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

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.

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.