Abstract: An augmenting controller for augmenting control of an actuator by a component controller. The actuator is operable to change an operational parameter of a component of a drilling rig. The component controller is configured for communicating control signals to the actuator to control the actuator and thereby control operation of the component. The augmenting controller is operable to augment the control signals.

Abstract: First time-based data, indicative of a first parameter, varies in value with respect to time and is associated with a drilling operation utilized to construct a well extending into a subterranean formation. A moving window transform of second time-based data is performed to generate a three-dimensional expression of frequency and amplitude of the first parameter or a second parameter. The second time-based data is based on the first time-based data. The second parameter varies in value with respect to time and is dependent upon the first parameter. The drilling operation is assessed based on the expression.

Abstract: First time-based data, indicative of a first parameter, varies in value with respect to time and is associated with a drilling operation utilized to construct a well extending into a subterranean formation. A moving window transform of second time-based data is performed to generate a three-dimensional expression of frequency and amplitude of the first parameter or a second parameter. The second time-based data is based on the first time-based data. The second parameter varies in value with respect to time and is dependent upon the first parameter. The drilling operation is assessed based on the expression.

Abstract: An augmenting controller for augmenting control of an actuator by a component controller. The actuator is operable to change an operational parameter of a component of a drilling rig. The component controller is configured for communicating control signals to the actuator to control the actuator and thereby control operation of the component. The augmenting controller is operable to augment the control signals.

Abstract: Systems and methods for reducing or eliminating stick-slip are described. The system includes a controller and a drawworks. The controller is configured to collect downhole information, detect one or more stick-slip conditions, determine correlative relationships, model a stick-slip region, generate a control algorithm for top drive RPM and WOB that avoids a stick-slip region, determine a WOB autodriller set point for a particular top drive RPM using the control algorithm and provide one or more operational control signals that limit the WOB to the WOB autodriller set point for the particular top drive RPM. The drawworks is configured to receive the one or more operational control signals from the controller, and limit the WOB so that the WOB does not exceed the WOB autodriller set point for the particular top drive RPM.

Abstract: A drilling rig apparatus is disclosed for improving autodriller control during directional drilling. A BHA determines a relationship between downhole WOB and downhole differential pressure and sends the relationship to a surface controller. The relationships may be sent on a set periodic basis or dynamically in response to the relationships over time differing from each other above a threshold amount. The surface controller estimates downhole WOB by inputting surface differential pressure into a formula implementing the relationship from downhole. The estimated downhole WOB is input into the autodriller for control and is used to estimate MSE. Downhole WOB, either estimated or actual values, may further be used to determine a ratio between downhole WOB and surface-determined WOB values. If the ratio falls below zero in comparison to a prior ratio, then a slack-off rate is adjusted until the ratio reaches zero or a positive value again.

Abstract: A drilling rig apparatus is disclosed for mitigating stick-slip using a saver sub that is compatible with different top drives. The saver sub includes a smart material adjustable whenever a stand is added to the drill string to have different spring characteristics to generally match the impedance of the top drive to the impedance of the drill string. The saver sub also includes a magneto rheological fluid that is adjusted whenever a stand is added to the drill string to compensate for the changed characteristics of the drill string. The damping constant implemented by the MR fluid enables the saver sub to absorb stick-slip vibrations at the top drive. Each time that a stand is connected to the drill string, the spring and damping constants may be updated to accommodate the changing characteristics of the drill string.

Abstract: Systems and methods for slide drilling are described. The system includes a controller and a drive system. The controller is configured to determine a resonant frequency of a drill string, generate a rotational acceleration profile having a frequency at least substantially similar to the determined resonant frequency, and provide one or more operational control signals to oscillate the drill string based on the generated rotational acceleration profile. The drive system is configured to receive the one or more operational control signals from the controller, and oscillate the drill string based on the generated rotational acceleration profile so that the drill string oscillates at a frequency substantially similar to the determined resonant frequency while slide drilling.

Abstract: Methods and apparatus for toolface control are disclosed herein. Such toolface controls may be provided responsive to measurement-while-drilling (MWD) data. A dynamic model of the drilling apparatus may be constructed and estimations of one or more characteristics of the drilling apparatus (e.g., toolface orientation) may be determined from the dynamic model. MWD data may be periodically received and an error factor may be determined from the estimation and the MWD data. The dynamic model may be adjusted and an updated estimation may be determined from the updated dynamic model. Data from the determinations using the dynamic model and/or the updated dynamic model may be used to control operation of the drilling apparatus and adjust one or more operational parameters of the drilling apparatus responsive to updated estimations.

Abstract: Systems and methods for directional drilling are described. The system includes one or more controllers and is configured to receive data from a plurality of downhole sensors, provide operational control signals, determine a relationship between different parameters, receive current data including at least one of current differential pressure (DP), weight-on-bit (WOB), or rotations per minute (RPM) of a drill bit, and estimate at least one of current toolface orientation or current shock and vibration of the drill bit using the current data and the determined relationship. The system is further configured to provide operational control signals that may adjust the current toolface orientation to a desired toolface orientation. Current WOB and/or current RPM are adjusted to minimize current shock and vibration of a portion of a bottom hole assembly (BHA).

Abstract: Systems and methods for reducing or eliminating stick-slip are described. The system includes a controller and a drawworks. The controller is configured to collect downhole information, detect one or more stick-slip conditions, determine correlative relationships, model a stick-slip region, generate a control algorithm for top drive RPM and WOB that avoids a stick-slip region, determine a WOB autodriller set point for a particular top drive RPM using the control algorithm and provide one or more operational control signals that limit the WOB to the WOB autodriller set point for the particular top drive RPM. The drawworks is configured to receive the one or more operational control signals from the controller, and limit the WOB so that the WOB does not exceed the WOB autodriller set point for the particular top drive RPM.

Abstract: A control system that mitigates stick-slip vibrations at higher harmonics than currently available is disclosed. A controller of a top drive is set to a torque control mode instead of a speed control mode. The controller receives torque measurements and compares to a target torque value. The controller accelerates or decelerates the top drive by a generated current adjustment command. A slow integration speed control loop, at least an order of magnitude slower in response than the torque control loop, receives a RPM set point. The slow integration speed control loop compares the RPM set point to an actual RPM measurement and generates a torque command. The torque command is sent to the torque control loop which results in an acceleration or deceleration of the top drive to maintain a desired torque amount. The speed of the top drive is bounded by a speed limit control loop.

Abstract: Systems and methods for reducing or eliminating whirl are described. The system includes a controller and a drive system. The controller is configured to collect downhole information, determine a natural frequency of a drill string in the lateral motion, determine correlative relationships, model a forward whirl region, generate a control algorithm, determine a top drive supervisory setpoint, and provide operational control signals. The drive system is configured to receive the one or more operational control signals and limit the top drive RPM.

Abstract: Systems and methods for directional drilling are described. The system includes one or more controllers and is configured to receive data from a plurality of downhole sensors, provide operational control signals, determine a relationship between different parameters, receive current data including at least one of current differential pressure (DP), weight-on-bit (WOB), or rotations per minute (RPM) of a drill bit, and estimate at least one of current toolface orientation or current shock and vibration of the drill bit using the current data and the determined relationship. The system is further configured to provide operational control signals that may adjust the current toolface orientation to a desired toolface orientation. Current WOB and/or current RPM are adjusted to minimize current shock and vibration of a portion of a bottom hole assembly (BHA).

Abstract: Apparatuses, methods, and systems include rotary drilling a first segment of a wellbore by rotating a drill string with a top drive forming a part of a drilling rig apparatus for a first period of time; obtaining data from a sensor disposed about the drilling rig apparatus while rotary drilling for at least a part of the first period of time; and based on the data from the sensor, determining a proposed oscillation revolution amount for the drill string to reduce friction of the drill string in the downhole bore without changing the direction of a bottom hole assembly while slide drilling.

Abstract: Methods and apparatus for toolface control are disclosed herein. Such toolface controls may be provided responsive to measurement-while-drilling (MWD) data. A dynamic model of the drilling apparatus may be constructed and estimations of one or more characteristics of the drilling apparatus (e.g., toolface orientation) may be determined from the dynamic model. MWD data may be periodically received and an error factor may be determined from the estimation and the MWD data. The dynamic model may be adjusted and an updated estimation may be determined from the updated dynamic model. Data from the determinations using the dynamic model and/or the updated dynamic model may be used to control operation of the drilling apparatus and adjust one or more operational parameters of the drilling apparatus responsive to updated estimations.

Abstract: A drilling rig apparatus is disclosed for improving autodriller control during directional drilling. A BHA determines a relationship between downhole WOB and downhole differential pressure and sends the relationship to a surface controller. The relationships may be sent on a set periodic basis or dynamically in response to the relationships over time differing from each other above a threshold amount. The surface controller estimates downhole WOB by inputting surface differential pressure into a formula implementing the relationship from downhole. The estimated downhole WOB is input into the autodriller for control and is used to estimate MSE. Downhole WOB, either estimated or actual values, may further be used to determine a ratio between downhole WOB and surface-determined WOB values. If the ratio falls below zero in comparison to a prior ratio, then a slack-off rate is adjusted until the ratio reaches zero or a positive value again.

Abstract: Systems and methods for slide drilling are described. The system includes a controller and a drive system. The controller is configured to determine a resonant frequency of a drill string, generate a rotational acceleration profile having a frequency at least substantially similar to the determined resonant frequency, and provide one or more operational control signals to oscillate the drill string based on the generated rotational acceleration profile. The drive system is configured to receive the one or more operational control signals from the controller, and oscillate the drill string based on the generated rotational acceleration profile so that the drill string oscillates at a frequency substantially similar to the determined resonant frequency while slide drilling.

Abstract: Apparatuses, systems, and methods for controlling slide drilling on a drilling rig are described. The methods include detecting current differential pressure of a mud motor and/or weight on bit (WOB) at a surface of a borehole, predicting current reactive torque of the mud motor based on the current differential pressure and/or WOB, and automatically adjusting surface torque and/or angular offset of a tubular adjacent the surface to counteract the current reactive torque and to keep the mud motor at a desired toolface orientation in the borehole.

Abstract: A drilling rig apparatus is disclosed for mitigating stick-slip using a saver sub that is compatible with different top drives. The saver sub includes a smart material adjustable whenever a stand is added to the drill string to have different spring characteristics to generally match the impedance of the top drive to the impedance of the drill string. The saver sub also includes a magneto rheological fluid that is adjusted whenever a stand is added to the drill string to compensate for the changed characteristics of the drill string. The damping constant implemented by the MR fluid enables the saver sub to absorb stick-slip vibrations at the top drive. Each time that a stand is connected to the drill string, the spring and damping constants may be updated to accommodate the changing characteristics of the drill string.