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

Claim 8:
9. A downhole tractor control system, comprising:
a memory comprising instructions; and
a processor coupled to the memory and configured to:
receive first power feedback of a first downhole tractor;
receive second power feedback of a second downhole tractor;
identify an unbalance load condition when a difference between the first power feedback and the second power feedback exceeds a predetermined threshold; and
adjust, 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 to adjust the power reference, the processor is further configured to:
increase a first power reference of the first downhole tractor that has lower power feedback; and
decrease a second power reference of the second downhole tractor that has higher power feedback.