Patent ID: 12247449

DETAILED DESCRIPTION

As discussed below, systems and methods are discussed to transport a wireline tool in horizontal boreholes at a desired downhole tension. To maintain desired downhole tension, key parameters may be modeled with a control specification resulting in a smooth downhole tool velocity or a specified set point. Additionally, methods to control downhole tension are based at least in part on a model parameter estimation function and subsequent control gain tuning function. This may allow the control system to adapt and accommodate changes downhole to such a desired performance. This may allow for regulating a desired downhole tension set-point that may be a constant set-point or a specified trajectory.

FIG.1illustrates a cross-sectional view of a pump down operation100. As illustrated, pump down operation100may comprise downhole tool102attached a vehicle104. In examples, it should be noted that downhole tool102may not be attached to a vehicle104. Downhole tool102may be supported by rig106at surface108. Downhole tool102may be tethered to vehicle104through conveyance110. Conveyance110may be disposed around one or more sheave wheels112to vehicle104. Conveyance110may include any suitable means for providing mechanical conveyance for downhole tool102, including, but not limited to, wireline, slickline, coiled tubing, pipe, drill pipe, downhole tractor, or the like. In some embodiments, conveyance110may provide mechanical suspension, as well as electrical connectivity, for downhole tool102. Conveyance110may comprise, in some instances, a plurality of electrical conductors extending from vehicle104. Conveyance110may comprise an inner core of seven electrical conductors covered by an insulating wrap. An inner and outer steel armor sheath may be wrapped in a helix in opposite directions around the conductors. The electrical conductors may be used for communicating power and telemetry between vehicle104and downhole tool102. Information from downhole tool102may be gathered and/or processed by information handling system114. For example, signals recorded by downhole tool102may be stored on memory and then processed by downhole tool102. The processing may be performed real-time during data acquisition or after recovery of downhole tool102. As disclosed herein, real-time is defined as operations being performed during any downhole operation which may include downhole measurement operations and or the like. Additionally, real-time data is defined as measurements taken during downhole operations during any type or form of measurement operations. Processing may alternatively occur downhole or may occur both downhole and at surface. In some embodiments, signals recorded by downhole tool102may be conducted to information handling system114by way of conveyance110. Information handling system114may process the signals, and the information contained therein may be displayed for an operator to observe and stored for future processing and reference. Information handling system114may also contain an apparatus for supplying control signals and power to downhole tool102. Additionally, information handling system114may be integrated within any form of a machine learning algorithm.

Systems and methods of the present disclosure may be implemented, at least in part, with information handling system114. Information handling system114may include any instrumentality or aggregate of instrumentalities operable to compute, estimate, classify, process, transmit, receive, retrieve, originate, switch, store, display, manifest, detect, record, reproduce, handle, or utilize any form of information, intelligence, or data for business, scientific, control, or other purposes. For example, an information handling system114may be a processing unit116, a network storage device, or any other suitable device and may vary in size, shape, performance, functionality, and price. Information handling system114may include random access memory (RAM), one or more processing resources such as a central processing unit (CPU) or hardware or software control logic, read only memory (ROM), and/or other types of nonvolatile memory. Additional components of the information handling system114may include one or more disk drives, one or more network ports for communication with external devices as well as various input and output (I/O) devices, such as an input device118(e.g., keyboard, mouse, etc.) and a video display120. Information handling system114may also include one or more buses operable to transmit communications between the various hardware components.

Alternatively, systems and methods of the present disclosure may be implemented, at least in part, with non-transitory computer-readable media122. Non-transitory computer-readable media122may include any instrumentality or aggregation of instrumentalities that may retain data and/or instructions for a period of time. Non-transitory computer-readable media122may include, for example, storage media such as a direct access storage device (e.g., a hard disk drive or floppy disk drive), a sequential access storage device (e.g., a tape disk drive), compact disk, CD-ROM, DVD, RAM, ROM, electrically erasable programmable read-only memory (EEPROM), and/or flash memory; as well as communications media such wires, optical fibers, microwaves, radio waves, and other electromagnetic and/or optical carriers; and/or any combination of the foregoing.

In examples, adjacent to rig106is a surface measurement tool130which may determine surface measurements of borehole124in real-time. Surface measurement tool130may be attached to conveyance110between drum126and one or more sheave wheels112via any implementation. Surface measurement tool130may include a load cell and an encoder. In examples, a load cell may provide the amount of pull-on conveyance110at the surface of borehole124in Real-time. Such measurements may be combined as to be discussed later. In examples, as conveyance110passes through surface measurement tool130an encoder may be implemented to provide real-time measurements. Real-time measurements may include line speed vlineand depth d. Additionally, as d is measured in real-time its corresponding inclination angle θ may be determined through depth-inclination lookup table in real-time. As illustrated, vehicle104, drum126, and surface measurements may be sub-components of motor drive142.

Information handling system114may comprise a safety valve which controls the hydraulic pressure that drives drum126on vehicle104which may reel up and/or release conveyance110which may move downhole tool102up and/or down borehole124. The safety valve may be adjusted to a pressure such that drum126may only impart a small amount of tension to conveyance110over and above the tension necessary to retrieve conveyance110and/or downhole tool102from borehole124. The safety valve is typically set a few hundred pounds above the amount of desired safe pull-on conveyance110such that once that limit is exceeded; further pull-on conveyance110may be prevented. Borehole124may include horizontal segment136. Downhole tool102may be conveyed through the entirety of borehole124including horizontal segment136.

In examples, rig106may also include a pump138connected to information handling system114. Information handling system114may comprise a safety valve which controls the flow rate of drilling fluid in borehole124. Drilling fluid may enter borehole124from feed line134and provide pressure to downhole tool102at the end of borehole124. Additionally, retention pit140may be utilized for storage or any standard implementation. As illustrated, pump138, retention pit140, and feed line134may be subcomponents of pump drive144.

Information handling system114may also at least partially control pump down operation100. To control pump down operation100, information handling system114may be connected to pump drive144or motor drive142. Motor drive142regulates conveyance110and pump drive144regulates flow rate. During pump down operation100, as previously described, motor drive142may provide real time measurements such as d and θ as well as actual line speed which is identified as vline. Similarly, pump drive144may provide real-time measurements of actual flow rate Q. Additionally, downhole tool102may include downhole tension sensor128. Measurements from downhole tension sensor128may be sent to information handling system114in real-time via any mechanism. Information handling system114may process measurements from downhole tension sensor128and surface measurement tool130to form actual downhole tension Fdh. Additionally, real-time measurements from motor device142and pump drive144may be sent to information handling system114via any mechanism.

Real-time data may be sent from information handling system114which may allow information handling system114to control pump down operation100. As previously stated, pump drive144and motor drive142may transmit data and real-time measurements as parameters to information handling system114, which may then maintain a user input identified as a downhole tension set-point (noted below as F0) of downhole tool102. For example, motor drive142may receive a line speed set-point146from information handling system114. Upon receiving line speed set-point146from information handling system114motor drive142provides acceleration to downhole tool102via conveyance110until the line speed set-point146via conveyance110. Vehicle104may provide a conveyance mechanism by which downhole tool102is accelerated however any known conveyance mechanism is acceptable to accelerate downhole tool102. Further, pump drive144may receive a desired flow rate148of downhole fluids from information handling system114. Upon receiving desired flow rate148from information handling system114pump drive144alters flowrate to borehole124via a pumping mechanism, until a desired flowrate is realized. Flowrate of borehole124may provide an acceleration to downhole tool102. Any known pumping mechanism may be utilized to deliver a desired flow rate to borehole124via feed line134is acceptable. One skilled in the art will appreciate both the pump drive144and motor drive142are known techniques for providing acceleration to downhole tool102. Each mechanism may be performed in parallel and separately.

During control pump operation100, downhole tool102may be accelerated as previously described in horizontal segment136of borehole124to a tool velocity vtool. While downhole tool102travels through horizontal segment136it may be described by its θ. Inclination angle θ may be described by angular displacement between the tool axis150and z axis152. The z axis152is constant and points vertically downward parallel with the direction of gravity g. Whereas tool axis runs parallel through downhole tool102and changes with conveyance110through formation132. Inclination angle is nearly 0 degrees when downhole tool102is pointing vertically downward, but as downhole tool102is in horizontal segment136θ is nearly 90 degrees.

FIG.2illustrates a system control loop200which may be function, operate, and may be stored on one or more information handling systems114. As discussed below, system control loop200may be configured to control pump down operation100(e.g., referring toFIG.1). System control loop200may implement a proportional-integral-derivative or a proportional-integral controller202(PID/PI controller202, downhole tool dynamics204, a parameter estimation unit206, and an online controller design unit208. During operations, downhole tool102may be in horizontal segment136of borehole124when PID/PI controller202may produce an output of a line speed set-point146as an input to motor drive142as to be discussed later. Motor drive142regulates vlineto be close to its line speed set-point146, vlinedirectly affects actual downhole tension. In other examples, PID/PI controller202may produce an output of a desired flow rate148as an input to pump drive144. Pump drive144regulates Q to be close to its desired flow rate148, Q directly affects actual downhole tension. PID/PI Controller202may provide desired flow rate148and line speed set-point146to pump drive144and motor drive142in parallel or select one or the other individually.

Similarly, a desired flow rate148may be designated by an operator and sent as an input to pump drive144. Additionally, desired flow rate148may be produced as an output of PID/PI controller202and received by pump drive144as an input. Thus, pump drive144may deliver an acceleration to downhole tool102. The acceleration delivered to downhole tool102from pump drive144may be based off desired flow rate148. While downhole tool102is accelerating through horizontal segment136of borehole124, As previously described motor drive142, pump drive144, and downhole tension sensor128may send measurements as inputs to information handling system114in real-time. Upon receiving inputs, measurements such as vline, θ, Q, d, Fdhmay be processed and stored into ques by information handling system114in real-time within downhole dynamics204.

Previously processed measurements such as vlineand Fdhmay be input into parameter estimation unit206as real-time data, illustrated inFIG.2. Additionally, real-time data such as θ, d, and Q may be input into parameter estimation unit206. Parameter estimation unit206may process measurements to be combined with key model parameters such as fluid drag coefficient Cdand friction coefficient μ between downhole tool102and borehole124. Standard tool parameters such as W, M, V, and R0which are, respectively, weight, mass and volume of, and radius, may combined into parameter estimation unit206. In other examples, Fdhmay also be calculated in Equation (1) below:

Fdh=(W-ρ⁢Vg)⁢(cos⁢θ-μsinθ)+12⁢ρπ⁢R2(Qπ⁡(R⁢02-R2)-vtool)2⁢Cd-M⁢v.tool(1)
wherein ρ is fluid density, R is casing, and g is acceleration of gravity. In other examples, different equations may be used to solve for Fdh.

As previously described, dynamic key model parameters may be difficult to estimate while downhole tool102is in horizontal segment136of borehole124. For example, μ and Cdoften vary during pump down operation100(e.g., referring toFIG.1). During operations, processed measurements, standard tool properties, and Fdhare collected and stored within parameter estimation unit206. The processed measurements stored in parameter estimation unit206may be utilized in Equation (1) to find additional parameters. Identification of parameters may be further utilized to find coefficients of matrices of with Equation (2) below:
Ax=b  (2)
where A and b are coefficient matrices or vectors calculated using the processed measurements and standard tool properties, and x is either [μ Cd], [μ], or [Cd].

Equation (2) may be refined further with a least square processed using Equation (3) below:
x=(A′A)−1A′b  (3)
In other examples, any known least square equation may be implemented for Equation (3). Another system parameter is propagation time constant for vlinefrom the surface to downhole tool102or line speed delay constant T2. Changes to vlinewould propagate downwards to downhole tool102at the speed of sound in steel to become tool speed vtool. T2may be calculated using the following Equation (4) below:

T2=dcs,(4)
where csis the speed of sound in steel at about 5000 m/s and d is depth. Similarly, Equation (4) may be applied for calculating the flow rate propagation delay time constant T3where the speed of sound in fluid is used instead. Thus, as previously described parameter estimation unit206may estimate μ, Cd, and/or T2. Additionally, parameter estimation unit206may operate in real-time with real-time rata and produce pre-specified outputs. Further, Cdmay be utilized to determine a fluid drag force. Fluid drag force may be interpreted as the summation of force due to drag acting on downhole tool102during pump down operation100. Similarly, μ may be used to determine a friction between a downhole tool and a borehole in which the downhole tool is disposed, and T2identifies a time delay between a line speed of the motor drive and a velocity of a downhole tool.

Controller design unit208may utilize μ, Cd, and T2as inputs from parameter estimation unit206. Additionally, control specifications such as closed loop response time and System Parameters, that may include tool dimensions, casing diameters, fluid density, or additional System Parameters, serve as inputs to controller design unit208. The primary function of controller design unit208is to configure PID/PI controller202.

PID/PI controller202used in system control loop200, may implement a linearized process model G(s) at operating points of interests is first established within controller design unit208using Equation (5) below:

G⁡(s)=Ks+M(T1⁢s+1)⁢(T2⁢s+1),(5)
where K is a function of [μ, Cd] and T2are received as inputs from parameter estimation unit206as previously described, M is the mass of the tool, and T1is the reaction time constant for the drum126(e.g., referring toFIG.1). Additionally, a desired closed loop response may be defined as a first order system with a desired time constant of Ta. For maintaining closed loop stability, Tashould be set at least larger than (T1+T2).

Design unit208accommodates a PID/PI controller202with transfer function expressed in Equation (6) or Equation (7) below:

Gc(s)=Kp+Kis+Kd⁢s(6)Gc(s)=Kp+Kis.(7)
accordingly, the closed loop response may be expressed in the equation:

Gc(s)⁢G⁡(s)1+Gc(s)⁢G⁡(s)=1Ta⁢s+1.(8)
Design unit208may manipulate equation (8) by comparing coefficients between the numerator and the denominator, the explicit solution of PID/PI controller202gains Kp, Ki, Kdare obtained wherein Kpis proportional gain, Kiintegral gain, and Kdderivative gain. PID/PI controller202gains may be expressed in the equation below:

Kp=T1+T2MTa-K,Ki=1MTa-K⁢and⁢Kd=T1⁢T2MTa-K(9)

The values of control gains, discussed below, and T2may be updated periodically as key model parameters such as μ, Cdand T2are estimated in real-time. Once the new key model parameters are estimated, the Equation (9) may be adopted to tune the controller gains. Kpand Kiin Equation (9) may be utilized for the PI controller cases. This online controller tuning function may also support the controller gain retuning due to operating point changes since they would lead to the parameter changes of the linearized process model of Equation (5). The aforementioned equations within design unit208may operate with real-time data and produce control gains as real-time data.

In examples, controller design unit208may output control gains Kd, Kp, and Kito PID/PI controller202as Equation (6) or Equation (7) as previously discussed. PID/PI controller202may be programmed to receive F0and Fdhand determine a difference. The difference may be implemented with the transfer function formed from control gains Kd, Kp, and Kiof PID/PI controller202. PID/PI controller202may then follow Fdhto F0resulting in an updated line speed set-point146and/or a desired flow rate148. During pump down operations, updating line speed set-point146, and/or desired flow rate148reduces the difference between F0and Fdh. As PID/PI controller202operates in Real-time and Fdh, Kd, Kp, and Kimay be input into PID/PI controller202in Real-time, thus line speed set-point146and/or desired flow rate148serve as inputs to motor drive142and/or pump drive144in real-time.

FIG.3illustrates workflow300correlating to system control loop200(e.g., referring toFIG.2) for online parameter estimation and controller tuning. Real-time measurements such as vline, inclination angle θ, Q, d, Fdhserve as is inputs to block302. In block304the real-time data is saved into queues for quick access. The queues implemented in block304may be organized such that each processed measurement has its own queue or processed measurement may be stored in queues. A decision in block306may be determined if it is time to update the gains and the processed measurement are in the queue. If the proper measurements are stored then workflow300increments to block308, if not workflow300returns to block301.

In block308estimation coefficient vectors are constructed. Estimation coefficient vectors may be A, b, and x as previously described. Once the coefficient vectors are constructed, block310estimates μ, Cd, and T2. Block312utilizes the transfer function of PID/PI controller202(e.g., referring toFIG.2) and subsequently its closed loop response. With the transfer function and closed loop response initiated, block314derives controller control gains from calculations performed in block310to yield a controller with a Kd, Kp, and Ki. Such controller control gains may be employed to construct PID/PI controller202as previously described. Upon construction of PID/PI controller202(e.g., referring toFIG.2), block316may update controller with newly acquired real-time data.

FIG.4is a graph showing simulated data analyzed with system control loop200on pump down operation100. In the simulation, standard tool properties and measurements utilized are: R0=0.199 ft, R=0.182 ft, W=824 lb, V=3.125 cuft, T1=1.5 seconds, and Q=14 bpm. Inclinations utilized previously performed field data set. The depth ranged from 11500-16100 feet, F0was set to 200 lb, the window time or the length of the real data (queue) for estimation was set at 400 seconds, and update time for tuning the control gains was 200 seconds. The resulting estimation and processed results for the specified parameters are plotted inFIG.4wherein the Y-axis represents fluid drag coefficient Cdand the X-axis is time. Time is incremented every 200 seconds as specified for tuning the control parameters as previously stated. Additionally, processed results of fluid drag coefficient Cdare plotted inFIG.4as well. As shown inFIG.4, a step change for Cdfrom 1.6 to 1.3 was introduced at 700 seconds. The estimated Cdwas able to track the change and reached 1.35 at 1000 seconds and 1.3 at 1200 seconds.FIG.4illustrates a change to Cdat 700 sec from 1.6 to 1.3. Thus, by using real-time estimation function, the system can track the Cdchanges from 1.6 to 1.5 to 1.35 to 1.3, rather than an incorrect 1.6.

The simulation may be further expressed in terms of controller parameters Kp, Ki, and Kd. For example,FIG.5Ashows Kpplotted wherein Kpis plotted in fpm/lbf, Kiis plotted in fpm/lbf/sec, and Kdis plotted in fpm/lbf*sec. The X-axis is time incremented every 200 seconds as specified by time for tuning the control gain tuning functions as previously stated. Similarly,FIGS.5B and5Cshow Kiand Kdplotted respectfully wherein the Y-axis represents the gain of and the X-axis is time incremented every 200 seconds as specified by time for tuning the control parameters as previously stated.FIGS.5A,5B, and5Cdemonstrate with online parameter estimation and gain tuning functions, the Kp/Ki/Kdwould make adaptive changes with the estimated parameters of Cd and/or mu, thereby ensuring the desired control performance.

The simulation may be further expressed in terms of F0, Fdh, and inclination angle θ. Specifically,FIG.6plots F0and Fdhagainst each other wherein the Y-axis represents Pounds (LB), and the X-axis is time incremented every 200 seconds as specified by time for tuning the control parameters as previously stated. F0is set to a constant 200 LB and the X-axis is time incremented every 200 seconds as specified by time for tuning the control parameters as previously stated. It may be observed, that as time progresses in the course of the simulation system control loop200(e.g., referring toFIG.2) successfully maintains Fdhclose to F0. Additionally, the inclination angle is plotted parallel to F0and Fdhwherein the Y-axis is represented as Degrees (DEG) of inclination and the X-axis is represented as previously stated.FIG.6primarily illustrates that Fdhremains close to F0with time incrementing.

The simulation may be further expressed in terms of vline. For example,FIG.7shows vlineplotted wherein the Y-axis represents velocity of downhole tool102(e.g., referring toFIG.1) in feet per minute (FPM) and the X-axis is time incremented every 200 seconds as specified by time for tuning the control gains as previously stated. Despite the significant Cdchange, inclination angle θ, and friction variations, the proposed adaptive control system was able to maintain Fdhclose to F0.

The implementation of system control loop200(e.g., referring toFIG.2) in a downhole environment improves current technology with novel additions of real-time parameter estimation and gain tuning functions. Specifically, estimation of dynamic key model parameters and then designing and tuning the control gain tuning functions parameters accordingly. The proposed model based adaptive control scheme provides high-quality control performance through its online parameter estimation and automatic gain tuning features.

The preceding description provides various embodiments of systems and methods of use which may contain different method steps and alternative combinations of components. It should be understood that, although individual examples may be discussed herein, the present disclosure covers all combinations of the disclosed examples, including, without limitation, the different component combinations, method step combinations, and properties of the system.

Statement 1. A system for a pump down operation may comprise a controller disposed on an information handling system and configured to identify a difference between a downhole tension set-point to an actual downhole tension; a motor drive connected to the information handling system and configured to adjust a line speed set-point of the motor drive based at least in part on the difference from the controller to create an actual line speed from the motor drive to follow the downhole tension set-point; a parameter estimation unit disposed on the information handling system and connected to the motor drive, configured to produce a fluid drag coefficient, a friction coefficient, and a line speed delay constant; and a controller design unit disposed on the information handling system and connected to at least the parameter estimation unit and the controller, configured to send one or more control gains to the controller based at least in part on the fluid drag coefficient, the friction coefficient, and the line speed delay constant.

Statement 2. The system of statement 1, wherein the controller is a proportional integral derivative controller or a proportional integral controller.

Statement 3. The system of statements 1 or 2, wherein the friction coefficient identifies a friction between a downhole tool and a borehole in which the downhole tool is disposed.

Statement 4. The system of statements 1-3, wherein the fluid drag coefficient identifies a drag force provided by the fluid to a downhole tool.

Statement 5. The system of statements 1-4, wherein the line speed delay constant identifies a time delay between a line speed of the motor drive and a velocity of a downhole tool.

Statement 6. The system of statements 1-5, wherein the controller, the parameter estimation unit, and the controller design unit operate on one or more information handling systems.

Statement 7. The system of statements 1-6, wherein the parameter estimation unit is configured to accept real time data that includes at least one of measured downhole tension, depth, inclination, measured flow rate and measured line speed.

Statement 8. The system of statements 1-7, further comprising a pump drive connected to the information handling system and configured to adjust a desired flow rate of the pump drive based at least in part on the difference from the controller to create an actual flow rate from the pump drive to follow the downhole tension set-point, wherein the pump drive and the motor drive are attached to the information handling system and the controller.

Statement 9. A system for a pump down operation may comprise a controller disposed on an information handling system and configured to identify a difference between a downhole tension set-point to an actual downhole tension; a pump drive connected to the information handling system and configured to adjust a desired flow rate of the pump drive based at least in part on the difference from the controller to create an actual flow rate from the pump drive to follow the downhole tension set-point; a parameter estimation unit disposed on the information handling system and connected to at least the pump drive, configured to produce a fluid drag coefficient, a friction coefficient, and a line speed delay constant; and a controller design unit disposed on the information handling system and connected to at least the parameter estimation unit and the controller, configured to send one or more control gains to the controller based at least in part on the fluid drag coefficient, the friction coefficient, and the line speed delay constant.

Statement 10. The system of statement 9, wherein the controller is a proportional integral derivative controller or a proportional integral controller.

Statement 11. The system of statements 9 or 10, wherein the friction coefficient identifies a friction between a downhole tool and a borehole in which the downhole tool is disposed or the fluid drag coefficient identifies a drag force provided by the fluid to the downhole tool.

Statement 12. The system of statements 9-11, wherein the line speed delay constant identifies a time delay between a line speed at a motor drive and a velocity of a downhole tool.

Statement 13. The system of statements 9-12, wherein the controller, the parameter estimation unit, and the controller design unit operate on one or more information handling systems.

Statement 14. The system of statements 9-13, further comprising a motor drive connected to the information handling system and configured to adjust a line speed set-point of the motor drive based at least in part on the difference from the controller to create an actual line speed from the motor drive to follow the downhole tension set-point, wherein the pump drive and the motor drive are attached to the information handling system and the controller.

Statement 15. The system of statements 9-15, wherein the parameter estimation unit is configured to accept real time data that includes at least one of measured downhole tension, depth, inclination, measured flow rate and measured line speed.

Statement 16. A method for controlling a tension on a conveyance downhole may comprise inputting a downhole tension set-point into a controller; identifying a difference between the downhole tension set-point and an actual downhole tension with the controller; adjusting a line speed set-point of a motor drive and a desired flow rate of a pump drive based at least in part on the difference from the controller to follow the downhole tension set-point; producing a fluid drag coefficient, a friction coefficient, and a line speed delay constant with a parameter estimation unit that is connected to the motor drive and the pump drive; and sending one or more control gains to the controller based at least in part on the fluid drag coefficient, the friction coefficient, and the line speed delay constant.

Statement 17. The method of statement 16, wherein the controller is a proportional integral derivative controller or a proportional integral controller.

Statement 18. The method of statements 16 or 17, wherein the friction coefficient identifies a friction between a downhole tool and a borehole in which the downhole tool is disposed or the fluid drag coefficient identifies a drag force provided by the fluid to the downhole tool.

Statement 19. The method of statements 16-18, wherein the controller, the parameter estimation unit, and the controller design unit operate on one or more information handling systems, and wherein the pump drive and the motor drive are attached to the one or more information handling systems and the controller.

Statement 20. The method of statements 16-19, inputting real time data into the parameter estimation unit, wherein the real time data includes at least one of measured downhole tension, depth, inclination, measured flow rate and measured line speed.

It should be understood that the compositions and methods are described in terms of “comprising,” “containing,” or “including” various components or steps, the compositions and methods can also “consist essentially of” or “consist of” the various components and steps. Moreover, the indefinite articles “a” or “an,” as used in the claims, are defined herein to mean one or more than one of the elements that it introduces.

Therefore, the present examples are well adapted to attain the ends and advantages mentioned as well as those that are inherent therein. The particular examples disclosed above are illustrative only and may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. Although individual examples are discussed, the disclosure covers all combinations of all of the examples. Furthermore, no limitations are intended to the details of construction or design herein shown, other than as described in the claims below. Also, the terms in the claims have their plain, ordinary meaning unless otherwise explicitly and clearly defined by the patentee. It is therefore evident that the particular illustrative examples disclosed above may be altered or modified and all such variations are considered within the scope and spirit of those examples. If there is any conflict in the usages of a word or term in this specification and one or more patent(s) or other documents that may be incorporated herein by reference, the definitions that are consistent with this specification should be adopted.