Cascade control of the friction stir welding process to seal canisters for spent nuclear fuel

Research output: Contribution to journalArticle


This article presents the development to reliably seal copper canisters containing the Swedish nuclear waste, using friction stir welding. To avoid defects and welding tool fractures, it is important to control the welding temperature within a span of 790–910 degrees C. A cascade controller is used to efficiently suppress fast power input disturbances reducing their impact on the temperature. The controller is tuned using a recently presented method for robust PID control. Results show that the controller keeps the temperature within 710 degrees C during the 40 min long joint line sequences. Apart from the cascaded control structure, good process knowledge and control strategies adapted to different weld sequences have contributed to the successful results.


Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering


  • Cascade control Friction stir welding Temperature control Disturbance rejection PI controllers
Original languageEnglish
Pages (from-to)35-48
JournalControl Engineering Practice
Issue number1
Publication statusPublished - 2012
Publication categoryResearch

Bibliographic note

key=ceder_etal2011 month=January

Related projects

Niklas Andersson, Niklas Borg, Anna Lindholm, Anders Robertsson, ALFRED THEORIN, Bo Bernhardsson, Charlotta Johnsson, Johan Åkesson, Karl Johan Åström, Kristian Soltesz, Martin Hast, Ola Johnsson, Olof Garpinger, Per-Ola Larsson, Pontus Giselsson, Tore Hägglund & Vanessa Romero Segovia


Project: Research

Anders Robertsson, ALFRED THEORIN, Bo Bernhardsson, Josefin Berner, Karl Johan Åström, Martin Hast, Olof Garpinger, Per-Ola Larsson, Tore Hägglund, Vanessa Romero Segovia & Kristian Soltesz


Project: Research

View all (2)