Patent ID: 11933122
Assignee: HALLIBURTON ENERGY SERVICES, INC.
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 15:
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.