Systems and methods for drilling using tool face values predicted with a multiple-input-single output (miso) model

1 . A system for controlling spindle offset during drilling operations based on one or more predicted tool face values comprising:

one or more processors coupled to a memory comprising instructions that are configured to be executed by the one or more processors to perform operations comprising:

acquire, by a control system, a plurality of spindle offset values and a plurality of differential pressure values over a period of time;

generate, by the control system, one or more predicted tool face values over the period of time using a multiple-input-single-output transfer function model, wherein inputs to the multiple-input-single-output transfer function comprise the plurality of spindle offset values and the plurality of differential pressure values, wherein each differential pressure value is a pressure of drilling fluid across a mud motor at a given time;

change one or more control set points and/or the plurality of spindle offset values based on the one or more predicted tool face values, wherein each control set point corresponds to a target inclination for the spindle; and

a drill rig controller, wherein the control system sends to the drill rig controller instructions to drill a wellbore using the one or more control set points and/or the plurality of spindle offset values.

2 . The system of claim 1 , the operations further comprising:

acquiring a plurality of weight-on-bit values over a period of time; and

acquiring a plurality of rate of penetration values over the period of time.

3 . The system of claim 2 , wherein inputs to the multiple-input-single-output transfer function further comprises:

the plurality of weight-on-bit values; or

the plurality of rate of penetration values.

4 . The system of claim 3 , wherein the inputs to the multiple-input-single-output transfer function are measured from a previous slide.

5 . The system of claim 3 , wherein the inputs to the multiple-input-single-output transfer function are taken during a current slide.

6 . A system for drilling a wellbore with a neutral position for a spindle of a drilling system comprising:

one or more processors coupled to a memory comprising instructions that are configured to be executed by the one or more processors to perform operations comprising:

detect oscillation of a spindle of a drilling system;

monitor a movement of the spindle for a predetermined amount of time;

responsive to the monitoring, determine a first torque on a first side of an assumed neutral point of the spindle and a second torque on a second side of the assumed neutral point of the spindle based on the monitoring;

determine that a difference between the first torque on the first side of the assumed neutral point of the spindle and the second torque on the second side of the assumed neutral point of the spindle is outside a predetermined range or exceeds a threshold;

determine that the spindle is at a non-neutral position based on the difference being outside the predetermined threshold range;

compute a spindle offset value corresponding to the non-neutral position; and

drill at least a portion of the wellbore using the computed spindle offset value.

7 . The system of claim 6 , the operations further comprising recommending a spindle adjustment to align the spindle at a neutral position to reduce oscillation of a tool face.

8 . The system of claim 6 , the operations further comprising automatically implementing a spindle adjustment to align the spindle at a neutral position to reduce oscillation of a tool face.

9 . The system of claim 6 , wherein a full oscillation cycle is defined as an up or down first movement of the spindle while turning in one direction and a second movement in an opposite direction.

10 . The system of claim 6 , wherein a neutral position is an offset point.

11 . The system of claim 6 , wherein the first torque on the right side of the assumed neutral point of the spindle and the second torque on the second side of the assumed neutral point of the spindle are within a predetermined threshold of being equal.

12 . A computer-implemented method for controlling spindle offset during drilling operations based on one or more predicted tool face values comprising:

acquiring, by a control system, a plurality of spindle offset values and a plurality of differential pressure values over a period of time;

generating, by the control system, one or more predicted tool face values over the period of time using a multiple-input-single-output transfer function model, wherein inputs to the multiple-input-single-output transfer function comprise the plurality of spindle offset values and the plurality of differential pressure values, wherein each differential pressure value is a pressure of drilling fluid across a mud motor at a given time;

changing one or more control set points and/or the plurality of spindle offset values based on the one or more predicted tool face values, wherein each control set point corresponds to a target inclination for the spindle; and

sending, to a drill rig controller, instructions to drill a wellbore using the one or more control set points and/or the plurality of spindle offset values.

13 . The method of claim 12 , further comprising:

acquiring a plurality of weight-on-bit values over a period of time; and

acquiring a plurality of rate of penetration values over the period of time.

14 . The method of claim 13 , wherein inputs to the multiple-input-single-output transfer function further comprises:

the plurality of weight-on-bit values; or

the plurality of rate of penetration values.

15 . The method of claim 14 , wherein the inputs to the multiple-input-single-output transfer function are measured from a previous slide.

16 . The method of claim 14 , wherein the inputs to the multiple-input-single-output transfer function are taken during a current slide.