Linear mechanical system control using motor characteristics and features

Abstract

A method may include configuring a speed, an acceleration, a current or a revolution count for a motor. The method may further include running the motor, measuring the motor for the current or the revolution count, and stopping the motor based at least in part on the current or the revolution count.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the priority of U.S. Provisional Patent Application No. 63 / 763,432, filed Feb. 26, 2025, which is incorporated by reference in its entirety.BACKGROUND

[0002] Disposed downhole within a wellbore may be any number of downhole tools. Some of these tools, such as sliding sleeves, may utilize intervention tool disposed on a conveyance to operate. These types of operations may be defined as well intervention operations.

[0003] Existing solutions for operating intervention tools require human operator input. This input may be sent from surface to control the intervention tool during intervention operations by “downlink commands.” Additionally, the input from the human operator may be based at least in part on measurements from sensors disposed on the intervention tool. The large number of sensors on the intervention tool to measure and / or control all the operations of the intervention tool may lead to unreliable sensors and sensor data. Unreliable sensors and sensor data may increase the likelihood of human error as the human operator is fed incorrect data.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] These drawings illustrate certain aspects of some of the embodiments of the present disclosure and should not be used to limit or define the disclosure.

[0005] FIG. 1 illustrates an intervention tool disposed within a production string;

[0006] FIG. 2 illustrates a schematic of an information handling system;

[0007] FIG. 3 illustrates a schematic of a chip set;

[0008] FIG. 4 illustrates a computing network;

[0009] FIG. 5 illustrates a dashboard or motor current and motor count measurements;

[0010] FIG. 6 illustrates a graph of motor current and motor count measurements;

[0011] FIG. 7 illustrates a dashboard showing measurements of the motor current and motor count during the operation of a shifting device; and

[0012] FIGS. 8-12 are workflows for different types of intervention operation control using motor current or motor count.DETAILED DESCRIPTION

[0013] Disclosed herein are methods and systems for an intervention tool to perform well intervention operations. In examples, disclosed below, intervention tool may comprise an anchor, actuator, and / or shifter / miller. The intervention tool may perform intervention operations inside wells to provide push & pull forces to accomplish different mechanical tasks. These tools typically contain a power rod pushed / pulled by electro-mechanical or hydraulic means. Currently, to control the movement of devices on the intervention tool to perform intervention operations, various sensors may be utilized to measure and monitor the devices on the intervention tool that run the intervention operation. Such sensors may be a loadcell, displacement sensors, pressure sensors, and / or the like. These sensors may be costly and may increase the cost to manufacture and operate the intervention tool.

[0014] To reduce cost and increase effectiveness of operations, sensors may be removed and replaced. Specifically, the intervention tool may comprise a motor that provides movement to the devices (i.e., anchor, actuator, and / or shifter / miller) disposed on the intervention tool, which perform the intervention operations. By measuring the motor current and motor count of the motor, the sensors may be removed. Measuring the motor current and motor count may simplify intervention operation control and reduce the reliance of sensors inputs to adjust and control the intervention operation.

[0015] FIG. 1 illustrates an intervention operation 100, as disclosed herein, utilizing an intervention tool 102. FIG. 1 illustrates a cross-section of wellbore 104 with an intervention tool 102 traveling through production string 106. Wellbore 104 may traverse through subterranean formation 108 as a vertical well and / or a horizontal well. Intervention tool 102 may be suspended by a conveyance 110, which communicates power from a logging center 112 to intervention tool 102 and communicates telemetry from intervention tool 102 to information handling system 114. In examples, intervention tool 102 may be operatively coupled to a conveyance 110 (e.g., wireline, slickline, coiled tubing, pipe, downhole tractor, and / or the like) which may provide mechanical suspension, as well as electrical connectivity, for intervention tool 102. Conveyance 110 and intervention tool 102 may extend within production string 106 to a depth within wellbore 104. Conveyance 110, which may comprise one or more electrical conductors, may exit wellhead 116, may pass around pulley 118, may engage odometer 120, and may be reeled onto winch 122, which may be employed to raise and lower intervention tool 102 in production string 106. Wellhead 116 may allow for entry into production string 106 and placement of intervention tool 102 at any desired location within production string 106. The position of intervention tool 102 may be monitored in a number of ways, including an inertial tracker in intervention tool 102 and a paid-out conveyance length monitor in logging facility 112.

[0016] Multiple such measurements may be desirable to enable the system to compensate for varying cable tension and cable stretch due to other factors. Information handling system 114 in logging facility 112 collects telemetry and position measurements and provides position-dependent logs of measurements from intervention tool 102 and values that may be derived therefrom. As illustrated, intervention tool 102 may comprise multiple devices for performing an intervention operation within production string 106. For example, intervention tool 102 may comprise an anchoring device 124, an actuating device 126, a shifting device 128, a sensor sub 130, and / or a power and telemetry sub 132. As noted above, a motor 134 may provide movement to the devices disposed on intervention tool 102. Further, motion may be articulated through a rod 136, which may mechanically connect shifting device 128 to actuating device 126. While not illustrated, intervention tool 102 may further comprise wheels, bow springs, fins, pads, or other centralizing mechanisms may be employed to keep intervention tool 102 near the borehole axis during intervention operations.

[0017] Intervention operations performed by intervention tool 102 may be controlled, at least in part by information handling system 114. For example, measurements taken by intervention tool 102 may be sent to information handling system 114 where they may be stored on memory and then processed. It should be noted that measurements and / or control signals may be communicated between sensors, devices, and / or information handling system 114 as data packets. The processing may be performed real-time during data acquisition or after recovery of intervention tool 102. Processing may alternatively occur downhole on an information handling system disposed on intervention tool 102 (such as firmware) or may occur both downhole and at surface. In some examples, signals recorded by intervention tool 102 may be conducted to information handling system 114 by way of conveyance 110. Information handling system 114 may process the measurements, and the information contained therein may be displayed for an operator to observe and store for future processing and reference. Information handling system 114 may also contain an apparatus for supplying control signals and power to intervention tool 102.

[0018] In intervention operations 100, a digital telemetry system may be employed, wherein an electrical circuit may be used to both supply power to intervention tool 102 and to transfer data between information handling system 114 and intervention tool 102. A DC voltage may be provided to intervention tool 102 by a power supply located above ground level, and data may be coupled to the DC power conductor by a baseband current pulse system. Alternatively, intervention tool 102 may be powered by batteries located within the downhole tool assembly, and / or the data provided by intervention tool 102 may be stored within intervention tool 102, rather than transmitted to the surface intervention operations.

[0019] FIG. 2 further illustrates an example of information handling system 114 which may be employed to perform various steps, methods, and techniques disclosed herein. Persons of ordinary skill in the art will readily appreciate that other system examples are possible. As illustrated, information handling system 114 includes a processing unit (CPU or processor) 202 and a system bus 204 that couples various system components including system memory 206 such as read only memory (ROM) 208 and random-access memory (RAM) 210 to processor 202. Processors disclosed herein may all be forms of this processor 202. Information handling system 114 may include a cache 212 of high-speed memory connected directly with, in close proximity to, or integrated as part of processor 202. Information handling system 114 copies data from memory 206 and / or storage device 214 to cache 212 for quick access by processor 202. In this way, cache 212 provides a performance boost that avoids processor 202 delays while waiting for data. These and other modules may control or be configured to control processor 202 to perform various operations or actions. Other system memory 206 may be available for use as well. Memory 206 may include multiple different types of memory with different performance characteristics. It may be appreciated that the disclosure may operate on information handling system 114 with more than one processor 202 or on a group or cluster of computing devices networked together to provide greater processing capability. Processor 202 may include any general-purpose processor and a hardware module or software module, such as first module 216, second module 218, and third module 220 stored in storage device 214, configured to control processor 202 as well as a special-purpose processor where software instructions are incorporated into processor 202. Processor 202 may be a self-contained computing system, containing multiple cores or processors, a bus, memory controller, cache, etc. A multi-core processor may be symmetric or asymmetric. Processor 202 may include multiple processors, such as a system having multiple physically separate processors in different sockets, or a system having multiple processor cores on a single physical chip. Similarly, processor 202 may include multiple distributed processors located in multiple separate computing devices but working together such as via a communications network. Multiple processors or processor cores may share resources such as memory 206 or cache 212 or may operate using independent resources. Processor 202 may include one or more state machines, an application specific integrated circuit (ASIC), or a programmable gate array (PGA) including a field PGA (FPGA).

[0020] Each individual component discussed above may be coupled to system bus 204, which may connect each and every individual component to each other. System bus 204 may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. A basic input / output (BIOS) stored in ROM 208 or the like, may provide the basic routine that helps to transfer information between elements within information handling system 114, such as during start-up. Information handling system 114 further includes storage devices 214 or machine-readable storage media such as a hard disk drive, a magnetic disk drive, an optical disk drive, tape drive, solid-state drive, RAM drive, removable storage devices, a redundant array of inexpensive disks (RAID), hybrid storage device, or the like. Storage device 214 may include software modules 216, 218, and 220 for controlling processor 202. Information handling system 114 may include other hardware or software modules. Storage device 214 is connected to the system bus 204 by a drive interface. The drives and the associated machine-readable storage devices provide nonvolatile storage of machine-readable instructions, data structures, program modules and other data for information handling system 114. In one aspect, a hardware module that performs a particular function includes the software component stored in a tangible machine-readable storage device in connection with hardware components, such as processor 202, system bus 204, and so forth, to carry out a particular function. In another aspect, the system may use a processor and machine-readable storage device to store instructions which, when executed by the processor, cause the processor to perform operations, a method or other specific actions. The basic components and appropriate variations may be modified depending on the type of device, such as whether information handling system 114 is a small, handheld computing device, a desktop computer, or a computer server. When processor 202 executes instructions to perform “operations”, processor 202 may perform the operations directly and / or facilitate, direct, or cooperate with another device or component to perform the operations.

[0021] As illustrated, information handling system 114 employs storage device 214, which may be a hard disk or other types of machine-readable storage devices which may store data that are accessible by a computer, such as magnetic cassettes, flash memory cards, digital versatile disks (DVDs), cartridges, random access memories (RAMs) 210, read only memory (ROM) 208, a cable containing a bit stream and the like, which may also be used in the exemplary operating environment. Tangible machine-readable storage media, machine-readable storage devices, or machine-readable memory devices, expressly exclude media such as transitory waves, energy, carrier signals, electromagnetic waves, and signals per se.

[0022] To enable user interaction with information handling system 114, an input device 222 represents any number of input mechanisms, such as a microphone for speech, a touch-sensitive screen for gesture or graphical input, keyboard, mouse, motion input, speech and so forth. Additionally, input device 222 may receive one or more measurements from intervention tool 102, discussed above. An output device 224 may also be one or more of a number of output mechanisms known to those of skill in the art. In some instances, multimodal systems enable a user to provide multiple types of input to communicate with information handling system 114. Communications interface 226 generally governs and manages the user input and system output. There is no restriction on operating on any particular hardware arrangement and therefore the basic hardware depicted may easily be substituted for improved hardware or firmware arrangements as they are developed.

[0023] As illustrated, each individual component described above is depicted and disclosed as individual functional blocks. The functions these blocks represent may be provided through the use of either shared or dedicated hardware, including, but not limited to, hardware capable of executing software and hardware, such as a processor 202, that is purpose-built to operate as an equivalent to software executing on a general purpose processor. For example, the functions of one or more processors presented in FIG. 2 may be provided by a single shared processor or multiple processors. (Use of the term “processor” should not be construed to refer exclusively to hardware capable of executing software.) Illustrative embodiments may include microprocessor and / or digital signal processor (DSP) hardware, read-only memory (ROM) 208 for storing software performing the operations described below, and random-access memory (RAM) 210 for storing results. Very large-scale integration (VLSI) hardware embodiments, as well as custom VLSI circuitry in combination with a general-purpose DSP circuit, may also be provided.

[0024] FIG. 3 illustrates an example of an information handling system 114 having a chipset architecture that may be used in executing the described method and generating and displaying a graphical user interface (GUI). Information handling system 114 is an example of computer hardware, software, and firmware that may be used to implement the disclosed technology. Information handling system 114 may include a processor 202, representative of any number of physically and / or logically distinct resources capable of executing software, firmware, and hardware configured to perform identified computations. Processor 202 may communicate with a chipset 300 that may control input to and output from processor 202. In this example, chipset 300 outputs information to output device 224, such as a display, and may read and write information to storage device 214, which may include, for example, magnetic media, and solid-state media. Chipset 300 may also read data from and write data to RAM 210. A bridge 302 for interfacing with a variety of user interface components 304 may be provided for interfacing with chipset 300. User interface components 304 may include a keyboard, a microphone, touch detection and processing circuitry, a pointing device, such as a mouse, and so on. In general, inputs to information handling system 114 may come from any of a variety of sources, machine generated and / or human generated.

[0025] Chipset 300 may also interface with one or more communication interfaces 226 that may have different physical interfaces. Such communication interfaces 226 may include interfaces for wired and wireless local area networks, for broadband wireless networks, as well as personal area networks. Some applications of the methods for generating, displaying, and using the GUI disclosed herein may include receiving ordered datasets over the physical interface or being generated by the machine itself by processor 202 analyzing data stored in storage device 214 or RAM 210. Further, information handling system 114 receives inputs from a user via user interface components 304 and executes appropriate functions, such as browsing functions by interpreting these inputs using processor 202.

[0026] In examples, information handling system 114 may also include tangible and / or non-transitory machine-readable storage devices for carrying or having computer-executable instructions or data structures stored thereon. Such tangible machine-readable storage devices may be any available device that may be accessed by a general purpose or special purpose computer, including the functional design of any special purpose processor as described above. By way of example, and not limitation, such tangible machine-readable devices may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other device which may be used to carry or store program code in the form of computer-executable instructions, data structures, or processor chip design. When information or instructions are provided via a network, or another communications connection (either hardwired, wireless, or combination thereof), to a computer, the computer properly views the connection as a machine-readable medium. Thus, any such connection is properly termed a machine-readable medium. Combinations of the above should also be included within the scope of the machine-readable storage devices.

[0027] Computer-executable instructions include, for example, instructions and data which cause a general-purpose computer, special purpose computer, or special purpose processing device to perform a certain function or group of functions. Computer-executable instructions also include programming modules that are executed by computers in stand-alone or network environments. Generally, program modules include routines, programs, components, data structures, objects, and the functions inherent in the design of special-purpose processors, etc. that perform particular tasks or implement particular abstract data types. Computer-executable instructions, associated data structures, and program modules represent examples of the program code for executing steps of the methods disclosed herein. The particular sequence of such executable instructions or associated data structures represents examples of corresponding acts for implementing the functions described in such steps.

[0028] In additional examples, methods may be practiced in network computing environments with many types of computer system configurations, including personal computers, hand-held devices, multi-processor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, and the like. Examples may also be practiced in distributed computing environments where tasks are performed by local and remote processing devices that are linked (either by hardwired links, wireless links, or by a combination thereof) through a communications network. In a distributed computing environment, program modules may be located in both local and remote memory storage devices.

[0029] FIG. 4 illustrates an example of one arrangement of resources in a computing network 400 that may employ the processes and techniques described herein, although many others are of course possible. As noted above, an information handling system 114, as part of their function, may utilize data, which includes files, directories, metadata (e.g., access control list (ACLS) creation / edit dates associated with the data, etc.), and other data objects. The data on the information handling system 114 is typically a primary copy (e.g., a production copy). During a copy, backup, archive or other storage operation, information handling system 114 may send a copy of some data objects (or some components thereof) to a secondary storage computing device 404 by utilizing one or more data agents 402.

[0030] A data agent 402 may be a desktop application, website application, or any software-based application that is run on information handling system 114. As illustrated, information handling system 114 may be disposed at any rig site [Referencing Previous Figure], off site location, or repair and manufacturing center. The data agent may communicate with a secondary storage computing device 404 using communication protocol 408 in a wired or wireless system. Communication protocol 408 may function and operate as an input to a website application. In the website application, field data related to pre-and post-operations, notes, and the like may be uploaded. Additionally, information handling system 114 may utilize communication protocol 408 to access processed measurements, operational commands, and / or the like. This information is accessed from secondary storage computing device 404 by data agent 402, which is loaded on information handling system 114.

[0031] Secondary storage computing device 404 may operate and function to create secondary copies of primary data objects (or some components thereof) in various cloud storage sites 406A-N. Additionally, secondary storage computing device 404 may run determinative algorithms on data uploaded from one or more information handling systems 114, discussed further below. Communications between the secondary storage computing devices 404 and cloud storage sites 406A-N may utilize REST protocols (Representational state transfer interfaces) that satisfy basic C / R / U / D semantics (Create / Read / Update / Delete semantics), or other hypertext transfer protocol (“HTTP”)-based or file-transfer protocol (“FTP”)-based protocols (e.g., Simple Object Access Protocol).

[0032] In conjunction with creating secondary copies in cloud storage sites 406A-N, the secondary storage computing device 404 may also perform local content indexing and / or local object-level, sub-object-level or block-level duplication when performing storage operations involving various cloud storage sites 406A-N. Cloud storage sites 406A-N may further record, maintain, and store operational data. As well as providing outputs from determinative algorithms that are located in cloud storage sites 406A-N. In a non-limiting example, this type of network may be utilized as a platform to store, backup, analyze, import, perform, extract, transform and load (“ETL”) processes, mathematically process, and visualize data from intervention tool 102 during and / or for well intervention operations.

[0033] FIG. 5 illustrates a dashboard 500 in which measurement data taken within intervention tool 102 for motor current 502 and motor count 504 may be tracked and visualized on information handling system 114. It should be noted that measurements may be communicated between sensors, devices, and / or information handling system 114 as data packets. Motor count 504 may be defined as a number of revolution motor has done since it is started. Here within, motor count may be referred to as revcount / revolution count. As illustrated, motor current 502 and motor count 504 may be tracked for anchoring device 124, actuating device 126, and / or shifting device 128. FIG. 6 illustrates a graph 600 of measurements of motor current 502 and motor count 504 from actuating device 126. Graph 600 is visualized on information handling system 114. FIG. 7 illustrates a dashboard 500 in which measurement data taken within shifting device 128 for motor current 502 and motor count 504 may be tracked and visualized on information handling system 114. Using the measurements taken of motor current 502 and motor count 504, intervention operations may be performed at least in part by intervention tool 102 (e.g., referring to FIG. 1).

[0034] FIG. 8 illustrates a workflow 800 for expanding anchoring device 124 into wellbore 104. It should be noted that workflow 800 may be performed at least in part by information handling system 114, sending control signals to intervention tool 102. It should be noted that measurements may be communicated between sensors, devices, and / or information handling system 114 as data packets. Additionally, workflow 800 may be performed at least in part automatically and controlled by an information handling system 114 disposed within intervention tool 102. During intervention operations, intervention tool 102 may expand anchoring device 124 into wellbore 104 to anchor intervention tool 102 to wellbore 104. This may allow intervention tool 102 to perform an intervention operation affixed to wellbore 104. Workflow 800 may begin with block 802. In block 802 both the Ext. Solenoid and Ret Solenoid are off. With both solenoids off, motor 134 may be configured in block 804. In block 804 a set speed, a set acceleration, and a set current are configured for motor 134 using information handling system 114. After configuration of motor 134 in block 806, the Ext. Solenoid is turned on and the Ret. Solenoid remains off.

[0035] In block 808 motor 134 is running. As motor 134 is run, measurements of motor current and motor count may be taken and visualized on information handling system 114. In block 810, the speed of motor 134 is regulated using the measurements from block, 808 of motor current and motor count. In block 812, measurements may be taken to determine if the expanded current limit is reached. If the expanded current limit is not reached, then measurements may continue to be taken in block 812 until such time the expanded current limit is reached. When the expanded current limit is reached, then motor 134 stops in block 814. Upon motor 134 stopping, anchoring device 124 may have expanded and anchored to wellbore 104. This workflow may be repeated to remove anchoring device 124 from wellbore 104.

[0036] FIG. 9 illustrates a workflow 900 for contracting and releasing anchoring device 124 from wellbore 104. It should be noted that workflow 900 may be performed at least in part by information handling system 114, sending control signals to intervention tool 102. It should be noted that measurements may be communicated between sensors, devices, and / or information handling system 114 as data packets. Additionally, workflow 900 may be performed at least in part automatically and controlled by an information handling system 114 disposed within intervention tool 102. During intervention operations, intervention tool 102 may expand anchoring device 124 into wellbore 104 to anchor intervention tool 102 to wellbore 104. This may allow intervention tool 102 to perform an intervention operation affixed to wellbore 104. Workflow 900 may begin with block 902. In block 902 both the Ext. Solenoid and Ret Solenoid are off. With both solenoids off, motor 134 may be configured in block 904. In block 904 a set speed, a set acceleration, and a set current are configured for motor 134 using information handling system 114. After configuration of motor 134 in block 906, the Ext. Solenoid is turned on and the Ret. Solenoid remains off.

[0037] In block 908 motor 134 is running. As motor 134 is run, measurements of motor current and motor count may be taken and visualized on information handling system 114. In block 910, the speed of motor 134 is regulated using the measurements from block, 908 of motor current and motor count. In block 912, measurements may be taken to determine if the expanded current limit is reached. If the expanded current limit is not reached, then measurements may continue to be taken in block 912 until such time the expanded current limit is reached. When the expanded current limit is reached, then motor 134 is stopped in block 914. Upon motor 134 stopping, anchoring device 124 may have expanded and anchored to wellbore 104. This workflow may be repeated to remove anchoring device 124 from wellbore 104. Other measurements may be utilized to operate other devices that comprise intervention tool 102.

[0038] FIG. 10 illustrates a workflow 1000 for moving one or more components of actuating device 126 in an expansion or contraction motion. Specifically, actuating device 126 may comprise a rod 136 that is expanded or contracted to create motion. Rod 136 is a roller screw rod that comprises precision threading at least a portion of the length of rod 136. In examples, rod 136 may connect to motor 134 through a coupling or welded joint. The motion may be to move shifting device 128 away or toward actuating device 126. It should be noted that workflow 1000 may be performed at least in part by information handling system 114, sending control signals to intervention tool 102. Additionally, workflow 1000 may be performed at least in part automatically and controlled by an information handling system 114 disposed within intervention tool 102. Workflow 1000 may begin with block 1002. In block 1002 a set speed, a set acceleration, and a set current are configured for motor 134 using information handling system 114. In examples, motor 134 may be permanent magnet synchronous motor (PMSM), but this is also possible with Brushless DC Motor (BLDC) or Brushed DC motor. After configuration of motor 134 in block 1002, motor 134 may be run.

[0039] In block 1004 motor 134 is run. As motor 134 is run, measurements of motor current and motor count may be taken and visualized on information handling system 114. In examples measurements of motor current and motor count may be performed by measuring motor phase currents and voltages. Measurements may be performed by measuring the motor driver circuitry. From these measurements, speed, torque, and / or position may be derived. Additionally, in examples, a sensor called a resolver may be used for measuring speed and position of the motor. The resolver may be connected to an integrated circuit that may help to perform such measurement. As disclosed herein, motor count may be referred to as revcount.

[0040] In block 1006, the speed of motor 134 is regulated using the measurements from block 1004 of motor count. Motor 134 may be regulated by a proportional-integral (PI) controller. In examples, a target speed for motor 134 may be set by personnel for an assigned operation. The PI controller may regulated the speed of motor 134 until it reaches and maintains the target speed. During operations, measurements may be taken to determine if a set revcount target value is reached. When the revcount target value is reached, information handling system 114, disposed on intervention tool 102 (such as through firmware) may automatically shut down motor 134. The target value, in this example may be particular to actuating device 126. Specifically, the revcount target value may be directly proportional to rods' 136 final position within actuation device 126. If the revcount target value is not reached, then measurements may continue to be taken in block 1006 until such time the revcount target value is reached. When the revcount target value is reached in block 1008, motor 134 stops in block 1010. It should be noted that the revcount target value may be positive or negative. For example, a positive revcount target may move rod 136 away from actuating device 126 and a negative revcount target may move rod 136 toward actuating device 126, or vice versa. This workflow may be repeated to remove anchoring device 124 from wellbore 104. Other measurements may be utilized to operate other devices that comprise intervention tool 102.

[0041] FIG. 11 illustrates a workflow 1100 for expanding shifting device 128 in wellbore 104 to latch to a sliding sleeve. It should be noted that workflow 900 may be performed at least in part by information handling system 114, sending control signals to intervention tool 102. Additionally, workflow 1100 may be performed at least in part automatically and controlled by an information handling system 114 disposed within intervention tool 102. During intervention operations, intervention tool 102 may expand shifting device 128 into a sliding sleeve to connect intervention tool 102 to the sliding sleeve for intervention operations in wellbore 104. Workflow 1100 may begin with block 1102. Solenoids are used in anchoring device 124 and shifting device 128. Both anchoring device 124 and shifting device 128 have arms that extend and release. Both are located after a pump manifold. In order to extend the arms in anchoring device 124 and shifting device 128, Extend Solenoid is turned on and Release Solenoid is turned off. In order to release anchoring device 124 (i.e., retracting the arms) and shifting device 128 (i.e., retracing the arms), Release Solenoid is turned on and Extend Solenoid is turned off. In block 1102 both the Extend Solenoid and Release Solenoid are off. With both solenoids off, motor 134 may be preconfigured with data from information handling system 114 in block 1104. In block 1104 a set speed, a set acceleration, and a set current are configured for a second motor 134 disposed in shifting device 128 using information handling system 114. After configuring motor 134 in block 1106, the Extend Solenoid is turned on and the Retlease Solenoid remains off.

[0042] In block 1108, second motor 134 disposed in shifting device 128 is running. As second motor 134 is run, measurements of motor current and motor count may be taken and visualized on information handling system 114. In block 1110, the speed of second motor 134 is regulated using measurements from block 1108 of motor current and motor count. Motor current and motor count are measured as described above. In block 1112, measurements may be taken to determine if the expanded current limit is reached. If the expanded current limit is not reached, then measurements may continue to be taken in block 1112 until such time the expanded current limit is reached. When the expanded current limit is reached, then second motor 134 is stopped in block 1114. Upon second motor 134 stopping, shifting device 128 may have expanded and latched to the sliding sleeve in wellbore 104. Shifter arms are expanded and released using Extend Solenoid and Release Solenoid using hydraulic mechanism, as described above. Behind Extend solenoid and Release solenoid, there is a manifold containing pump to generate pressure. Motor 134 may be disposed in the pump manifold. This workflow may be repeated to remove shifting device 128 from the sliding sleeve.

[0043] FIG. 12 illustrates a workflow 1200 for releasing shifting device 128 from the sliding sleeve in wellbore 104. It should be noted that workflow 1200 may be performed at least in part by information handling system 114, sending control signals to intervention tool 102. Additionally, workflow 1200 may be performed at least in part automatically and controlled by an information handling system 114 disposed within intervention tool 102. During intervention operations, intervention tool 102 may expand shifting device 128 into a sliding sleeve to connect intervention tool 102 to the sliding sleeve for intervention operations in wellbore 104. Workflow 1200 may begin with block 1202. In block 1202 both the Ext. Solenoid and Ret Solenoid are off. With both solenoids off, motor 134 may be configured in block 1204. In block 1204 the speed, acceleration, and expand current are configured for motor 134 using information handling system 114. After configuring motor 134 in block 1204, the Ext. Solenoid is turned on and the Ret. Solenoid remains off in block 1206.

[0044] In block 1208 motor 134 is running. As motor 134 is run, measurements of motor current and motor count may be taken and visualized on information handling system 114. In block 1210, the speed of motor 134 is regulated using the measurements from block 1208 of motor current and motor count. In block 1212, measurements may be taken to determine when the revcount reaches 0. If the revcount has not reached 0, then measurements may continue to be taken in block 1212 until the revcount reaches 0. When the revcount reaches 0, then motor 134 stops in block 1214. Upon motor 134 stopping, shifting device 128 may have released from the sliding sleeve in wellbore 104.

[0045] As discussed above, improvements over current technology may be found in the reduction in sensors and reduction in sensor input information. This may increase component and data reliability as less sensors are used, reducing the possibility of error. Additionally, removal of sensors may allow for the intervention tool to be shorter and reduce costs in manufacturing and operation.

[0046] Statement 1: A method may comprise disposing an intervention tool into a wellbore, wherein the intervention tool may comprise an anchoring device, an actuating device that further comprises a motor, and a shifting device, wherein the actuating device and the shifting device are connected together by a rod. The method may further comprise moving the intervention tool to a first location within the wellbore, expanding the anchoring device within the wellbore at the first location, running the motor of the actuating device at a set speed, a set acceleration, and at a set revcount, measuring a revcount with a sensor, and stopping the motor based at least in part on the revcount in view of the set revcount.

[0047] Statement 2: The method of statement 1, further comprising expanding the shifting device with a second motor.

[0048] Statement 3: The method of any previous statements 1 or 2, further comprising measuring a current within the motor.

[0049] Statement 4: The method of statement 3, wherein the current at least in part identifies the revcount.

[0050] Statement 5: The method of any previous statements 1, 2, or 3, wherein the rod is a roller screw rod that comprises precision threading at least a portion of the rod.

[0051] Statement 6: The method of statement 5, wherein the rod connects to the motor through a coupling or welded joint.

[0052] Statement 7: The method of any previous statements 1-3 or 5, further comprising adjusting a speed of the motor from the set speed based at least in part on the revcount of the motor and a current of the motor.

[0053] Statement 8: The method of any previous statements 1-3, 5, or 7, further comprising a second motor disposed in the shifting device.

[0054] Statement 9: The method of statement 8, further comprising measuring a second revcount of the second motor with a second sensor.

[0055] Statement 10: The method of statement 9, further comprising measuring a second current within the second motor.

[0056] Statement 11: A system may comprise an intervention tool that may comprise an anchoring device, an actuating device that further comprises a motor, a shifting device, wherein the actuating device and the shifting device are connected together by a rod, and an information handling system in communication with the intervention tool. The information handling system may be configured to send one or more data packets to the anchoring device to expand the anchoring device, send one or more data packets to run the motor of the actuating device at a set speed, a set acceleration, and at a set revcount, receive one or more measurements from a sensor that measures a revcount, and send one or more data packets to stop the motor based at least in part on the revcount in view of the set revcount.

[0057] Statement 12: The system of statement 11, wherein the information handling system is further configured to send one or more data packets to a second motor disposed in the shifting device.

[0058] Statement 13: The system of any previous statements 11 or 12, wherein the sensor is used to measure a current within the motor.

[0059] Statement 14: The system of statement 13, wherein the information handling system is further configured to at least in part identify the revcount from the current.

[0060] Statement 15: The system of any previous statements 11-13, wherein the rod is a roller screw rod that comprises precision threading at least a portion of the rod.

[0061] Statement 16: The system of statement 15, wherein the rod connects to the motor through a coupling or welded joint.

[0062] Statement 17: The system of any previous statements 11-13 or 15, wherein the information handling system is further configured to adjust a speed of the motor from the set speed based at least in part on the revcount of the motor and a current of the motor.

[0063] Statement 18: The system of any previous statements 11-13, 15, or 17, further comprising a second motor disposed in the shifting device.

[0064] Statement 19: The system of statement 18, further comprising a second sensor configured to measure a second revcount of the second motor with a second sensor.

[0065] Statement 20: The system of statement 19, further comprising measuring a second current within the second motor.

[0066] For the sake of brevity, only certain ranges are explicitly disclosed herein. However, ranges from any lower limit may be combined with any upper limit to recite a range not explicitly recited, as well as, ranges from any lower limit may be combined with any other lower limit to recite a range not explicitly recited, in the same way, ranges from any upper limit may be combined with any other upper limit to recite a range not explicitly recited. Additionally, whenever a numerical range with a lower limit and an upper limit is disclosed, any number and any included range falling within the range are specifically disclosed. In particular, every range of values (of the form, “from about a to about b,” or, equivalently, “from approximately a to b,” or, equivalently, “from approximately a-b”) disclosed herein is to be understood to set forth every number and range encompassed within the broader range of values even if not explicitly recited. Thus, every point or individual value may serve as its own lower or upper limit combined with any other point or individual value or any other lower or upper limit, to recite a range not explicitly recited.

[0067] Therefore, the present embodiments are well adapted to attain the ends and advantages mentioned as well as those that are inherent therein. The particular embodiments disclosed above are illustrative only, as the present embodiments 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 embodiments are discussed, all combinations of each embodiment are contemplated and covered by the disclosure. Furthermore, no limitations are intended on 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 embodiments disclosed above may be altered or modified and all such variations are considered within the scope and spirit of the present disclosure.

Claims

1. A method comprising:disposing an intervention tool into a wellbore, wherein the intervention tool comprises:an anchoring device;an actuating device that further comprises a motor;a shifting device or rotary device, wherein the actuating device and the shifting device or rotary device are connected together by a rod; andmoving the intervention tool to a first location within the wellbore;expanding the anchoring device within the wellbore at the first location;running the motor of the actuating device at a set speed, a set acceleration, and at a set revcount;measuring a revcount with a sensor; andstopping the motor based at least in part on the revcount in view of the set revcount.

2. The method of claim 1, further comprising expanding the shifting device or rotary device with a second motor.

3. The method of claim 1, further comprising measuring a current within the motor.

4. The method of claim 3, wherein the current at least in part identifies the revcount.

5. The method of claim 1, wherein the rod is a roller screw rod that comprises precision threading at least a portion of the rod.

6. The method of claim 5, wherein the rod connects to the motor through a coupling or welded joint.

7. The method of claim 1, further comprising adjusting a speed of the motor from the set speed based at least in part on the revcount of the motor and a current of the motor.

8. The method of claim 1, further comprising a second motor disposed in the shifting device or rotary device.

9. The method of claim 8, further comprising measuring a second revcount of the second motor with a second sensor.

10. The method of claim 9, further comprising measuring a second current within the second motor.

11. A system comprising:an intervention tool comprising:an anchoring device;an actuating device that further comprises a motor;a shifting device or rotary device, wherein the actuating device and the shifting device or rotary device are connected together by a rod; andan information handling system in communication with the intervention tool and configured to:send one or more data packets to the anchoring device to expand the anchoring device;send one or more data packets to run the motor of the actuating device at a set speed, a set acceleration, and at a set revcount;receive one or more measurements from a sensor that measures a revcount; andsend one or more data packets to stop the motor based at least in part on the revcount in view of the set revcount.

12. The system of claim 11, wherein the information handling system is further configured to send one or more data packets to a second motor disposed in the shifting device or rotary device.

13. The system of claim 11, wherein the sensor is used to measure a current within the motor.

14. The system of claim 13, wherein the information handling system is further configured to at least in part identify the revcount from the current.

15. The system of claim 11, wherein the rod is a roller screw rod that comprises precision threading at least a portion of the rod.

16. The system of claim 15, wherein the rod connects to the motor through a coupling or welded joint.

17. The system of claim 11, wherein the information handling system is further configured to adjust a speed of the motor from the set speed based at least in part on the revcount of the motor and a current of the motor.

18. The system of claim 11, further comprising a second motor disposed in the shifting device or rotary device.

19. The system of claim 18, further comprising a second sensor configured to measure a second revcount of the second motor with a second sensor.

20. The system of claim 19, further comprising measuring a second current within the second motor.

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