US 11,933,122 B2
Systems and methods for power equalization for multiple downhole tractors
Yuan Qi, Houston, TX (US); and Sudhir Kumar Gupta, Houston, TX (US)
Assigned to Halliburton Energy Services, Inc., Houston, TX (US)
Filed by Halliburton Energy Services, Inc., Houston, TX (US)
Filed on Feb. 2, 2022, as Appl. No. 17/590,990.
Claims priority of provisional application 63/222,576, filed on Jul. 16, 2021.
Prior Publication US 2023/0014986 A1, Jan. 19, 2023
Int. Cl. E21B 23/00 (2006.01); E21B 23/14 (2006.01)
CPC E21B 23/001 (2020.05) [E21B 23/14 (2013.01)] 17 Claims
OG exemplary drawing
 
16. A method to adjust a load among a plurality of downhole tractors, implemented by a downhole tractor control system, the method comprising:
receiving a user input of a desired tractor power for each downhole tractor;
receiving a power feedback of each downhole tractor;
determining an error between the desired tractor power and the power feedback for each downhole tractor;
identifying an unbalance load condition when the error exceeds a predetermined threshold; and
adjusting, in response to identifying the unbalance load condition and based on the error, a speed reference for each downhole tractor to generate a linear pull force, wherein adjusting the speed reference comprises:
receiving a lower speed command for a first downhole tractor that has higher power feedback; and
receiving a higher speed command for a second downhole tractor that has lower power feedback.