Friction stir welding temperature control method, system and equipment and medium

Abstract

The invention relates to the technical field of friction stir welding, in particular to a friction stir welding temperature control method, system and equipment and a medium. The temperature control range value is calculated according to the material melting point; temperature distribution data of the advancing side, the retreating side, the stirring area core and the shaft shoulder action area are collected and divided; comparing the real-time temperature characteristic with the control range value to judge that the temperature is abnormal; calculating a stirring head rotation speed adjustment amount, an axial pressure change amount, and a welding travel speed correction value based on the abnormality determination result; when parameter adjustment is executed, torque and temperature field changes are monitored, and temperature control execution data are obtained; and finally, accurate regulation and control of the temperature field are realized through the control system. Accurate identification of temperature abnormity and accurate control of a local area are realized, and a closed-loop control mechanism based on torque monitoring is established.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of friction stir welding, in particular to a friction stir welding temperature control method, system, device and medium. BACKGROUND

[0002] Friction stir welding is a solid-phase joining technology that has been widely used in aerospace, rail transportation, shipbuilding, and other fields. The temperature field distribution directly affects the weld formation quality and joint performance, and is a key factor in ensuring welding quality. Therefore, it is of great significance to achieve accurate control of the temperature field during welding.

[0003] The prior art uses thermocouple arrays, infrared thermometers and other temperature sensing devices to collect temperature field data during the welding process in real time, and adjusts the process parameters through a pre-set temperature control model. This method can obtain temperature distribution information during the welding process, providing a basis for process parameter optimization.

[0004] However, the prior art can only obtain temperature field data, lacks accurate determination and directional control of temperature abnormalities, and is difficult to achieve precise temperature control in local areas, which needs to be further improved. SUMMARY

[0005] In order to solve the problem that the prior art can only obtain temperature field data, lacks accurate determination and directional control of temperature abnormalities, and is difficult to achieve precise temperature control in local areas, the present application provides a friction stir welding temperature control method, system, device and medium, which adopts the following technical solutions: In a first aspect, the present application provides a friction stir welding temperature control method, characterized in that it comprises the following steps: Obtain welding process parameters and target temperature parameters, and calculate the temperature control range value required for solid-phase joining according to the material melting point; Collect temperature distribution data around the stir head to obtain real-time temperature characteristics of the advancing side, the retreating side, the stirring zone core and the shoulder action zone; According to the real-time temperature characteristics and the temperature control range value, analyze the temperature field distribution of each region to obtain a temperature abnormality determination result; Based on the temperature abnormality determination result, calculate the stir head speed adjustment amount, the axial pressure change amount and the welding travel speed correction value of the abnormal region to obtain directional temperature control parameters; According to the directional temperature control parameters, adjust the welding process parameters and monitor the stir head torque and temperature field changes to obtain temperature control execution data; Based on the temperature control execution data, send the optimized process parameter instructions to the control system to obtain the final weld temperature field control result.

[0006] By adopting the technical solution, the application firstly calculates the temperature control range value according to the material melting point, to ensure the basic requirement of solid-phase connection; then collects the temperature distribution data around the stirring head, divides the temperature field into the advancing side, the retreating side, the stirring zone core and the shoulder action zone, and respectively obtains the real-time temperature characteristics; by comparing the real-time temperature characteristics with the control range value, the temperature field distribution of each region is analyzed and the temperature abnormality is determined; based on the temperature abnormality determination result, the stirring head rotating speed adjustment amount, the axial pressure change amount and the welding advancing speed correction value required by the abnormal region are calculated; while executing the parameter adjustment, the stirring head torque and the temperature field change are monitored to obtain the temperature control execution data, and finally the accurate control of the weld temperature field is realized through the control system; the accurate identification of the temperature abnormality and the accurate control of the local region are realized, and a closed-loop control mechanism including torque monitoring is established.

[0007] Optionally, the welding process parameters and the target temperature parameters are obtained, and the temperature control range value required for solid-phase connection is calculated according to the material melting point, specifically including the following steps: The material melting point temperature is extracted from the target temperature parameters, and the main temperature control target is determined according to the material melting point temperature; The heat input, temperature gradient and heat conduction rate are calculated according to the material melting point temperature and the welding process parameters, to obtain the temperature field characteristic parameters; Based on the temperature field characteristic parameters, the temperature distribution range of the advancing side, the retreating side, the stirring zone core and the shoulder action zone is determined, to obtain the temperature distribution threshold value; According to the temperature distribution threshold value and the main temperature control target, the temperature fluctuation allowed range is set, to obtain the temperature control range value required for solid-phase connection.

[0008] By adopting the above technical solution, since there is a temperature gradient in different regions during the friction stir welding process, and the temperature field distribution is affected by the heat input and the heat conduction characteristics, it is difficult to meet the temperature control requirements of each region by only setting a single temperature control target according to the material melting point; the application firstly extracts the material melting point temperature from the target temperature parameters and determines the main temperature control target, to ensure that the welding process is carried out in a solid-phase state; in combination with the material melting point temperature and the welding process parameters, the heat input, temperature gradient and heat conduction rate and other temperature field characteristic parameters are calculated to analyze the heat distribution law; according to the temperature field characteristic parameters, the temperature distribution range of the advancing side, the retreating side, the stirring zone core and the shoulder action zone is determined, to obtain the temperature distribution threshold value of each region; finally, in combination with the temperature distribution threshold value and the main temperature control target, a reasonable temperature fluctuation allowed range is set to ensure that the temperature control range value required for solid-phase connection meets the welding requirements and considers the regional differences; the accurate grasp of the temperature distribution characteristics of different regions is realized.

[0009] Optionally, the temperature distribution data around the stirring head is collected to obtain real-time temperature characteristics of the advancing side, the retreating side, the stirring zone core and the shoulder action area, specifically including the following steps: The real-time temperature data around the stirring head is collected to obtain a temperature field distribution matrix; According to the rotation direction of the stirring head, the temperature field distribution matrix is divided into advancing side and retreating side temperature data; The temperature change of the high temperature area around the stirring pin is measured to determine the temperature distribution characteristics of the stirring zone core; The radial temperature gradient of the contact interface between the shoulder and the workpiece is measured to obtain the temperature distribution characteristics of the shoulder action area; The advancing side and retreating side temperature gradients, the stirring zone core temperature distribution characteristics, and the shoulder action area temperature distribution characteristics are integrated to obtain real-time temperature characteristics.

[0010] By adopting the above technical solution, due to the rotation and forward movement of the stirring head during welding, the temperature field presents an asymmetric distribution characteristic, and the temperature characteristics of each functional area are significantly different. The application first collects the real-time temperature data around the stirring head to construct a temperature field distribution matrix and obtain overall temperature field information. Considering the asymmetry of the welding process, the temperature field distribution matrix is divided into advancing side and retreating side temperature data according to the rotation direction of the stirring head, and the temperature characteristics are analyzed respectively. The high temperature area around the stirring pin is measured to obtain the temperature distribution characteristics of the stirring zone core. The radial temperature gradient of the contact interface between the shoulder and the workpiece is measured to obtain the temperature distribution characteristics of the shoulder action area. Finally, the advancing side and retreating side temperature gradients, the stirring zone core temperature distribution characteristics, and the shoulder action area temperature distribution characteristics are integrated to form complete real-time temperature characteristics. The overall monitoring of the temperature field around the stirring head is realized, which provides data support for temperature anomaly judgment and parameter adjustment.

[0011] Optionally, according to the real-time temperature characteristics and the temperature control range value, the temperature field distribution of each area is analyzed to obtain a temperature anomaly judgment result, specifically including the following steps: The real-time temperature characteristics of the advancing side, the retreating side, the stirring zone core and the shoulder action area are analyzed to obtain the temperature field distribution law; Compare the temperature of each area with the temperature control range value to calculate the temperature deviation value; Based on the temperature field distribution law and the temperature deviation value, the temperature anomaly area position is determined; According to the temperature anomaly area position and the temperature deviation value, the temperature anomaly judgment result is obtained.

[0012] By adopting the technical scheme, since the temperature field distribution has time-space dynamic characteristics in the welding process, and temperature abnormalities in each region may occur simultaneously and affect each other, the application first analyzes the real-time temperature characteristics of the advancing side, the retreating side, the stirring zone core and the shoulder acting zone, studies the distribution law and change trend of the temperature field, compares the actual temperature of each region with the pre-set temperature control range value, calculates the temperature deviation value of different regions, comprehensively considers the temperature field distribution law and the temperature deviation value, and determines the specific region position of the temperature abnormality, and finally forms the temperature abnormality judgment result including the abnormal position, the deviation size and the change trend according to the position distribution and the deviation degree of the temperature abnormality region, so that accurate positioning and quantitative analysis of the temperature abnormality are realized.

[0013] Optionally, based on the temperature abnormality judgment result, the stirring head rotating speed adjustment amount, the axial pressure change amount and the welding advancing speed correction value of the abnormal region are calculated to obtain the directional temperature control parameter, specifically including the following steps: According to the temperature abnormality region position and the temperature deviation value, the adjustment priority and the heat input amount adjustment value required by the abnormal region are determined; Based on the heat input amount adjustment value, the stirring head rotating speed adjustment amount, the axial pressure change amount and the welding advancing speed correction value are calculated; The adjustment priority, the stirring head rotating speed adjustment amount, the axial pressure change amount and the welding advancing speed correction value are integrated to obtain the directional temperature control parameter.

[0014] By adopting the technical scheme, since the stirring head rotating speed, the axial pressure and the welding advancing speed have coupling effects on the temperature field, the application first analyzes the severity and influence range of the abnormality according to the position and the temperature deviation value of the temperature abnormality region, determines the priority order of parameter adjustment, and calculates the heat input amount adjustment value required by the abnormal region, based on the heat input amount adjustment value, comprehensively considers the influence characteristics of the stirring head rotating speed, the axial pressure and the welding advancing speed on the temperature field, calculates the specific adjustment amount of each parameter, and ensures the synergy of parameter adjustment, and finally integrates the adjustment priority, the stirring head rotating speed adjustment amount, the axial pressure change amount and the welding advancing speed correction value to form the targeted directional temperature control parameter, thereby improving the accuracy and stability of the temperature field control.

[0015] Optionally, according to the directional temperature control parameter, the welding process parameters are adjusted and the stirring head torque and the temperature field change are monitored to obtain temperature control execution data, specifically including the following steps: According to the adjustment priority, the stirring head rotating speed adjustment, the axial pressure change and the welding advancing speed correction are sequentially performed; The stirring head torque change is monitored to obtain a torque fluctuation curve; The temperature field change data of each region are collected to obtain a temperature response curve; collecting welding equipment power change data to obtain a heat input change curve; integrating the torque fluctuation curve, the temperature response curve and the heat input change curve to obtain temperature control execution data.

[0016] By adopting the technical scheme, firstly, the stirring head rotating speed adjustment, the axial pressure change and the welding travel speed correction are executed in order according to the preset adjustment priority; the torque fluctuation curve is obtained by monitoring the stirring head torque change in real time, reflecting the change of the material flow state; the temperature field change data of the advancing side, the retreating side, the stirring zone core and the shoulder action zone are collected synchronously to draw the temperature response curve and evaluate the temperature field regulation effect; the power change data of the welding equipment is collected in real time to obtain the heat input change curve and verify the rationality of the energy input; finally, the torque fluctuation curve, the temperature response curve and the heat input change curve are integrated and analyzed to form complete temperature control execution data; the overall evaluation of the parameter adjustment process and effect is realized.

[0017] Optionally, based on the temperature control execution data, the optimized process parameter instruction is sent to the control system to obtain the final weld temperature field control result, specifically including the following steps: analyzing the temperature control execution data to evaluate the process parameter adjustment effect; optimizing the process parameter instruction according to the adjustment effect and sending the optimized process parameter instruction to the control system; continuously monitoring the weld temperature field change to obtain the final temperature field control result.

[0018] By adopting the technical scheme, firstly, the temperature control execution data is analyzed in depth, the actual effect of the process parameter adjustment is evaluated by comparing the torque fluctuation curve, the temperature response curve and the heat input change curve; according to the evaluation result, the process parameter instruction is optimized and adjusted to ensure the rationality of the parameter change, and the optimized process parameter instruction is sent to the control system in real time for execution; the temperature field change of each region of the weld is continuously monitored during the parameter adjustment process, the temperature field response characteristics are tracked in real time, and finally the stable temperature field control result is obtained; the continuous improvement mechanism based on the execution effect is established, the accuracy and stability of the temperature field control are ensured, and the adaptability and anti-interference ability of the control system to the temperature field fluctuation are improved.

[0019] In a second aspect, the application provides a friction stir welding temperature control system, comprising: a temperature control range value calculation module, configured to obtain welding process parameters and target temperature parameters, and calculate a temperature control range value required for solid phase connection according to the melting point of the material; A real-time temperature feature acquisition module is configured to collect temperature distribution data around the stirring head to obtain real-time temperature features of the advancing side, the retreating side, the stirring zone core, and the shoulder action zone. A temperature anomaly determination result acquisition module is configured to analyze temperature field distribution of each zone according to the real-time temperature features and the temperature control range value to obtain a temperature anomaly determination result. A directional temperature control parameter acquisition module is configured to calculate a stirring head rotating speed adjustment amount, an axial pressure change amount, and a welding advancing speed correction value of an abnormal zone based on the temperature anomaly determination result to obtain directional temperature control parameters. A temperature control execution data acquisition module is configured to adjust the welding process parameters and monitor stirring head torque and temperature field changes according to the directional temperature control parameters to obtain temperature control execution data. A weld temperature field control result acquisition module is configured to send optimized process parameter instructions to a control system based on the temperature control execution data to obtain a final weld temperature field control result.

[0020] In a third aspect, the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above-mentioned friction stir welding temperature control method when executing the computer program.

[0021] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the above-mentioned friction stir welding temperature control method when executed by a processor.

[0022] In summary, the present application has at least one of the following beneficial technical effects: The present application calculates a temperature control range value according to the melting point of a material, collects and divides temperature distribution data of the advancing side, the retreating side, the stirring zone core, and the shoulder action zone, determines temperature anomalies by comparing real-time temperature features with the control range value, calculates a stirring head rotating speed adjustment amount, an axial pressure change amount, and a welding advancing speed correction value based on the abnormal determination result, monitors torque and temperature field changes when executing parameter adjustment to obtain temperature control execution data, and finally realizes accurate regulation and control of the temperature field through a control system, realizes accurate identification of temperature anomalies and precise control of local zones, and establishes a closed-loop control mechanism based on torque monitoring. The application extracts the material melting point temperature from the target temperature parameter and determines the main temperature control target, ensures that the welding process is in a solid phase state; in combination with the material melting point temperature and the welding process parameter, the heat input, the temperature gradient and the heat conduction rate and other temperature field characteristic parameters are calculated, and the heat distribution law is analyzed; according to the temperature field characteristic parameters, the temperature distribution range of the advancing side, the retreating side, the stirring zone core and the shoulder action area is determined, and the temperature distribution threshold value of each area is obtained; finally, in combination with the temperature distribution threshold value and the main temperature control target, a reasonable temperature fluctuation allowable range is set, and the temperature control range value required for solid phase connection is ensured to meet the welding requirements and consider the regional differences; the accurate grasp of the temperature distribution characteristics of different regions is realized; The application collects real-time temperature data around the stirring head to construct a distribution matrix; the temperature field is divided into the advancing side and the retreating side according to the rotating direction of the stirring head; the high-temperature area around the stirring pin is measured, and the stirring zone core temperature distribution is obtained; the radial temperature gradient of the contact interface between the shoulder and the workpiece is measured; the temperature gradient of the advancing side and the retreating side, the stirring zone core temperature characteristics and the shoulder action area temperature characteristics are integrated to form real-time temperature characteristics; the comprehensive monitoring of the temperature field around the stirring head is realized, and data support is provided for temperature anomaly judgment and parameter adjustment. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a flowchart of a stirring friction welding temperature control method according to an embodiment of the application; Figure 2 is a flowchart of step S100 in a stirring friction welding temperature control method according to an embodiment of the application; Figure 3 is a flowchart of step S200 in a stirring friction welding temperature control method according to an embodiment of the application; Figure 4 is a flowchart of step S300 in a stirring friction welding temperature control method according to an embodiment of the application; Figure 5 is a flowchart of step S400 in a stirring friction welding temperature control method according to an embodiment of the application; Figure 6 is a flowchart of step S500 in a stirring friction welding temperature control method according to an embodiment of the application; Figure 7 is a flowchart of step S600 in a stirring friction welding temperature control method according to an embodiment of the application; Figure 8 is a module schematic diagram of a stirring friction welding temperature control system according to an embodiment of the application; Figure 9 is an internal structure diagram of an electronic device according to an embodiment of the application. DETAILED DESCRIPTION

[0024] The terminology used in the following description of the embodiments herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the description of the embodiments and the appended claims herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It also will be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0025] Hereinafter, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" are used only for the purpose of description, and can not be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second", "third", "fourth", "fifth", "sixth", "seventh" and "eighth" can explicitly or implicitly include one or more of the features, and the meaning of "plurality" is two or more in the description of the embodiments of the present application, unless otherwise specified.

[0026] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0027] In a first aspect, the present application provides a friction stir welding temperature control method, referring to Figure 1 , comprising the following steps: S100, obtaining welding process parameters and target temperature parameters, and calculating the temperature control range value required for solid phase connection according to the melting point of the material.

[0028] In this embodiment, the welding process parameters refer to the rotation speed of the stir head, the axial pressure and the welding travel speed; the target temperature parameters include the upper limit value of the temperature range, the lower limit value of the temperature range and the optimal temperature value; the temperature control range value includes the maximum temperature limit value of the stir zone core, the minimum temperature limit value of the shoulder action zone, the temperature gradient limit value of the advancing side and the temperature gradient limit value of the retreating side.

[0029] Specifically, according to the melting point of the material to be welded, the maximum temperature limit value of the stir zone core, the minimum temperature limit value of the shoulder action zone, the temperature gradient limit value of the advancing side and the temperature gradient limit value of the retreating side are set. Taking aluminum alloy as an example, a temperature limit value data table is established to establish a corresponding relationship between the temperature limit value of each region and the melting point of the corresponding material, forming the temperature control range value required for solid phase connection.

[0030] S200, collecting temperature distribution data around the stir head to obtain real-time temperature characteristics of the advancing side, the retreating side, the stir zone core and the shoulder action zone.

[0031] In this embodiment, the temperature distribution data refers to the temperature information of the region around the stir head collected by the infrared thermal imager and the thermocouple; the real-time temperature characteristics include the temperature field gradient of the advancing side, the temperature field gradient of the retreating side, the temperature distribution of the stir zone core and the temperature distribution of the shoulder action zone.

[0032] Specifically, multiple thermocouples are arranged around the stirring head, respectively located at the advancing side, the retreating side, the stirring zone core and the shoulder action zone. Meanwhile, an infrared thermal imager is used to obtain the temperature field distribution image around the stirring head. The thermocouple temperature measurement data and the infrared image are calibrated and registered to establish a temperature distribution matrix and extract temperature characteristic parameters of each region.

[0033] S300, according to the real-time temperature characteristics and the temperature control range value, analyze the temperature field distribution of each region to obtain a temperature abnormality determination result.

[0034] In this embodiment, the temperature field distribution refers to the spatial distribution state of the temperature of each region; the temperature abnormality determination result includes abnormal region position information and temperature deviation value.

[0035] Specifically, a temperature abnormality determination rule library is established to determine that a region is abnormal when its temperature exceeds the control range value. The real-time temperature characteristics are compared with the temperature control range value, the position of the abnormal region and the deviation amount of the actual temperature from the limit value are recorded to form the temperature abnormality determination result.

[0036] S400, based on the temperature abnormality determination result, calculate the stirring head speed adjustment amount, the axial pressure change amount and the welding travel speed correction value to obtain the directional temperature control parameter.

[0037] In this embodiment, the process parameter adjustment amount includes the stirring head speed adjustment amount, the axial pressure change amount and the welding travel speed correction value; the directional temperature control parameter includes the parameter adjustment priority and the specific adjustment amount.

[0038] Specifically, a mapping relationship table between temperature abnormality and parameter adjustment is established. When the temperature of the stirring zone core is too high, the stirring head speed is preferentially reduced; when the temperature of the shoulder action zone is too low, the axial pressure is preferentially increased; when the temperature gradient of the advancing side is too large, the welding travel speed is preferentially increased. The specific adjustment amount is calculated according to the temperature deviation value to form the directional temperature control parameter.

[0039] S500, according to the directional temperature control parameter, adjust the welding process parameters and monitor the stirring head torque and the temperature field change to obtain temperature control execution data.

[0040] In this embodiment, the stirring head torque reflects the material flow resistance state; the temperature field change includes the dynamic response characteristics of the temperature of each region; the temperature control execution data includes the torque fluctuation curve, the temperature response curve and the heat input change curve.

[0041] Specifically, the process parameter adjustment instruction is executed by the control system, real-time torque data of the stirring head motor is collected, the temperature change trend of each region is monitored, and the input power of the welding equipment is collected. These data are integrated to form complete temperature control execution data.

[0042] S600, based on the temperature control execution data, the optimized process parameter instruction is sent to the control system to obtain the final weld temperature field control result.

[0043] In this embodiment, the optimized process parameter instruction refers to the parameter set value adjusted according to the execution effect; the temperature field control result includes the final temperature distribution state and control precision evaluation data.

[0044] Specifically, the parameter optimization criterion is established, and the parameter setting is adjusted according to the temperature response and torque fluctuation. The optimized parameter instruction is executed by the control system, and the temperature field is continuously monitored until a stable state is reached, and the final temperature distribution data and control precision are recorded.

[0045] In one embodiment, referring to Figure 2 In step S100, the welding process parameters and target temperature parameters are obtained, and the temperature control range value required for solid phase connection is calculated according to the material melting point, which specifically includes the following steps: S110, extracting the material melting point temperature from the target temperature parameter, and determining the main temperature control target according to the material melting point temperature.

[0046] In this embodiment, the material melting point temperature refers to the temperature value of the material being welded when it changes from solid to liquid at normal pressure; the main temperature control target includes three key temperature points of solidus temperature, softening temperature and recrystallization temperature.

[0047] Specifically, a melting point database of common engineering materials is established, including the melting point temperature values of four types of materials: aluminum alloy, magnesium alloy, titanium alloy and stainless steel. The material type information is extracted from the target temperature parameter, and the corresponding melting point temperature is queried. For example, according to the melting point temperature, the solidus temperature is determined as 0.9 times the melting point temperature, the softening temperature is determined as 0.8 times the melting point temperature, and the recrystallization temperature is determined as 0.7 times the melting point temperature, forming the main temperature control target.

[0048] S120, according to the material melting point temperature and the welding process parameters, the heat input, temperature gradient and heat conduction rate are calculated to obtain the temperature field characteristic parameters.

[0049] In this embodiment, the heat input refers to the heat transferred from the stirring head to the workpiece per unit time; the temperature gradient refers to the rate of change of temperature in space; the heat conduction rate refers to the propagation speed of heat in the material; and the temperature field characteristic parameter includes heat input density, temperature change rate and heat transfer coefficient.

[0050] Specifically, a calculation model of process parameters and heat input is established. The rotational speed of the stirring head, the axial pressure and the welding travel speed are substituted into the model to calculate the heat input per unit time. The temperature gradient distribution is calculated in combination with the thermal conductivity of the material. The heat conduction rate is calculated by the finite difference method. The calculation results are integrated into the temperature field characteristic parameters.

[0051] In S130, the temperature distribution ranges of the advancing side, the retreating side, the stirring core and the shoulder action zone are determined based on the temperature field characteristic parameters to obtain the temperature distribution threshold.

[0052] In this embodiment, the temperature distribution range refers to the fluctuation interval of the temperature of each region; and the temperature distribution threshold includes the upper and lower limit values of the temperature of each region.

[0053] Specifically, according to the temperature field characteristic parameters, the stirring core temperature range is determined to be the softening temperature to the solidus temperature, the shoulder action zone temperature range is determined to be the recrystallization temperature to the softening temperature, and the temperature ranges of the advancing side and the retreating side are between the two intervals. The upper and lower limit values of the temperature of each region are recorded to form the temperature distribution threshold.

[0054] In S140, the temperature fluctuation allowed range is set according to the temperature distribution threshold and the main temperature control target to obtain the temperature control range value required for solid phase connection.

[0055] In this embodiment, the temperature fluctuation allowed range refers to the maximum amplitude of the actual temperature deviating from the set value; and the temperature control range value includes the upper limit, the lower limit and the fluctuation range of the temperature control of each region.

[0056] Specifically, on the basis of the temperature distribution threshold, the stirring core temperature fluctuation range is set to be, for example, ±5%, the shoulder action zone temperature fluctuation range is set to be ±8%, and the temperature fluctuation ranges of the advancing side and the retreating side are set to be ±10%. The temperature distribution threshold and the fluctuation range are combined to form the final temperature control range value.

[0057] In one embodiment, with reference to Figure 3 In S200, the temperature distribution data around the stirring head is collected to obtain the real-time temperature characteristics of the advancing side, the retreating side, the stirring core and the shoulder action zone, which specifically includes the following steps: In S210, real-time temperature data around the stirring head is collected to obtain a temperature field distribution matrix.

[0058] In this embodiment, the real-time temperature data refers to the instantaneous temperature value collected by the temperature sensor; and the temperature field distribution matrix refers to a two-dimensional array formed by arranging the temperature data of the collection points according to the spatial positions.

[0059] Specifically, the thermocouple array and infrared detector are arranged around the stirring head. A data acquisition card is used to synchronously collect temperature data at a frequency of 10 Hz, and a temperature field distribution matrix is generated after coordinate mapping conversion.

[0060] S220, according to the rotating direction of the stirring head, the temperature field distribution matrix is divided into forward side and backward side temperature data.

[0061] In this embodiment, the forward side temperature data refers to the temperature data on the side where the rotating direction of the stirring head is the same as the welding direction; the backward side temperature data refers to the temperature data on the side where the rotating direction of the stirring head is opposite to the welding direction.

[0062] Specifically, a coordinate positioning system is established. Taking the axis of the stirring head as the origin and the welding direction as the positive direction of the X-axis, according to the clockwise rotating direction of the stirring head, the positive half-axis region of the X-axis in the temperature field distribution matrix is divided into the forward side, and the negative half-axis region of the X-axis is divided into the backward side, and the temperature data of each region is extracted.

[0063] S230, measure the temperature change of the high temperature region around the stirring needle, and determine the temperature distribution characteristics of the stirring zone core.

[0064] In this embodiment, the high temperature region refers to the region where the temperature exceeds the softening temperature of the material; the temperature distribution characteristics of the stirring zone core include temperature peak value, temperature uniformity and temperature fluctuation period.

[0065] S240, measure the radial temperature gradient of the contact interface between the shaft shoulder and the workpiece, and obtain the temperature distribution characteristics of the shaft shoulder action area.

[0066] In this embodiment, the radial temperature gradient refers to the temperature change rate from the center to the edge of the shaft shoulder; the temperature distribution characteristics of the shaft shoulder action area include the radial temperature distribution curve and the temperature gradient change rate.

[0067] S250, integrate the forward side and backward side temperature gradient, the stirring zone core temperature distribution characteristics, and the shaft shoulder action area temperature distribution characteristics to obtain real-time temperature characteristics.

[0068] In this embodiment, the temperature gradient refers to the rate of change of temperature in space; the real-time temperature characteristics include the temperature distribution state and the change trend of each region.

[0069] Specifically, a four-zone temperature characteristic data table is established. The temperature gradient values of the forward side and the backward side, the temperature peak value and the distribution range of the stirring zone core, and the radial temperature distribution data of the shaft shoulder action area are recorded in a unified format.

[0070] Further, the symmetry index of the temperature distribution of the advancing side and the retreating side is calculated, the shift trend of the temperature peak position of the stirring zone is monitored, and the distortion degree of the temperature field of the shoulder action zone is analyzed. When the temperature field symmetry is reduced, it indicates that the weld forming may be uneven; when the temperature peak drifts, it indicates that the material flow may be abnormal; and when the temperature field is distorted, it indicates that welding defects may be formed. These characteristic parameters are matched with the preset defect mapping table to realize real-time evaluation of the welding state.

[0071] In one embodiment, with reference to Figure 4 In step S300, the temperature field distribution of each region is analyzed according to the real-time temperature characteristics and the temperature control range value, and a temperature abnormality determination result is obtained, specifically including the following steps: S310, the real-time temperature characteristics of the advancing side, the retreating side, the stirring zone core and the shoulder action zone are analyzed to obtain the temperature field distribution law.

[0072] In this embodiment, the temperature field distribution law refers to the spatial distribution characteristics and time variation characteristics of the temperature of each region, including the temperature gradient direction, the temperature peak position and the temperature fluctuation period.

[0073] Specifically, the temperature gradient difference between the advancing side and the retreating side, the temperature distribution form of the stirring zone core, and the radial temperature variation trend of the shoulder action zone are analyzed, and the temperature distribution law of each region is summarized.

[0074] S320, compare the temperature of each region with the temperature control range value, and calculate the temperature deviation value.

[0075] In this embodiment, the temperature deviation value includes the deviation of the actual temperature from the upper limit of the control, the deviation of the actual temperature from the lower limit of the control, and the deviation of the temperature gradient from the limit value.

[0076] Specifically, the temperature deviation is calculated by table lookup comparison. The actual temperature value of each region is compared with the upper and lower limits in the temperature control range value to calculate the temperature difference absolute value. For the advancing side and the retreating side, the difference between the temperature gradient and the limit value is additionally calculated to form a complete temperature deviation data set.

[0077] S330, based on the temperature field distribution law and the temperature deviation value, determine the temperature abnormality region position.

[0078] In this embodiment, the temperature abnormality region position refers to the specific region and range where the temperature deviation occurs, including the abnormal point coordinates and the abnormal region area.

[0079] Specifically, the temperature abnormality determination criteria are established. When the temperature of a certain region exceeds the control range value or the temperature gradient exceeds the limit value, the region is marked as an abnormal region. The spatial coordinates of the abnormal point are recorded, the coverage range of the abnormal region is calculated, and the specific position information of the temperature abnormality region is determined.

[0080] S340, obtaining a temperature anomaly determination result according to the temperature anomaly region position and the temperature deviation value.

[0081] In this embodiment, the temperature anomaly determination result contains position information of the abnormal region, temperature deviation degree and abnormal duration.

[0082] Specifically, a list recording method is adopted. According to the position of the abnormal region, the temperature deviation value, the number of abnormal points and the detection time of each abnormal region are recorded. These information is sorted into a temperature anomaly determination report.

[0083] In one embodiment, referring to Figure 5 , in step S400, based on the temperature anomaly determination result, the stirring head rotation speed adjustment amount, the axial pressure change amount and the welding travel speed correction value of the abnormal region are calculated to obtain the directional temperature control parameters, which specifically include the following steps: S410, determining the adjustment priority and the heat input adjustment value required by the abnormal region according to the temperature anomaly region position and the temperature deviation value.

[0084] In this embodiment, the adjustment priority refers to the adjustment order of different process parameters; the heat input adjustment value refers to the heat required to be increased or decreased to compensate for the temperature deviation.

[0085] Specifically, a mapping relationship table between temperature anomaly and parameter adjustment is established. When the core temperature of the stirring zone is too high, the stirring head rotation speed is reduced to reduce the heat input; when the temperature of the shoulder acting area is too low, the axial pressure is increased to increase the heat input; when the temperature gradient of the advancing side is too large, the welding travel speed is adjusted to change the heat input distribution. According to the size of the temperature deviation value, the heat input adjustment value required by each region is calculated to determine the adjustment priority order of the process parameters.

[0086] S420, based on the heat input adjustment value, calculating the stirring head rotation speed adjustment amount, the axial pressure change amount and the welding travel speed correction value.

[0087] In this embodiment, the process parameter adjustment amount refers to the specific parameter value that needs to be changed to achieve the target heat input adjustment, which contains three dimensions of rotation speed, pressure and speed.

[0088] Further, the parameter linkage adjustment calculation process is established. First, the heat input adjustment value is substituted into the heat conservation equation to calculate the adjustment amount of the main influencing parameters: according to the area where the temperature deviation occurs, the main adjustment parameters are selected, and the auxiliary adjustment parameters are determined. When the core temperature deviation of the stirring zone occurs, the rotation speed is adjusted first; when the temperature deviation of the shaft shoulder action zone occurs, the pressure is adjusted first; when the temperature gradient of the advancing side is abnormal, the welding speed is adjusted first. For the main adjustment parameters, the adjustment step is selected according to the pre-established parameter change-temperature change characteristic table, and the first adjustment amount is 60% of the total adjustment amount; if the temperature deviation still exists, the second adjustment is performed, and the adjustment amount is 30% of the total adjustment amount; the third adjustment amount is 10%. If the temperature deviation still exists after the adjustment of the main parameters, the other parameters are adjusted in turn according to the pre-set parameter priority order, the same step-by-step adjustment strategy is adopted, and the adjustment step is obtained by querying the corresponding parameter change-temperature change corresponding table. During the parameter adjustment process, the coupling effect of the three parameters is calculated in real time based on the relationship between the heat input and the power, so as to ensure the coordinated improvement of the temperature field in each region.

[0089] S430, the adjustment priority, the stirring head rotation speed adjustment amount, the axial pressure change amount and the welding travel speed correction value are integrated to obtain the directional temperature control parameter.

[0090] In this embodiment, the directional temperature control parameter refers to a complete parameter scheme for guiding the temperature field regulation, including the sequence, direction and specific value of parameter adjustment.

[0091] In one embodiment, referring to Figure 6 , in step S500, the welding process parameters are adjusted according to the directional temperature control parameter, and the stirring head torque and temperature field change are monitored to obtain temperature control execution data, which specifically includes the following steps: S510, the stirring head rotation speed adjustment, the axial pressure change and the welding travel speed correction are executed in turn according to the adjustment priority.

[0092] In this embodiment, the adjustment priority refers to the adjustment sequence and time interval of the process parameters; the parameter adjustment execution refers to the conversion of parameter change instructions into device actions through the control system.

[0093] Specifically, the parameter adjustment execution process is established. For example, the stirring head rotation speed adjustment is performed first, then the axial pressure adjustment is performed, and finally the welding travel speed adjustment is performed, and the stability is observed. The timing function of the control system is used to realize the time sequence control of the parameter adjustment.

[0094] S520, the stirring head torque change is monitored to obtain the torque fluctuation curve.

[0095] In this embodiment, the torque fluctuation refers to the change of resistance received by the stirring head during rotation; the torque fluctuation curve includes the torque mean value, the fluctuation amplitude and the fluctuation frequency.

[0096] Specifically, the torque sensor is used to collect torque data in real time. High-frequency sampling is set to ensure data accuracy, and torque change data within a time period is recorded. Through digital filtering to remove noise, the torque mean and standard deviation are calculated, the torque-time curve is drawn, and the complete torque fluctuation characteristic record is formed.

[0097] S530, collect temperature field change data of each region, and obtain temperature response curve.

[0098] In this embodiment, the temperature response refers to the dynamic change process of the temperature field after the process parameter adjustment; the temperature response curve includes the heating rate, the cooling rate and the stabilization time.

[0099] Specifically, the temperature data is collected synchronously by the infrared thermal imager and the thermocouple array. Within a complete cycle after parameter adjustment, the temperature change of four regions is recorded. The temperature change rate is calculated, the inflection point and the stable interval of the temperature response are identified, and the temperature-time curve of each region is generated.

[0100] S540, collect welding equipment power change data, and obtain heat input change curve.

[0101] In this embodiment, the heat input change refers to the dynamic change of energy input in the welding process; the heat input change curve includes power fluctuation and heat efficiency change.

[0102] Specifically, the power analyzer is used to monitor the equipment input power. The motor power, spindle torque power and feeding power of three data channels are recorded. The data is collected according to the appropriate sampling period, the comprehensive power and heat efficiency are calculated, the power-time curve is drawn, and the heat input change characteristic record is formed.

[0103] S550, integrate the torque fluctuation curve, the temperature response curve and the heat input change curve to obtain temperature control execution data.

[0104] In this embodiment, the temperature control execution data refers to the comprehensive data set reflecting the parameter adjustment effect; the data integration refers to the time alignment and correlation analysis of multiple data curves.

[0105] Specifically, a data integration analysis table is established. The torque fluctuation curve, the temperature response curve and the heat input change curve are aligned according to the unified time reference, and the parameter adjustment time point is marked. The correlation and response characteristics among the curves are analyzed: when the torque fluctuation amplitude increases, it indicates that the material flow state changes, and the parameter adjustment step needs to be re-evaluated; when the temperature response appears lag or overshoot, it means that the parameter adjustment rate needs to be optimized; when the heat input curve fluctuates intensively, it indicates that the parameter adjustment may cause process instability. Based on these analysis results, the effectiveness of parameter adjustment is evaluated to provide a basis for the next optimization, ensuring the accuracy and stability of the temperature field control.

[0106] In one embodiment, referring to Figure 7 , in step S600, based on the temperature control execution data, the optimized process parameter instruction is sent to the control system to obtain the final weld temperature field control result, specifically including the following steps: S610, analyze the temperature control execution data to evaluate the process parameter adjustment effect.

[0107] In this embodiment, the process parameter adjustment effect refers to the degree of influence of parameter change on the temperature field; the evaluation index includes temperature response speed, temperature control accuracy and process stability.

[0108] Specifically, a parameter adjustment effect evaluation method is established. Three key indicators, temperature response time, temperature deviation value and torque fluctuation amplitude, are extracted from the temperature control execution data. When the temperature response time is within the preset range, the temperature deviation value is less than the control accuracy requirement, and the torque fluctuation amplitude is in the stable interval, it is determined that the parameter adjustment effect is good; otherwise, the parameters need to be further optimized.

[0109] S620, according to the adjustment effect, optimize the process parameter instruction, and send the optimized process parameter instruction to the control system.

[0110] In this embodiment, the optimized process parameter instruction refers to fine-tuning the parameters according to the evaluation results; the parameter instruction includes specific parameter setting values and execution timing.

[0111] Specifically, parameter optimization rules are used. When the temperature response is too slow, increase the parameter adjustment step; when the temperature fluctuation is too large, reduce the parameter adjustment step; when the torque is unstable, adjust the parameter change sequence. The optimized parameter value and adjustment sequence are compiled into a control instruction and sent to the control system for execution through a communication interface.

[0112] S630, continuously monitor the change of the weld temperature field to obtain the final temperature field control result.

[0113] In this embodiment, the weld temperature field control result refers to the final temperature field state reached; the control result evaluation includes temperature distribution uniformity and control process stability.

[0114] Specifically, a temperature field monitoring scheme is established. The temperature sensor continuously collects weld temperature data to record the temperature change trend of each region. When the temperature field distribution meets the expected requirements and remains stable for more than a period of time, the final temperature distribution data is recorded to form a temperature field control result report.

[0115] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0116] In a second aspect, the present application provides a friction stir welding temperature control system, which will be described below in combination with the above friction stir welding temperature control method.

[0117] Referring to Figure 8 A friction stir welding temperature control system comprises: A temperature control range value calculation module is configured to obtain welding process parameters and target temperature parameters, and calculate a temperature control range value required for solid-phase connection according to a material melting point; A real-time temperature feature acquisition module is configured to collect temperature distribution data around a stir head to obtain real-time temperature features of an advancing side, a retreating side, a stirring zone core, and a shoulder action zone; A temperature anomaly determination result acquisition module is configured to analyze temperature field distribution of each region according to the real-time temperature features and the temperature control range value to obtain a temperature anomaly determination result; A directional temperature control parameter acquisition module is configured to calculate a stir head rotational speed adjustment amount, an axial pressure change amount, and a welding travel speed correction value of an abnormal region based on the temperature anomaly determination result to obtain directional temperature control parameters; A temperature control execution data acquisition module is configured to adjust welding process parameters and monitor stir head torque and temperature field changes according to the directional temperature control parameters to obtain temperature control execution data; A weld temperature field control result acquisition module is configured to send optimized process parameter instructions to a control system based on the temperature control execution data to obtain a final weld temperature field control result.

[0118] In one embodiment, the present application provides an electronic device, which can be a server, and its internal structure diagram can be as shown in Figure 9 The electronic device includes a processor, a memory, and a network interface connected through a system bus. The processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the electronic device is configured to store data. The network interface of the electronic device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement a friction stir welding temperature control method.

[0119] Those skilled in the art can understand that,Figure 9 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0120] In an embodiment, an electronic device is also provided, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above-mentioned method embodiments when executing the computer program.

[0121] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing relevant hardware. The above-mentioned computer program can be stored in a non-volatile computer readable storage medium and, when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, storage, database or other medium used in the embodiments provided by the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not as a limitation, RAM can be in various forms such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0122] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A method for temperature control in friction stir welding, characterized in that, Includes the following steps: Obtain welding process parameters and target temperature parameters, and calculate the temperature control range required for solid-state bonding based on the material melting point; Collect temperature distribution data around the stirring head to obtain real-time temperature characteristics of the forward side, the backward side, the core of the stirring zone, and the shoulder action zone; Based on the real-time temperature characteristics and the temperature control range value, the temperature field distribution of each region is analyzed to obtain the temperature anomaly determination result. Based on the temperature anomaly determination results, the stirring head speed adjustment, axial pressure change, and welding travel speed correction value in the abnormal area are calculated to obtain the directional temperature control parameters. Based on the directional temperature control parameters, the welding process parameters are adjusted and the changes in stirring head torque and temperature field are monitored to obtain temperature control execution data; Based on the temperature control execution data, optimized process parameter instructions are sent to the control system to obtain the final weld temperature field control result.

2. The temperature control method for friction stir welding according to claim 1, characterized in that, Obtain welding process parameters and target temperature parameters, and calculate the temperature control range required for solid-state bonding based on the material melting point. This process includes the following steps: Extract the material melting point temperature from the target temperature parameters, and determine the main temperature control target based on the material melting point temperature; Based on the melting point temperature of the material and the welding process parameters, the heat input, temperature gradient and heat conduction rate are calculated to obtain the temperature field characteristic parameters. Based on the temperature field characteristic parameters, the temperature distribution range of the forward side, the backward side, the core of the stirring zone and the shoulder action zone is determined, and the temperature distribution threshold is obtained. Based on the temperature distribution threshold and the main temperature control target, the allowable temperature fluctuation range is set to obtain the temperature control range value required for solid-phase connection.

3. The temperature control method for friction stir welding according to claim 1, characterized in that, Collect temperature distribution data around the stirring head to obtain real-time temperature characteristics of the forward side, backward side, core of the stirring zone, and shoulder action zone. This process includes the following steps: Real-time temperature data around the stirring head is collected to obtain the temperature field distribution matrix; Based on the direction of rotation of the stirring head, the temperature field distribution matrix is ​​divided into temperature data for the advancing side and the retreating side; Measure the temperature change in the high-temperature area around the stirring needle to determine the temperature distribution characteristics of the core of the stirring zone; The radial temperature gradient at the interface between the shoulder and the workpiece is measured to obtain the temperature distribution characteristics of the shoulder's working area. By integrating the temperature gradients on the forward and backward sides, the core temperature distribution characteristics of the stirring zone, and the temperature distribution characteristics of the shoulder action zone, real-time temperature characteristics are obtained.

4. The temperature control method for friction stir welding according to claim 3, characterized in that, Based on the real-time temperature characteristics and the temperature control range value, the temperature field distribution of each region is analyzed to obtain the temperature anomaly determination result, which specifically includes the following steps: The real-time temperature characteristics of the forward side, the backward side, the core of the stirring zone, and the shoulder action zone were analyzed to obtain the temperature field distribution law; Compare the temperature of each area with the temperature control range value and calculate the temperature deviation value; Based on the temperature field distribution pattern and temperature deviation value, determine the location of temperature anomaly areas; The temperature anomaly determination result is obtained based on the location of the temperature anomaly area and the temperature deviation value.

5. The temperature control method for friction stir welding according to claim 1, characterized in that, Based on the temperature anomaly determination results, the adjustment amount of the stirring head rotation speed, the change in axial pressure, and the correction value of the welding travel speed in the abnormal area are calculated to obtain the directional temperature control parameters. Specifically, the following steps are included: Based on the location of the temperature anomaly area and the temperature deviation value, determine the adjustment priority and the required heat input adjustment value for the anomaly area; Based on the heat input adjustment value, calculate the stirring head rotation speed adjustment, axial pressure change, and welding travel speed correction value; By integrating the adjustment priority, the stirring head speed adjustment, the axial pressure change, and the welding travel speed correction value, the directional temperature control parameters are obtained.

6. The temperature control method for friction stir welding according to claim 5, characterized in that, Based on the directional temperature control parameters, the welding process parameters are adjusted and the changes in stirring head torque and temperature field are monitored to obtain temperature control execution data. Specifically, this includes the following steps: According to the adjustment priority, the stirring head speed adjustment, axial pressure change and welding travel speed correction are performed in sequence; Monitor the torque changes of the stirring head and obtain the torque fluctuation curve; Collect temperature field change data in various regions and obtain temperature response curves; Collect power variation data of welding equipment and obtain heat input variation curves; By integrating the torque fluctuation curve, temperature response curve, and heat input change curve, temperature control execution data is obtained.

7. The temperature control method for friction stir welding according to claim 1, characterized in that, Based on the temperature control execution data, optimized process parameter commands are sent to the control system to obtain the final weld temperature field control result, specifically including the following steps: Analyze temperature control execution data and evaluate the effectiveness of process parameter adjustments; Based on the adjustment effect, optimize the process parameter instructions and send the optimized process parameter instructions to the control system; Continuous monitoring of the temperature field changes in the weld seam yields the final temperature field control results.

8. A temperature control system for friction stir welding, characterized in that, include: The temperature control range calculation module is used to obtain welding process parameters and target temperature parameters, and calculate the temperature control range required for solid-state bonding based on the material melting point. The real-time temperature feature acquisition module is used to collect temperature distribution data around the stirring head and obtain the real-time temperature features of the forward side, the backward side, the core of the stirring zone, and the shoulder action zone. The temperature anomaly determination result acquisition module is used to analyze the temperature field distribution of each region based on the real-time temperature characteristics and the temperature control range value, and obtain the temperature anomaly determination result. The directional temperature control parameter acquisition module is used to calculate the stirring head speed adjustment, axial pressure change, and welding travel speed correction value in the abnormal area based on the temperature anomaly determination result, and obtain the directional temperature control parameters. The temperature control execution data acquisition module is used to adjust the welding process parameters and monitor the changes in stirring head torque and temperature field according to the directional temperature control parameters to obtain temperature control execution data; The weld temperature field control result acquisition module is used to send optimized process parameter instructions to the control system based on the temperature control execution data, so as to obtain the final weld temperature field control result.

9. An electronic device, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the friction stir welding temperature control method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the friction stir welding temperature control method according to any one of claims 1-7.

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