Systems and methods for drilling with miso, tool face wagging, return to neutral, and spindle reaction time improvements

A system for controlling tool face wagging comprising:

• one or more processors coupled to memory comprising instructions that are configured to be executed by the one or more processors to perform operations comprising:
• acquire spindle information associated with a spindle position;
• acquire tool face information associated with a tool face orientation, wherein the spindle information is acquired withing a predetermined threshold time period;
• obtain a first power spectrum of the spindle information and a second power spectrum of the tool face information in a frequency domain;
• correlate the first power spectrum and the second power spectrum;
• responsive to the correlation, determine a variation in the tool face in time domain, wherein the variation in the tool face includes a number of times the tool face changes direction;
• detect tool face wagging responsive to one or more direction changes of the tool face in the time domain that correspond to a spike or dip of the first power spectrum or the second power spectrum in the frequency domain;
• and
• upon detection of tool face wagging, send one or more control signals to reduce the tool face wagging.

A system for drilling 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 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 therefor or exceeds a threshold therefor;
• 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.