Abstract: A motor controller to control rotational speed of an output shaft of an electric motor. The motor controller includes a proportional controller and a time-optimal controller. The proportional controller controls the rotational speed when a present rotational position of the shaft is between a target rotational position and a switching point, inclusively. The time-optimal controller controls the rotational speed when the present rotational position is not between the target rotational position and the switching point. Also introduced herein are aspects pertaining to determining the switching point in a manner that minimizes overshooting the target rotational position while maximizing expediency at which the target rotational position is reached.

Abstract: Methods, computing systems, and computer-readable media for dynamically adjusting drilling parameters during a drilling operation. The approach involves receiving, in real time, drilling parameter measurements and response measurements during a drilling operation. If the response measurements are below the lower limit of a window or trending downwards, the approach determines a new drilling parameter value that will increase the response measurement. The approach dynamically adjusts the drilling parameter value above the sectional limit, while still respecting hard limits. When the measured value improves, the approach returns the limit for the drilling parameter to the sectional limit.

Abstract: A method may include generating an optimal operational window (OOW) that specifies operational parameter values for drilling operations using equipment at a rig site, based on data indicative of rig state and formation characteristics, and based on mutation-based optimization of the operational parameter values; and instructing a control system to perform the drilling operations according to the OOW using the equipment at the rig site.

Abstract: Apparatus and methods for optimizing a stick-slip algorithm for controlling a driver of a drill string. A method may include commencing operation of a control system for controlling the driver. The control system may have a processor and a memory storing a computer program code, which may include the stick-slip algorithm. The operating control system may receive a plurality of different numerical parameters, and for each of the different numerical parameters, incorporate the numerical parameter into the stick-slip algorithm and execute the stick-slip algorithm to determine a control command that causes the driver to rotate the drill string to perform drilling operations while reducing amplitude of rotational waves travelling along the drill string.

Abstract: Apparatus and methods for controlling slide drilling based on torque and rotational distance of a top drive connected with an upper end of a drill string. A method may comprise operating a processing device that receives torque measurements indicative of torque output by the top drive, receives rotational distance measurements indicative of rotational distance imparted by the top drive, causes the top drive to rotate the drill string while the drill string is off-bottom, determines a reference torque based on the torque measurements received while the drill string is rotated off-bottom, causes the top drive to alternatingly rotate the drill string based on the reference torque to perform slide drilling, determines a reference rotational distance based on the rotational distance measurements received during the slide drilling, and causes the top drive to alternatingly rotate the drill string based on the reference rotational distance to perform the slide drilling.

Abstract: Systems and methods for using high rate telemetry to improve drilling operations. A method may include performing drilling operations with a wired drill pipe (WDP) string in an oil and/or gas well. The drilling operations may include pumping drilling fluid to a mud motor of the WDP string through an internal passage of the WDP string and vertically moving the WDP string via a drawworks while controlling the drawworks to change speed of the WDP string based on downhole data received by wellsite surface equipment via electrical conductors integral to WDP of the WDP string. The received downhole data may include downhole pressure data that is generated downhole by a pressure sensor and is indicative of pressure of the drilling fluid in the internal passage.

Abstract: Systems and methods for performing slide drilling and for determining operational parameters to be utilized during slide drilling. An example method includes commencing operation of a processing device, whereby the processing device determines a reference rotational distance of a top drive to be utilized during slide drilling. The processing device outputs a control command to the top drive to cause the top drive to rotate a drill string. The processing device also determines the reference rotational distance based on rotational distance measurements indicative of rotational distance achieved by the top drive and torque measurements indicative of torque applied to the drill string by the top drive.

Abstract: Methods and apparatus for including obtaining raw surface data for present values of torque (TTD) generated by a top drive operably coupled with a drillstring, obtaining raw surface data for present values of rotational speed (?) of the top drive corresponding to the TTD, obtaining inertia (JTD) of the top drive, and estimating torque TST of the drillstring based on the obtained TTD data, the obtained data, and the obtained JTD data. The estimated drillstring torque TST may be utilized to determine a surface torque oscillation performance index (STOPI).

Abstract: A method can include receiving sensor data; determining a rate of penetration drilling parameter value using a trained neural network and at least a portion of the sensor data; and issuing a control instruction for drilling a borehole using the determined rate of penetration drilling parameter value.

Abstract: Apparatus and methods for controlling slide drilling based on torque and rotational distance of a top drive connected with an upper end of a drill string. A method may comprise operating a processing device that receives torque measurements indicative of torque output by the top drive, receives rotational distance measurements indicative of rotational distance imparted by the top drive, causes the top drive to rotate the drill string while the drill string is off-bottom, determines a reference torque based on the torque measurements received while the drill string is rotated off-bottom, causes the top drive to alternatingly rotate the drill string based on the reference torque to perform slide drilling, determines a reference rotational distance based on the rotational distance measurements received during the slide drilling, and causes the top drive to alternatingly rotate the drill string based on the reference rotational distance to perform the slide drilling.

Abstract: Apparatus and operational methods thereof, including a top drive, a rotation sensor, and a processing device. The top drive connects with an upper end of a drill string. The rotation sensor facilitates rotational distance measurements indicative of rotational distance achieved by the top drive. The processing device causes the top drive to impart rotational oscillations alternatingly in opposing directions to the upper end of the drill string while maintaining a downhole toolface orientation during a slide drilling operation, such that each rotational oscillation rotates the upper end of the drill string through a base rotational distance. The processing device also causes the top drive to change the downhole toolface orientation by an offset rotational distance by adding the offset rotational distance and an overshoot rotational distance to the base rotational distance of an instance of the rotational oscillations.

Abstract: Systems and methods for processing downhole rotational data. An example method includes commencing operation of a processing device to continually calculate a downhole oscillation index by receiving downhole rotational speed data indicative of downhole rotational speed of at least a portion of a drill string during drilling operations, calculating a fundamental oscillation time period of the drill string, calculating a time length of a time window based on the fundamental oscillation time period, and processing the downhole rotational speed data encompassed within the time window.

Abstract: Apparatus and operational methods thereof, including a top drive, a rotation sensor, and a processing device. The top drive connects with an upper end of a drill string. The rotation sensor facilitates rotational distance measurements indicative of rotational distance achieved by the top drive. The processing device causes the top drive to impart rotational oscillations alternatingly in opposing directions to the upper end of the drill string while maintaining a downhole toolface orientation during a slide drilling operation, such that each rotational oscillation rotates the upper end of the drill string through a base rotational distance. The processing device also causes the top drive to change the downhole toolface orientation by an offset rotational distance by adding the offset rotational distance and an overshoot rotational distance to the base rotational distance of an instance of the rotational oscillations.

Abstract: Systems and methods for using high rate telemetry to improve drilling operations. A method may include performing drilling operations with a wired drill pipe (WDP) string in an oil and/or gas well. The drilling operations may include pumping drilling fluid to a mud motor of the WDP string through an internal passage of the WDP string and vertically moving the WDP string via a drawworks while controlling the drawworks to change speed of the WDP string based on downhole data received by wellsite surface equipment via electrical conductors integral to WDP of the WDP string. The received downhole data may include downhole pressure data that is generated downhole by a pressure sensor and is indicative of pressure of the drilling fluid in the internal passage.

Abstract: A motor controller to control rotational speed of an output shaft of an electric motor. The motor controller includes a proportional controller and a time-optimal controller. The proportional controller controls the rotational speed when a present rotational position of the shaft is between a target rotational position and a switching point, inclusively. The time-optimal controller controls the rotational speed when the present rotational position is not between the target rotational position and the switching point. Also introduced herein are aspects pertaining to determining the switching point in a manner that minimizes overshooting the target rotational position while maximizing expediency at which the target rotational position is reached.

Abstract: Apparatus and methods for optimizing a stick-slip algorithm for controlling a driver of a drill string. A method may include commencing operation of a control system for controlling the driver. The control system may have a processor and a memory storing a computer program code, which may include the stick-slip algorithm. The operating control system may receive a plurality of different numerical parameters, and for each of the different numerical parameters, incorporate the numerical parameter into the stick-slip algorithm and execute the stick-slip algorithm to determine a control command that causes the driver to rotate the drill string to perform drilling operations while reducing amplitude of rotational waves travelling along the drill string.

Abstract: Methods and apparatus pertaining to scaling of the proportional gain and the integral gain in PI controllers of an autodriller based on drilling context. For example, a proportional gain and an integral gain are each determined for utilization by a PI controller of an autodriller controlling operation of equipment to be utilized for a drilling operation to drill a borehole into a subterranean formation. During the drilling operation, the integral gain is updated in real-time utilizing current values of drilling parameters that change with respect to time.

Abstract: Apparatus and methods for automatically controlling selected drilling operations. The apparatus may be a control system operable to control rate of penetration (ROP) by a drill bit of a drill string for drilling a wellbore. The control system may include a sensor operable to facilitate an ROP measurement indicative of a measured ROP and a controller comprising a processor and a memory storing computer program code. The controller may be operable to receive the ROP measurement, determine an intermediate ROP setpoint based on the ROP measurement, and determine an ROP command based on the intermediate ROP setpoint, wherein the ROP command is to be received by a drawworks and is indicative of an intended ROP.

Abstract: Methods and apparatus for including obtaining raw surface data for present values of torque (TTD) generated by a top drive operably coupled with a drillstring, obtaining raw surface data for present values of rotational speed (?) of the top drive corresponding to the TTD, obtaining inertia (JTD) of the top drive, and estimating torque TST of the drillstring based on the obtained TTD data, the obtained data, and the obtained JTD data. The estimated drillstring torque TST may be utilized to determine a surface torque oscillation performance index (STOPI).

Abstract: Methods and apparatus for controlling drill string rotation. The apparatus may be a control system for controlling a driver operable to rotate a drill string to form a wellbore extending into a subterranean formation. The control system may include a first controller operable to control rotation of the driver and a second controller communicatively connected with the first controller.