EP2353752A1 - Regulating method for the casting mould of a continuous casting mould - Google Patents

Abstract

The control method for casting level of a continuous casting mold, comprises adjusting the inflow liquid metal into a continuous casting mold by a closing device and deducting the partially solidified metal strand by a draw device on the continuous casting mold. A measured actual value of the casting level is fed into a casting level controller, which determines a target setting for the closing device on the basis of the actual value and a corresponding target value. The measured actual value and a target setting of the closing device are fed into an interference compensator (20). The control method for casting level of a continuous casting mold, comprises adjusting the inflow liquid metal into a continuous casting mold by a closing device and deducting the partially solidified metal strand by a draw device on the continuous casting mold. A measured actual value of the casting level is fed into a casting level controller, which determines a target setting for the closing device on the basis of the actual value and a corresponding target value. The measured actual value and a target setting of the closing device are fed into an interference compensator (20). Within the interference compensator, an expected value for the casting level is determined and is subtracted from the measured actual value of the casting level. The difference is fed to a differential controller (23) within the interference compensator, where the differential controller determines a controller output signal. The controller output signal is multiplied by a superposition factor and the controller output signal is superimposed with the superposition factor multiplied controller output signal on the target setting as an interference compensation value. An inflow signal derived from the actual setting is further superimposed on the controller output signal. The superposition result is fed into an integrator (21) within the interference compensator, whose output signal corresponding to the expected value for the casting level. The expected value is subtracted for the casting level instantaneous by the actual value of the casting level. The superposition factor comprises an initial value at the beginning of the control method and during the control method is steadily increased to a final value. The initial value of the superposition factor is zero and the final value of the superposition factor is unity. The casting level controller is formed as a controller with integral action and the casting level controller of a reset time of the casting level controller is increased during and/or after the increasing of the superposition factor of the initial value to the end value. The final value of the reset time is infinite. The differential controller has a proportional gain and the differential controller is increased during and/or after the increasing of the of the superposition factor of the initial value to the end value. The initial value of the proportional gain of the differential controller is equal to a proportional gain of the casting-level controller. The differential controller is formed as a pure p-controller. Independent claims are included for: (1) a computer program; (2) a control device for a continuous casting plant; and (3) a continuous casting plant.

Description

description Control method for the pouring mirror of a continuous casting mold

• wobei der Zufluss flüssigen Metalls in die Stranggießkokille mittels einer Verschlusseinrichtung eingestellt und der teilerstarrte Metallstrang mittels einer Abzugseinrichtung aus der Stranggießkokille abgezogen wird,
• wobei ein gemessener Istwert des Gießspiegels einem Gießspiegelregler zugeführt wird, der anhand des Istwerts und eines korrespondierenden Sollwerts eine Sollstellung für die Verschlusseinrichtung ermittelt und der Verschlusseinrichtung zuführt,
• wobei der gemessene Istwert und eine Iststellung der Verschlusseinrichtung einem Störgrößenkompensator zugeführt werden,
• wobei innerhalb des Störgrößenkompensators ein Erwartungswert für den Gießspiegel ermittelt und vom gemessenen Istwert des Gießspiegels subtrahiert wird.

The present invention relates to a control method for the casting level of a continuous casting mold,

• wherein the inflow of liquid metal is adjusted in the continuous casting mold by means of a closure device and the partially solidified metal strand is withdrawn by means of a take-off device from the continuous casting mold,
• wherein a measured actual value of the pouring mirror is fed to a pouring-mirror regulator which determines a setpoint position for the closing device on the basis of the actual value and a corresponding desired value and feeds it to the closing device,
• wherein the measured actual value and an actual position of the closure device are fed to a disturbance variable compensator,
• wherein an expected value for the casting level is determined within the Störgrößenkompensators and subtracted from the measured actual value of the casting mirror.

Such a control method is for example from the US 5,921,313 A known. In the known control method, a vibration compensator is provided which compensates Bulgingschwingungen.

The present invention further relates to a computer program comprising machine code which is directly executable by a control device for a continuous casting plant and whose execution by the control device causes the control device to regulate the casting level of a continuous casting mold of the continuous casting plant according to such a control method.

The present invention further relates to a control device for a continuous casting plant, which is designed in this way is that she carries out such a control procedure during operation.

Finally, the present invention relates to a continuous casting plant, which is controlled by such a control device.

The pouring level in the continuous casting mold is influenced, inter alia, by jump-shaped disturbances in an undesirable manner. Examples of such unwanted disturbances are the so-called "clogging" and "unclogging", that is, the sudden caking or breaking of aluminum oxide in the feed channel of the mold. Likewise, the pouring mirror can be influenced by jerky removal of the metal strand in an undesirable manner. Any disturbance of the pouring mirror means a loss of quality of the strand. Mold level fluctuations should therefore be kept as low as possible.

In the prior art, the Gießspiegelregler is usually designed as a PI controller or as a PID controller, which also has several additional functions to combat specific interference. An example of such an additional function is the abovementioned compensation of bulging vibrations. The integral portion of the mold leveler is required in the prior art to locate and hold the steady state desired position for the closure.

In the case of sudden inflow disturbances or withdrawal disorders, the pouring level regulator must react quickly. In particular, the integral component of the Gießspiegelreglers must settle quickly to a new desired position for the closure device. An integral component with a short reset time will respond quickly, but will overshoot. An integral component with a large reset time will not overshoot, but it will react too slowly. In both cases, the pouring mirror can not be returned to the desired level quickly yet still reliably damped to its desired value.

The object of the present invention is to provide ways to achieve a more accurate control.

The object is achieved by a control method having the features of claim 1. Advantageous embodiments of the control method according to the invention are the subject of the dependent claims 2 to 9.

• dass die Differenz innerhalb des Störgrößenkompensators einem Differenzregler zugeführt wird, der daraus ein Reglerausgangssignal ermittelt,
• dass das Reglerausgangssignal einerseits mit einem Aufschaltfaktor multipliziert wird und das mit dem Aufschaltfaktor multiplizierte Reglerausgangssignal als Störgrößenkompensationswert auf die Sollstellung aufgeschaltet wird,
• dass auf das Reglerausgangssignal andererseits ein aus der Iststellung abgeleitetes Zuflusssignal aufgeschaltet wird und das Aufschaltergebnis innerhalb des Störgrößenkompensators einem Integrator zugeführt wird, dessen Ausgangssignal dem Erwartungswert für den Gießspiegel entspricht.

According to the invention, it is intended to design a control method of the type mentioned in the introduction,

• that the difference within the disturbance compensator is supplied to a differential controller, which determines therefrom a regulator output signal,
• on the one hand the controller output signal is multiplied by a step-up factor and the controller output signal multiplied by the step-up factor is applied to the nominal position as a disturbance compensation value,
• on the other hand, a supply signal derived from the actual position is applied to the controller output signal, and the Aufschaltergebnis within the Störgrößenkompensators is supplied to an integrator whose output signal corresponds to the expected value for the Gießspiegel.

In a preferred embodiment of the present invention, it is provided that the expected value for the casting level is subtracted without delay from the measured actual value of the casting level. By doing so, a faster response to pouring mirror disturbances can be achieved.

It is preferably provided that the start-up factor has an initial value at the beginning of the control method and is steadily increased to a final value in the course of the control method. By this procedure, in particular a trouble-free connection of the Störgrößenkompensators is possible. This is especially true when the initial value of the startup factor is zero and the end value of the startup factor is one.

The Gießspiegelregler is usually designed as a controller with integral behavior, for example, as a PI controller or as a PID controller. Due to its integral behavior, the casting level controller has a readjustment time. The reset time is characteristic of how fast the Gießspiegelregler reacts to disturbances. In particular, the Gießspiegelregler reacts quickly to interference with a small reset time, but tends to overshoot. Conversely, the Gießspiegelregler reacts stable reactivity to Gießspiegelstörungen at a large readjustment, but reacts slower. In a preferred embodiment of the present invention, it is provided that the reset time of the Gießspiegelreglers is increased during and / or after increasing the Aufschaltfaktors from an initial value to a final value. Of course, the initial value and the final value of the reset time are values other than the initial value and the end value of the closing factor.

It is possible that the final value of the reset time is finite. In this case, an integral part of the Gießspiegelreglers is maintained in each operating condition. However, it is also possible that the final value of the reset time is infinite. This corresponds to a complete shutdown of the Integralanteils of the Gießspiegelreglers. If the Gießspiegelregler is formed, for example, as a PI controller, it works with a reset time of infinity only as a P-controller. Likewise, for example, a PID controller can be reduced to a PD controller by increasing the reset time to the value infinite.

The differential controller is (at least) designed as a proportional controller. It therefore has a proportional gain. In a preferred embodiment of the present invention, the proportional gain is increased during and / or after increasing the turn-on factor from an initial value to a final value. The initial value and the final value of the proportional gain are values other than the initial value and the end value of the switch-on factor.

Increasing the proportional gain of the differential controller and increasing the reset time of the Gießspiegelreglers are independent. It is thus possible to increase only one value and to keep the other value constant or to increase both values. Also, in the case where both values are increased, the increase may be made in different time slots.

The initial value of the proportional gain of the differential controller may be determined as needed. Preferably, the initial value is equal to a proportional gain of the Gießspiegelreglers.

The differential controller can be designed, for example, as a PI controller or as an even more complex controller. However, it is preferred that the differential controller is designed as a pure P controller.

The present invention is further achieved by a computer program of the aforementioned type, wherein the execution of the computer program causes the control device controls the pouring level of the continuous casting mold according to a control method according to the invention. The computer program can for example be stored on a data carrier in machine-readable form. The data carrier may in particular be part of the control device.

The object is further achieved by a control device for a continuous casting plant, which is designed such that it carries out an inventive control method during operation. Finally, the object is achieved by a continuous casting plant, which is controlled by a control device according to the invention.

FIG 1

schematisch eine Stranggießanlage,

FIG 2

ein regelungstechnisches Blockschaltbild einer Regelanordnung,

FIG 3

schematisch die interne Struktur eines Störgrößenkompensators und

FIG 4 und 5

Zeitdiagramme.

Further advantages and details will become apparent from the following description of exemplary embodiments in conjunction with the drawings. In a schematic representation:

FIG. 1

schematically a continuous casting plant,

FIG. 2

a control block diagram of a control arrangement,

FIG. 3

schematically the internal structure of a Störgrößenkompensators and

4 and 5

Time charts.

According to FIG. 1 a continuous casting plant has a continuous casting mold 1. In the continuous casting mold 1 2 liquid metal 3 is poured over a dip tube, for example steel or aluminum. The inflow of the liquid metal 3 into the continuous casting mold 1 is adjusted by means of a closure device 4. Is shown in FIG. 1 an embodiment of the closure device 4 as a sealing plug. In this case, a position of the closure device 4 corresponds to a stroke position of the sealing plug. Alternatively, the closure device 4 may be designed as a slide. In this case, the closed position corresponds to the slider position.

The liquid metal 3 contained in the continuous casting mold 1 is cooled by means of cooling devices, so that a strand shell 5 is formed. However, the core 6 of the metal strand 7 is still liquid. He freezes later. The cooling facilities are in FIG. 1 not shown. The partially solidified metal strand 7 (solidified strand shell 5, liquid core 6) is withdrawn by means of a discharge device 8 from the continuous casting mold 1.

The pouring mirror 9 of the liquid metal 3 in the continuous casting mold 1 should be kept as constant as possible. A withdrawal speed v at which the partially solidified metal strand 7 is withdrawn from the continuous casting mold 1 is generally constant. Therefore, both in the prior art and in the present invention, the position of the closure device 4 is tracked to adjust the inflow of the liquid metal 3 in the continuous casting mold 1 so that the mold level 9 is kept as constant as possible. By means of a corresponding measuring device 10 (known as such), an actual value hG of the pouring mirror 9 is detected. The actual value hG is fed to a control device 11 for the continuous casting plant. The control device 11 determines, according to a control method, which is explained in more detail below, a desired position p * to be assumed by the closure device 4. The closure device 4 is then controlled accordingly by the control device 11. As a rule, the control device 11 outputs a corresponding actuating signal to an adjusting device 12 for the closure device 4. The adjusting device 12 may be, for example, a hydraulic cylinder unit.

In general, an actual position p of the closure device 4 is further detected by means of a corresponding measuring device 13 (known as such) and fed to the control device 11. Usually, therefore, a closed-loop control of the closure position takes place. Alternatively, a pure control (open loop control) would be possible.

The control device 11 is designed such that it carries out an inventive control method during operation. In general, the operation of the control device 11 is determined by a computer program 14, with which the control device 11 is programmed. For this purpose, the computer program 14 is stored within the control device 11 in a data carrier 15, for example a flash EPROM. The data carrier 15 is part of the control device 11. The storage takes place in machine-readable form.

The computer program 14 may have been supplied to the control device 11 via a mobile data carrier 16, for example a USB memory stick (shown) or an SD memory card (not shown). Also on the mobile data carrier 16, the computer program 14 is stored in machine-readable form. Alternatively, it is possible to supply the computer program 14 to the control device 11 via a computer network connection or a programming device.

The computer program 14 comprises machine code 17, which is directly executable by the control device 11. The execution of the machine code 17 by the control device 11 causes the control device 11 to control the pouring level 9 of the continuous casting mold 1 according to a control method according to the invention. This control method will be described below in connection with the FIGS. 2 and 3 explained in more detail.

FIG. 2 shows a control arrangement implemented by the control device 11. The operation of the control arrangement of FIG. 2 enables a control method according to the invention for the pouring mirror 9 of the continuous casting mold 1.

According to FIG. 2 the regulating arrangement has a pouring-mirror regulator 18. Based on a setpoint value hG * for the pouring mirror 9 and the actual value hG for the pouring mirror 9 detected by the measuring device 10, the pouring-mirror regulator 18 determines the setpoint position p * for the closure device 4 according to a controller characteristic. The regulator characteristic of the pouring-glass regulator 18 is shown in FIG FIG. 2 proportional-integral. However, alternatively other control characteristics are possible, for example PID. Regardless of its specific embodiment of the Gießspiegelregler 18, however, is preferably designed as a controller with Integralverhalten.

The desired position p * for the closure device 4 is supplied to the closure device 4. As already mentioned, the setting of the closure device 4 is usually regulated. In this case, the in FIG. 2 is shown, the reference position, a position controller 19 is supplied to the continue also the actual position p of the closure device 4 is supplied. The position controller 19 may be formed, for example, as a P controller.

The actual position p of the closure device 4 acts on the actual pouring mirror 9 due to the inflow of liquid metal 3 which has thus been set. The actual value hG of the pouring mirror 9 is detected and, as already mentioned, fed to the Gießspiegelregler 18.

On the continuous casting mold 1 disturbances can act, which influence the pouring mirror 9. To compensate for the disturbances a Störgrößenkompensator 20 is provided. The Störgrößenkompensator 20 of the measured actual value hG of the casting mirror 9 and the actual position p of the closure device 4 are supplied.

The structure and operation of the Störgrößenkompensators 20 are described below in conjunction with FIG. 3 explained in more detail.

ermittelt werden. Der konkrete Wert für die Kennlinie K ergibt sich durch einen fiktiven Arbeitspunkt der Verschlusseinrichtung 4, das heißt die Stellung der Verschlusseinrichtung 4, bei welcher der Zufluss an flüssigem Metall 3 in die Stranggießkokille 1 und die bei der gegebenen Abzugsgeschwindigkeit v abgezogene Menge an Metall im Gleichgewicht stehen.According to FIG. 3 The disturbance compensator 20 includes, inter alia, an integrator 21. An integration time constant TK of the integrator 21 is preferably the cross section of the continuous casting mold 1, the measuring range δhG of the measuring device 10 for the actual value hG of the pouring mirror 9 and the measuring range δp of the measuring device 13 for the actual position p as well determines the characteristic K of the closure device 4. In particular, the integration time constant TK may be too $$\mathit{TK}\mathit{=}\frac{\mathit{\delta hG}}{\mathit{.DELTA.p}}\mathit{\cdot }\mathit{K}$$

be determined. The concrete value for the characteristic curve K results from a fictitious operating point of the closure device 4, that is to say the position of the closure device 4, in which the inflow of liquid metal 3 into the continuous casting mold 1 and the amount of metal withdrawn at the given withdrawal speed v are in equilibrium stand.

The integrator 21 is an input value supplied within the Störgrößenkompensators 20, which will be discussed later. The integrator 21 determines by integrating the input value according to the integration time constant TK an output signal hE. The output signal hE corresponds to an expected value hE for the pouring mirror 9.

The expected value hE is fed within the disturbance variable compensator 20 to a node 22, to which furthermore the actual value hG of the pouring mirror 9 is supplied. In node 22, the expected value hE is subtracted from the actual value hG. The difference is referred to below by the reference e.

The measuring device 10 for the pouring mirror 9 is delayed. The actual value hG of the pouring mirror 9 therefore has a delay time. It is possible to actively delay the expected value hE by a delay element accordingly. The delay element would have to be arranged between the integrator 21 and the node 22 for this purpose. Preferably, however, no such delay element is present. The expected value hE for the pouring mirror 9 is therefore preferably subtracted without delay from the measured actual value hG of the pouring mirror 9.

The difference e is fed to a differential controller 23 within the disturbance compensator 20. The differential controller 23 uses the difference e to determine a controller output signal e '. The differential controller 23 may be formed as needed. For example, the differential controller 23 may be formed as a PI controller. It is preferred that the differential controller 23 is designed as a pure P controller. Regardless of its specific embodiment, however, the differential controller 23 has a proportional gain kP.

The controller output signal e 'already corresponds to a disturbance compensation value z, which is to be switched to the desired position p * of the closure device 4. Before switching on, however, the regulator output signal e 'is multiplied in a multiplier 24 by a breakdown factor k. The product of contact factor k and controller output signal e 'corresponds to the disturbance compensation value z.

The contact factor k can have a fixed value. In particular, it is possible for the override factor k to have the value one constant. However, it is preferred that the override factor k in accordance with the representation of FIG. 4 has an initial value kA at the beginning of the control method and is steadily increased to a final value kE in the course of the control method. In particular, it is possible that the initial value kA is zero and the final value kE is one.

On the controller output signal e 'is further connected within the Störgrößenkompensators 20, an inflow signal Z. The inflow signal Z is according to FIG. 3 derived from the actual position p of the closure device 4. In particular, according to FIG. 3 the inflow signal Z can be determined by determining the inflow Z based on the actual position p of the closure device 4 and the characteristic curve of the closure device 4, which results at the given actual position p of the closure device 4. The upshift result is supplied within the disturbance compensator 20 to the integrator 21 as its input signal.

As already mentioned, the Gießspiegelregler 18 is preferably designed as a controller with integral behavior. The pouring-mirror regulator 18 therefore preferably has an adjusting time TN. The reset time TN is characteristic of the integral behavior of the Gießspiegelreglers 18th

It is possible that the reset time TN of the Gießspiegelreglers 18 is kept constant over time. However, according to the representation of FIGS. 4 and 5 in that the reset time TN of the mold level regulator 18 is increased during an initial value TA to a final value TE during and / or after the increase of the switch-on factor k. FIG. 4 shows an increase of the reset time TN during the increase of the connection factor k. FIG. 5 shows an increase of the reset time TN after increasing the connection factor k. Other embodiments are possible. For example, increasing the reset time TN may be started by increasing the startup factor k and beyond the time when the override factor k reaches its final value kE. It is also possible to start increasing the reset time TN at a point in time at which the override factor k is already greater than its initial value kA but still smaller than its final value kE.

According to the solid representation of 4 and 5 it is possible that the final value TE of the reset time TN is finite. In this case, even after reaching the final value TE of the reset time TN a - albeit reduced - integral behavior of the Gießspiegelreglers 18 maintained. Alternatively, it is according to the dashed line of the 4 and 5 possible to increase the reset time TN to the final value TE = infinity. In this case, the integral behavior of the Gießspiegelreglers 18 is completely suppressed.

In an analogous manner, it is possible for the proportional gain kP of the differential regulator 23 to be constant throughout the control process. However, it is preferred according to the representations of 4 and 5 in that the proportional gain kP during (see FIG. 4 ) and / or after (see FIG. 5 ) increasing the turn-on factor k from an initial value kPA to a final value kPE. In the same way as increasing the reset time TN, embodiments are also possible here, for example, although increasing the proportional gain kP of the differential regulator 23 is started together with increasing the start-up factor k, but extends beyond the instant at which the break-up factor k reaches its final value kE , It is also possible, for example, to start increasing the proportional gain kP of the differential controller 23, while the override factor k has an intermediate value between its initial value kA and its final value kE.

The initial value kPA of the proportional gain kP of the differential controller 23 may be selected as needed. Preferably the initial value kPA is equal to a proportional gain k 'of the Gießspiegelreglers 18th

Increasing the proportional gain kP of the differential regulator 23 and increasing the reset time TN of the Gießspiegelreglers 18 can be realized independently. In particular, it is possible to increase only the proportional gain kP of the differential controller 23, but to keep the reset time TN of the Gießspiegelreglers 18 constant. Likewise, conversely, it is possible to increase only the reset time TN of the Gießspiegelreglers 18, the proportional gain kP of the differential controller 23, however, to keep constant. However, it is particularly preferred to increase both the proportional gain kP of the differential regulator 23 and the reset time TN of the Gießspiegelreglers 18. In this latter case, it is possible that the increase of the proportional gain kP of the differential regulator 23 and the increase of the reset time TN of the Gießspiegelreglers 18 carried out in the same period. However, it is alternatively possible to make the increase in mutually different time windows, where appropriate, an overlap area may be given.

The present invention has many advantages. At the same time, the disturbance variable compensator 20 operates dynamically more favorably than the integral component of the mold level regulator 18. The reset time TN of the mold level regulator 18 can therefore be selected to be larger, because the integral component only has to compensate for minor inaccuracies. In some cases, the integral component can even be omitted (reset time TN against infinity). With the control method according to the invention can thus be much better response to jump-like interference when feeding liquid metal 3 in the continuous casting mold 1 and stripping the metal strand 7 from the continuous casting mold 1 and thus the mold level 9 are kept better constant.

The above description is only for explanation of the present invention. The scope of the present invention, however, is intended to be determined solely by the appended claims.

Claims (14)

Control method for the pouring mirror (9) of a continuous casting mold (1), - wherein the inflow of liquid metal (3) in the continuous casting mold (1) by means of a closure device (4) set and the partially solidified metal strand (7) by means of a take-off device (8) from the continuous casting mold (1) is withdrawn, - Wherein a measured actual value (hG) of the Gießspiegel (9) is supplied to a Gießspiegelregler (18), which determines based on the actual value (hG) and a corresponding setpoint (hG *) a desired position (p *) for the closure device (4) and the closure device (4) supplies, wherein the measured actual value (hG) and an actual position (p) of the closure device (4) are fed to a disturbance variable compensator (20), wherein an expected value (hE) for the pouring mirror (9) is determined within the disturbance variable compensator (20) and subtracted from the measured actual value (hG) of the pouring mirror (9), - wherein the difference (e) within the Störgrößenkompensators (20) is fed to a differential controller (23), which determines therefrom a controller output signal (e '), - wherein the controller output signal (e ') on the one hand with a Aufschaltfaktor (k) is multiplied and multiplied by the Aufschaltfaktor (k) controller output signal (e') as Störgrößenkompensationswert (z) to the desired position (p *), - On the other hand, from the actual position (p) derived feed signal (Z) is switched to the controller output signal (e ') and the Aufschaltergebnis within the Störgrößenkompensators (20) an integrator (21) is supplied, the output signal (hE) the expected value (hE ) for the pouring mirror (9). Control method according to claim 1,
characterized in that the expected value (hE) for the pouring mirror (9) is subtracted without delay from the measured actual value (hG) of the pouring mirror (9). Control method according to claim 1 or 2,
characterized in that the Aufschaltfaktor (k) at the beginning of the control method has an initial value (kA) and in the course of the control method is steadily increased to a final value (kE). Control method according to claim 3,
characterized in that the initial value (kA) of the switch-on factor (k) is zero and the final value (kE) of the switch-on factor (k) is one. Control method according to claim 3 or 4,
characterized in that the Gießspiegelregler (18) is designed as a controller with Integralverhalten and that a reset time (TN) of the Gießspiegelreglers (18) during and / or after increasing the Aufschaltfaktors (k) from an initial value (TA) to an end value (TE ) is increased. Control method according to claim 5,
characterized in that the final value (TE) of the reset time (TN) is infinite. Control method according to one of claims 3 to 6,
characterized in that the differential controller (23) has a proportional gain (kP) and that the proportional gain (kP) is increased during and / or after increasing the startup factor (k) from an initial value (kPA) to a final value (kPE). Control method according to claim 7,
characterized in that the initial value (kPA) equals the proportional gain (kP) of the difference controller (23) a proportional gain (k ') of the Gießspiegelreglers (18). Control method according to one of the above claims,
characterized in that the differential controller (23) is designed as a pure P-controller. Computer program comprising machine code (17) which is directly executable by a control device (11) for a continuous casting plant and whose execution by the control device (11) causes the control device (11) to control the pouring mirror (9) of a continuous casting mold (1) Continuous casting plant according to a control method according to one of the above claims regulates. Computer program according to claim 10,
characterized in that it is stored on a data carrier (15, 16) in machine-readable form. Computer program according to claim 11,
characterized in that the data carrier (15) is part of the control device (11). Control device for a continuous casting plant,
characterized in that the control device is designed such that it carries out a control method according to one of claims 1 to 9 during operation. continuous casting,
characterized in that it is controlled by a control device (11) according to claim 13.

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