Apparatus and methods for well intervention

1. A method comprising:

conveying a powered downhole tool string within a wellbore, wherein the down hole tool string comprises a first actuator and a second actuator; operating the first actuator to impart a substantially non-vibrating force to a down hole feature located within the wellbore; operating the second actuator to impart a vibrating force to the downhole feature, and operating a controller to control one or both of the first and second actuators of the downhole tool string to impart movements to the downhole feature in first and second directions, wherein the movements are of different distances to achieve a net repositioning of the down hole feature in the first or second direction.

2. The method of claim 1 , further comprising operating an anchor device to maintain at least a portion of the downhole tool string in a predetermined position within the wellbore.

3. The method of claim 1 , further comprising:

engaging an engagement device with the downhole feature; and

imparting the substantially non-vibrating and vibrating forces to the downhole feature via the engagement device.

4. The method of claim 1 , wherein a valve installed in the wellbore comprises the downhole feature, and wherein the method further comprises transitioning the valve between open and closed positions with the substantially non-vibrating force and the vibrating force.

5. The method of claim 1 , wherein the substantially non-vibrating force is an axial force, and wherein the vibrating force is at least one of an axially vibrating force, a radially vibrating force, and/or a rotationally vibrating force.

6. The method of claim 1 , further comprising operating the controller comprising a processor and a memory storing computer program code to control the first and second actuators to impart the substantially non-vibrating and vibrating forces.

7. The method of claim 1 , further comprising operating the controller to adjust a magnitude and frequency of the vibrating force.

8. The method of claim 1 , wherein the vibrating force is continuous and repeatable.

9. The method of claim 1 , wherein the substantially non-vibrating force is a rotational force or a torque, and wherein the vibrating force is at least one of an axially vibrating force, a radially vibrating force, and/or a rotationally vibrating force.

10. A method comprising:

positioning a powered downhole tool string relative to a downhole feature of a movable member within a wellbore, wherein the downhole tool string is in communication with surface equipment disposed at a wellsite surface from which the wellbore extends, and wherein the downhole tool string and/or the surface equipment individually or collectively comprise a controller comprising a processor and a memory storing computer program code; engaging the downhole feature with an engagement device of the downhole tool string; and operating the controller to control an actuator of the downhole tool string to impart movements to the engagement device and the downhole feature in first and second directions, wherein the movements are of different distances to achieve a net repositioning of the downhole feature in the first or second direction in response to resistance to movement of the movable member falling within a second predetermined threshold range that is between a first predetermined threshold range and a third predetermined threshold range, wherein the actuator is controlled differently in response to the resistance to movement falling within the first predetermined threshold range or the third predetermined threshold range.

11. The method of claim 10 , wherein the actuator is a first actuator operable to impart a substantially non-vibrating force to the engagement device, and wherein operating the controller further comprises controlling a second actuator of the downhole tool string to impart a vibrating force to the engagement device simultaneously with the substantially non-vibrating force.

12. The method of claim 10 , wherein operating the controller to impart the movements is based on information generated by at least one of:

a position sensor of the downhole tool string operable to generate information indicative of a position of the downhole feature; and/or

a force sensor of the downhole tool string operable to generate information indicative of a force applied by the actuator to impart the movements.

13. The method of claim 10 , wherein the downhole feature is in a first position when initially engaged by the engagement device, wherein the net repositioning of the downhole feature is in the first direction to a second position, and wherein each successive one of the movements in the first direction moves the downhole feature closer to the second position than resulted from the previous movements in the first direction.

14. The method of claim 10 , wherein the controller automatically adjusts the non-vibrating and vibrating forces based on sensor feedback to apply forces to the downhole feature.