Tractor traction control for cased hole
AssigneeHalliburton Energy Services, Inc.
InventorNazareth Sarkis Bedrossian
Life of this patent
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Abstract
Traction for a downhole tractor in a wellbore. A downhole propulsion system can provide a first traction module; a second traction module; and a controller configured to compare a first input parameter representing operation of the first traction module with a second input parameter representing operation of the second traction module. The controller can adjust a first output parameter of the first traction module and/or a second output parameter of the second traction module based on an input representing slip of the first traction module relative to the second traction module.
Claims18
A downhole propulsion system, comprising:
- a first traction module;
- a second traction module;
- and
- a controller that compares a first input parameter representing operation of the first traction module with a second input parameter representing operation of the second traction module and determines when a difference between the first input parameter and the second input parameter exceeds a predetermined threshold,
- wherein the first and second input parameters are independent of vehicle body velocity, and
- wherein the controller adjusts at least one of a first normal force of the first traction module and a second normal force of the second traction module when the predetermined threshold is exceeded.
A tool string, comprising:
- a first assembly including a first traction module;
- a second assembly including a second traction module and axially offset from the first traction module;
- at least one downhole tool;
- and
- a controller that compares a first input parameter representing operation of the first traction module with a second input parameter representing operation of the second traction module and determines when a difference between the first input parameter and the second input parameter exceeds a predetermined threshold,
- wherein the first and second input parameters are independent of vehicle body velocity and,
- wherein the controller adjusts at least one of a first normal force of the first traction module and a second normal force of the second traction module when the predetermined threshold is exceeded.
A method, comprising:
- comparing a first input parameter representing operation of a first traction module with a second input parameter representing operation of a second traction module, the first and second input parameters being independent of vehicle body velocity, and;
- determining whether a difference between the first input parameter and the second input parameter exceeds a predetermined threshold;
- and
- when the predetermined threshold is exceeded, adjusting at least one of a first normal force of the first traction module and a second normal force of the second traction module.
Dependencies are inferred from the claim text.