Abstract: A control system for moving a bottom hole assembly at an end of a coiled tubing string in a wellbore includes a controller configured to move the bottom hole assembly at an initial rate, unless the controller determines that moving the bottom hole assembly at the initial rate causes a predetermined threshold parameter to be reached, whereupon the controller is configured to default to moving the bottom hole assembly at a safe rate.

Abstract: A control system for moving a bottom hole assembly at an end of a coiled tubing string in a wellbore includes a controller configured to move the bottom hole assembly at an initial rate, unless the controller determines that moving the bottom hole assembly at the initial rate causes a predetermined threshold parameter to be reached, whereupon the controller is configured to default to moving the bottom hole assembly at a safe rate.

Abstract: A method of controlling rates of moving a coiled tubing string in a wellbore includes providing an injector head control system for moving a bottom hole assembly at an end of the coiled tubing string in the wellbore, that maintains operating settings of the injector head if the control system determines that the bottom hole assembly is moving in the wellbore within a range of rates, and varies operating settings of the injector head if the control system determines that the bottom hole assembly is moving in the wellbore outside the range of rates, to thereby revert to moving the bottom hole assembly in the wellbore within the range of rates. The control system determines whether the bottom hole assembly is moving within or outside the range of rates based on one or more sources of feedback from both the bottom hole assembly and the injector head.

Abstract: A system for controlling a coiled tubing injector head includes a hydraulic control line in fluid communication with each drive motor, a valve associated with one or both hydraulic control lines, and a sensor associated with each drive motor. Each sensor is configured to output to a digital computer a signal representative of a motor speed, and at least one valve associated with a hydraulic control line is operable to regulate pressure in the hydraulic control line and thereby increase or decrease the speed of the corresponding motor until both speed sensors report substantially matching motor speeds.

Abstract: A method of controlling rates of moving a coiled tubing string in a wellbore includes providing an injector head control system for moving a bottom hole assembly at an end of the coiled tubing string in the wellbore, that maintains operating settings of the injector head if the control system determines that the bottom hole assembly is moving in the wellbore within a range of rates, and varies operating settings of the injector head if the control system determines that the bottom hole assembly is moving in the wellbore outside the range of rates, to thereby revert to moving the bottom hole assembly in the wellbore within the range of rates. The control system determines whether the bottom hole assembly is moving within or outside the range of rates based on one or more sources of feedback from both the bottom hole assembly and the injector head.

Abstract: A control system for a coiled tubing injector for moving a coiled tubing string within a wellbore, the injector including injector motors to power an injector drive mechanism, the injector drive mechanism engaging the coiled tubing to move the coiled tubing string, includes a controller for operating a power source to the injector motors to cause the injector drive mechanism to move the coiled tubing string within the well at a substantially constant rate.

Abstract: A system for controlling a coiled tubing injector head includes a hydraulic control line in fluid communication with each drive motor, a valve associated with one or both hydraulic control lines, and a sensor associated with each drive motor. Each sensor is configured to output to a digital computer a signal representative of a motor speed, and at least one valve associated with a hydraulic control line is operable to regulate pressure in the hydraulic control line and thereby increase or decrease the speed of the corresponding motor until both speed sensors report substantially matching motor speeds.