Abstract: A method can include issuing control instructions by a controller to control rig equipment for drilling of a borehole in a subsurface environment, where the rig equipment includes a drawworks for control of weight-on-bit of a drillstring disposed in part in the borehole, and where the controller includes a tunable weight-on-bit set point control loop; during the drilling of the borehole, receiving sensor data as feedback; dynamically determining a tuning parameter value for the tunable weight-on-bit set point control loop using the feedback and an agent, wherein the agent prioritizes pre-defined drilling behavior; determining a control instruction using the controller and the tuning parameter value for the tunable weight-on-bit set point control loop in the tunable weight-on-bit set point control loop; and issuing the control instruction by the controller to control the rig equipment for drilling of the borehole according to the pre-defined drilling behavior.

Abstract: A position manager may receive time-based block position data of a travelling block above a drill floor on a floating drill rig, wherein the time-based block position data is received from a block position sensor on the drill floor. A position manager may apply a changepoint model to the time-based block position data to separate the time-based block position data into a plurality of segments. A position manager may determine a best segment of the plurality of segments. A position manager may generate a de-sensitized block position using the best segment of the plurality of segments.

Abstract: A friction manager may receive time data for hookload, weight-on-bit (WOB), and torque for a wellbore. A friction manager may use the time data for the hookload, the WOB, and the torque, identifying a section of steady-state motion in the wellbore. A friction manager may generate friction forces for the section of steady-state motion based on the time data for the hookload, the WOB, and the torque. A friction manager may adjust drilling activities based on the friction forces.

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: 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: A method includes issuing control instructions by a controller to control rig equipment for drilling of a borehole in a subsurface environment, where the controller includes a tunable weight-on-bit set point control loop; during the drilling, receiving sensor data as feedback; dynamically determining a tuning parameter value for the tunable weight-on-bit set point control loop using the feedback and a trained machine learning model, where the trained machine learning model is trained using a reward function customizable for desired drilling behavior; determining a control instruction using the tuning parameter value for the tunable weight-on-bit set point control loop in the tunable weight-on-bit set point control loop; and issuing the control instruction by the controller to control the rig equipment for drilling of the borehole according to the desired drilling behavior.

Abstract: A friction manager may receive time data for hookload, weight-on-bit (WOB), and torque for a wellbore. A friction manager may use the time data for the hookload, the WOB, and the torque, to identify a section of steady-state motion in the wellbore. A friction manager may generate friction forces for the section of steady-state motion based on the time data for the hookload, the WOB, and the torque. A friction manager may adjust drilling activities based on the friction forces.

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: A method for drilling a subterranean wellbore includes rotating a bottom hole assembly in the wellbore to drill and measuring a magnitude of a potentially damaging vibrational component. The measured magnitude is compared to a corresponding threshold and the drill string rotation may be perturbed to increase stick slip when the measured magnitude exceeds the threshold.

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: 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: A method for drilling a subterranean wellbore includes rotating a bottom hole assembly in the wellbore to drill and measuring a magnitude of a potentially damaging vibrational component. The measured magnitude is compared to a corresponding threshold and the drill string rotation may be perturbed to increase stick slip when the measured magnitude exceeds the threshold.

Abstract: A position manager may receive time-based block position data of a travelling block above a drill floor on a floating drill rig, wherein the time-based block position data is received from a block position sensor on the drill floor. A position manager may apply a changepoint model to the time-based block position data to separate the time-based block position data into a plurality of segments. A position manager may determine a best segment of the plurality of segments. A position manager may generate a de-sensitized block position using the best segment of the plurality of segments.

Abstract: A friction manager may receive time data for hookload, weight-on-bit (WOB), and torque for a wellbore. A friction manager may use the time data for the hookload, the WOB, and the torque, identifying a section of steady-state motion in the wellbore. A friction manager may generate friction forces for the section of steady-state motion based on the time data for the hookload, the WOB, and the torque. A friction manager may adjust drilling activities based on the friction forces.

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: 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: 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: 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.