Patent ID: 9388681
Filing Date: 2016-07-12
CPC Classification: E21B,G05D

Claim Text:
1. A method of controlling a top drive coupled to a drill bit via a drill string during a drilling process, comprising: generating a first control signal based at least in part upon a bit angular speed set-point, a first bit angular speed, and an optimization problem comprising an objective function at a first state, and one or more first state constraints to which the objective function at the first state is subject, controlling the top drive based at least in part upon the first control signal so as to rotate the drill bit at a second bit angular speed; updating the model based at least in part upon operating data associated with any one or more of the top drive, drill bit, and drill string so as to obtain an updated model; generating a second control signal based at least in part upon the bit angular speed set-point, the second bit angular speed, and the optimization problem comprising the objective function at a second state and one or more second state constraints to which the objective function at the second state is subject, controlling the top drive based at least in part upon the second control signal so as to rotate the drill bit at a third bit angular speed.