| CPC G05B 11/42 (2013.01) [G05B 11/32 (2013.01)] | 15 Claims |
|
1. A system comprising:
a line including at least one of a wire line, a slick line, or combinations thereof, the line including a line portion;
a spool coupled to the line and a motor coupled to the spool, the motor being configured to actuate the spool to raise or lower the line portion;
at least one processor coupled to at least one sensor, a user interface, and at least one memory, the at least one processor being configured to:
in response to a depth input from the user interface, determine a requested depth for the line portion;
in response to data from the at least one sensor, determine a current depth of the line portion, a current speed of the line portion, and a current tension of the line;
determine a depth error based on both the current depth and the requested depth;
determine a requested movement of the line portion via a depth proportional-integral-derivative (PID) control loop, the depth PID control being based on the depth error;
determine a speed error based on both the requested movement and the current speed;
determine one or more speed instructions via a speed PID control loop, the speed PID control loop being based on the speed error;
determine a tension error based on both the requested movement and the current tension;
determine one or more tension instructions via a tension PID control loop, the tension PID control loop being based on the tension error;
actuate the motor based on both the one or more speed instructions and the one or more tension instructions to adjust a depth of the line portion.
|