A MSE model for rotating drilling with PDM is established.
A method for real time optimizing drilling parameters for rotating drilling with PDM is presented.
The new MSE model estimates MSE values with a reasonable approximation.
The optimum WOB is low for rotating drilling with PDM, increasing WOB does not always increase ROP.
The method can real time estimate optimum WOB with varying RPM to drill a specific formation with PDM.