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

Claim 0:
1. A method to adjust a load among a plurality of downhole tractors, implemented by a downhole tractor control system, the method comprising:
receiving first power feedback of a first downhole tractor of the plurality of downhole tractors;
receiving second power feedback of a second downhole tractor of the plurality of downhole tractors;
identifying an unbalance load condition when a difference between the first power feedback and the second power feedback exceeds a predetermined threshold; and
adjusting, in response to identifying the unbalance load condition and based on the difference, a power reference of the first downhole tractor and the second downhole tractor to generate a linear pull force, wherein adjusting the power reference comprises:
increasing a first power reference of the first downhole tractor that has lower power feedback; and
decreasing a second power reference of the second downhole tractor that has higher power feedback.