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On the basis of the thermal-elastic-plastic theory, a three-dimensional finite element numerical simulation is performed on the girth welded residual stresses of the duplex stainless steel pipe with ANSYS nonlinear finite element program for the first time. Three-dimensional FEM using mobile heat source for analysis transient temperature field and welding stress field in circumferential joint of pipes is founded. Distributions of axial and hoop residual stresses of the joint are investigated. The axial and the hoop residual stresses at the weld and weld vicinity on inner surface of pipes are tensile, and they are gradually transferred into compressive with the increase of the departure from the weld. The axial residual stresses at the weld and weld vicinity on outer surface of pipes is compressive while the hoop one is tensile. The distributions of residual stresses compared positive-circle with negative-circle show distinct symmetry. These results provide theoretical knowledge for the optimization of process and the control of welding residual stresses.