总线进行连接，变频器能够将驱动电机的当前转速和扭矩反馈到软扭矩控制器，软扭矩控制器能够将控制转速传输到变频器对钻杆进行控制。

Soft torque control

The stick-slip vibration is a typical Nonlinear self-excited vibration, which is always met while drilling, and highly 40% probability. It is the main cause for drill pipes and strings damaged, drill bit worn, and it also make bit deviate its expected drilling direction, or damage well wall. The rotary speed of drill bit reach the max., and more vibration while stick-slip vibration.

 Soft torque control is a effectively method to control stick-slip vibration, which is based on ground control technology of TDS drilling. Without adding any bottom equipments, its simple construction is assembled seamless with transformer PLC control system, and transformer is connected to soft torque controller through CAN cable, then transformer feedback current rotary speed and torque of motor to soft torque controller, which transfer instruction to transformer to control the drill pipes.