A downhole drilling
tractor for moving within a borehole comprises a
tractor body, two packerfeet, two aft propulsion cylinders, and two forward propulsion cylinders. The body comprises aft and forward shafts and a central control
assembly. The packerfeet and propulsion cylinders are slidably engaged with the
tractor body.
Drilling fluid can be delivered to the packerfeet to cause the packerfeet to grip onto the borehole wall.
Drilling fluid can be delivered to the propulsion cylinders to selectively provide downhole or uphole hydraulic thrust to the tractor body. The tractor receives
drilling fluid from a
drill string extending to the surface. A
system of spool valves in the control
assembly controls the distribution of
drilling fluid to the packerfeet and cylinders. The valve positions are controlled by motors. A programmable electronic logic component on the tractor receives control signals from the surface and feedback signals from various sensors on the tool. The feedback signals may include pressure, position, and load signals. The logic component also generates and transmits command signals to the motors, to electronically sequence the valves. Advantageously, the logic component operates according to a
control algorithm for intelligently sequencing the valves to control the speed, thrust, and direction of the tractor.