An analytical springback model for bending of welded tube considering the weld characteristics

•An analytical springback model considering the heterogeneous material properties and geometric characteristics of welded tube was established for bending.•In the model, the variations of the neutral layer, thickness, Young's modulus and anisotropic parameter with deformation were considered simultaneously.•The springback angles of a QSTE340 welded tube in numerical control bending were accurately predicted.•The influences of mechanical properties matching between weld and parent metal on springback were obtained.