A three-dimensional sharp interface model is proposed to investigate the self-consistent keyhole and weld pool dynamics in deep penetration laser welding. The coupling of three-dimensional heat transfer, fluid flow and keyhole free surface evolutions in the welding process is simulated. It is theoretically confirmed that under certain low heat input welding conditions deep penetration laser welding with a collapsing free keyhole could be obtained and the flow directions near the keyhole wall are upwards and approximately parallel to the keyhole wall. However, significantly different weld pool dynamics in a welding process with an unstable keyhole are numerically found. Many flow patterns in the welding process with an unstable keyhole, verified by x-ray transmission experiments, were successfully simulated and analysed. Periodical keyhole collapsing and bubble formation processes are also successfully simulated and believed to be in good agreement with experiments. The mechanisms of keyhole instability are found to be closely associated with the behaviour of humps on the keyhole wall, and it is found that the welding speed and surface tension are closely related to the formation of humps on the keyhole wall. It is also shown that the weld pool dynamics in laser welding with an unstable keyhole are closely associated with the transient keyhole instability and therefore modelling keyhole and weld pool in a self-consistent way is significant to understand the physics of laser welding.

It has been observed that the penetration depth during laser welding (LW) under vacuum or reduced ambient pressure could be significantly greater than that during welding under atmospheric pressure. Previous explanations of this phenomenon usually limit to specific wavelength laser welding and have difficulties in explaining why the variation will disappear, as the welding speed increases. Here, we propose that this variation is caused by the temperature difference of keyhole wall under variable ambient pressure based on a correct physical description of related processes. A new surface pressure model, dependent on ambient pressure, is proposed for describing the evaporation process during laser material interaction under variable ambient pressure. For laser welding of a 304 stainless steel with 2.0 kW laser power and 3 m/min welding speed, it is shown that the average keyhole wall temperature is around 2900 K under atmospheric pressure, and only around 2300 K under vacuum, which results in significant penetration depth variations. Interestingly, it is also shown that as the welding speed increases, the average temperature of the front keyhole wall gradually rises due to the reduction of the mean incident angle of laser, and the magnitude of this increase is larger in welding under vacuum than under atmospheric pressure. It allows us to explain why the penetration depth improvement decreases to zero with the increase of welding speed.