Apparatus and methods for controlling drilling

A method for controlling drilling operations, the method comprising:

• receiving, by a control system coupled to a drilling rig during drilling of a wellbore by the drilling rig, drilling information comprising rate of penetration (ROP), differential pressure, and weight-on-bit (WOB);
• determining, by the control system, a Total Cumulative Twist (TCT) value for rotating a bottom hole assembly (BHA) off a bottom of the wellbore based on the drilling information;
• determining, by the control system, a vertical time that measures a duration of time required for a ROP change to fully arrive at the BHA based at least in part on the TCT value;
• generating, by the control system, one or more block speed changes based at least in part on the vertical time;
• and
• sending, by the control system, one or more control signals to one or more control systems coupled to the drilling rig to implement and drill in accordance with the one or more block speed changes.

One or more non-transitory computer-readable medium comprising computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• receive, by a control system coupled to a drilling rig during drilling of a wellbore by the drilling rig, drilling information comprising rate of penetration (ROP), differential pressure, and weight-on-bit (WOB);
• determine, by the control system, a Total Cumulative Twist (TCT) value for rotating a bottom hole assembly (BHA) off a bottom of the wellbore based on the drilling information;
• determine, by the control system, a vertical time that measures a duration of time required for a ROP change to fully arrive at the BHA based at least in part on the TCT value;
• generate, by the control system, one or more block speed changes based at least in part on the vertical time;
• and
• send, by the control system, one or more control signals to one or more control systems coupled to the drilling rig to implement and drill in accordance with the one or more block speed changes.