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Improvement of the off-state breakdown voltage with field plate and low-density drain in AlGaN/GaN high-electron mobility transistors 被引量:1
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作者 张鹏 赵胜雷 +5 位作者 侯斌 王冲 郑雪峰 马晓华 张进成 郝跃 《Chinese Physics B》 SCIE EI CAS CSCD 2015年第3期332-335,共4页
We present an AlGaN/GaN high-electron mobility transistor(HEMT) device with both field plate(FP) and lowdensity drain(LDD). The LDD is realized by the injection of negatively charged fluorine(F-) ions under lo... We present an AlGaN/GaN high-electron mobility transistor(HEMT) device with both field plate(FP) and lowdensity drain(LDD). The LDD is realized by the injection of negatively charged fluorine(F-) ions under low power in the space between the gate and the drain electrodes. With a small-size FP and a LDD length equal to only 31% of the gate-drain spacing, the device effectively modifies the electric field distribution and achieves a breakdown voltage enhancement up to two times when compared with a device with only FP. 展开更多
关键词 GAN high-electron mobility transistors FLUORINE electric field
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Trap states induced by reactive ion etching in AlGaN/GaN high-electron-mobility transistors 被引量:1
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作者 罗俊 赵胜雷 +5 位作者 宓珉瀚 侯斌 杨晓蕾 张进成 马晓华 郝跃 《Chinese Physics B》 SCIE EI CAS CSCD 2015年第11期460-463,共4页
Frequency-dependent conductance measurements were carried out to investigate the trap states induced by reactive ion etching in A1GaN/GaN high-electron-mobility transistors (HEMTs) quantitatively. For the non-recess... Frequency-dependent conductance measurements were carried out to investigate the trap states induced by reactive ion etching in A1GaN/GaN high-electron-mobility transistors (HEMTs) quantitatively. For the non-recessed HEMT, the trap state density decreases from 2.48 × 1013 cm-2.eV-1 at an energy of 0.29 eV to 2.79 × 1012 cm-2.eV-1 at ET = 0.33 eV. In contrast, the trap state density of 2.38 × 1013-1.10× 1014 cm-2.eV-1 is located at ET in a range of 0.30-0.33 eV for the recessed HEMT. Thus, lots of trap states with shallow energy levels are induced by the gate recess etching. The induced shallow trap states can be changed into deep trap states by 350 ℃ annealing process. As a result, there are two different types of trap sates, fast and slow, in the annealed HEMT. The parameters of the annealed HEMT are ET = 0.29-0.31 eV and DT = 8.16× 1012-5.58 × 1013 cm-2.eV-1 for the fast trap states, and ET = 0.37-0.45 eV and DT = 1.84×1013- 8.50 × 1013 cm-2.eV-1 for the slow trap states. The gate leakage currents are changed by the etching and following annealing process, and this change can be explained by the analysis of the trap states. 展开更多
关键词 AlGaN/GaN high-electron mobility transistors (HEMTs) ANNEALING reactive ion etching trapstates
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Influence of ^(60)Co gamma radiation on fluorine plasma treated enhancement-mode high-electron-mobility transistor 被引量:2
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作者 全思 郝跃 +1 位作者 马晓华 于惠游 《Chinese Physics B》 SCIE EI CAS CSCD 2011年第5期439-443,共5页
A1GaN/GaN depletion-mode high-electron-mobility transistor (D-HEMT) and fluorine (F) plasma treated enhancement-mode high-electron-mobility transistor (E-HEMT) are exposed to 60Co gamma radiation with a dose of ... A1GaN/GaN depletion-mode high-electron-mobility transistor (D-HEMT) and fluorine (F) plasma treated enhancement-mode high-electron-mobility transistor (E-HEMT) are exposed to 60Co gamma radiation with a dose of 1.6 Mrad (Si). No degradation is observed in the performance of D-HEMT. However, the maximum transeonductance of E-HEMT is increased after radiation. The 2DEG density and the mobility are calculated from the results of capacitance-voltage measurement. The electron mobility decreases after fluorine plasma treatment and recovers after radiation. Conductance measurements in a frequency range from 10 kHz to 1 MHz are used to characterize the trapping effects in the devices. A new type of trap is observed in the F plasma treated E-HEMT compared with the D-HEMT, but the density of the trap decreases by radiation. Fitting of Gp/w data yields the trap densities DT = (1-3)Х1012 cm^-2.eV^-1 and DT = (0,2-0.8)Х10^12 cm^2-eV^-1 before and after radiation, respectively. The time constant is 0.5 ms-6 ms. With F plasma treatment, the trap is introduced by etch damage and degrades the electronic mobility. After 60Co gamma radiation, the etch damage decreases and the electron mobility is improved. The gamma radiation can recover the etch damage caused by F plasma treatment. 展开更多
关键词 A1GAN/GAN enhancement-mode high-electron-mobility transistors fluorine plasmatreatment 60Co gamma radiation
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The effects of ^(60)Co γ-ray irradiation on the DC characteristics of enhancement-mode AlGaN/GaN high-electron-mobility transistors 被引量:1
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作者 陈超 田本朗 +3 位作者 刘兴钊 戴丽萍 邓新武 陈远富 《Chinese Physics B》 SCIE EI CAS CSCD 2012年第7期596-598,共3页
The effects of ^60Co γ-ray irradiation on the DC characteristics of AlGaN/GaN enhancement-mode high-electron- mobility transistors (E-mode HEMTs) are investigated. The results show that having been irradiated by^60... The effects of ^60Co γ-ray irradiation on the DC characteristics of AlGaN/GaN enhancement-mode high-electron- mobility transistors (E-mode HEMTs) are investigated. The results show that having been irradiated by^60Co γ-rays at a dose of 3 Mrad (Si), the E-mode HEMT reduces its saturation drain current and maximal transconductance by 6% and 5%, respectively, and significantly increases both forward and reverse gate currents, while its threshold voltage is affected only slightly. The obvious performance degradation of E-mode A1GaN/GaN HEMTs is consistent with the creation of electronegative surface state charges in the source-gate spacer and gate-drain spacer after being irradiated. 展开更多
关键词 A1GAN/GAN enhancement-mode high-electron-mobility transistors ^60Co γ-ray irradi-ation
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The degradation and recovery properties of AlGaN/GaN high-electron mobility transistors under direct current reverse step voltage stress
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作者 石磊 冯士维 +2 位作者 郭春生 朱慧 万宁 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第2期411-414,共4页
Direct current(DC) reverse step voltage stress is applied on the gate of an AlGaN/GaN high-electron mobility transistor(HEMT).Experiments show that parameters degenerate under stress.Large-signal parasitic source/... Direct current(DC) reverse step voltage stress is applied on the gate of an AlGaN/GaN high-electron mobility transistor(HEMT).Experiments show that parameters degenerate under stress.Large-signal parasitic source/drain resistance(RS/RD) and gate-source forward I-V characteristics are recoverable after breakdown of the device under test(DUT).Electrons trapped by both the AlGaN barrier trap and the surface state under stress lead to this phenomenon,and surface state recovery is the major reason for the recovery of device parameters. 展开更多
关键词 high-electron mobility transistor surface state TRAP RECOVERY
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Reverse blocking enhancement of drain field plate in Schottky-drain AlGaN/GaN high-electron mobility transistors
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作者 赵胜雷 王媛 +5 位作者 杨晓蕾 林志宇 王冲 张进成 马晓华 郝跃 《Chinese Physics B》 SCIE EI CAS CSCD 2014年第9期399-403,共5页
In this paper, we present the combination of drain field plate (FP) and Schottky drain to improve the reverse blocking capability, and investigate the reverse blocking enhancement of drain FP in Schottky-drain AlGaN... In this paper, we present the combination of drain field plate (FP) and Schottky drain to improve the reverse blocking capability, and investigate the reverse blocking enhancement of drain FP in Schottky-drain AlGaN/GaN high-electron mobility transistors (HEMTs). Drain FP and gate FP were employed in a two-dimensional simulation to improve the reverse blocking voltage (VRB) and the forward blocking voltage (VFB). The drain-FP length, the gate-FP length and the passivation layer thickness were optimized. VRB and VFB were improved from -67 V and 134 V to -653 V and 868 V respectively after optimization. Simulation results suggest that the combination of drain FP and Schottky drain can enhance the reverse blocking capability significantly. 展开更多
关键词 AlGaN/GaN high-electron mobility transistors reverse blocking capability drain field plate Schottky drain
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Fabrication and characterization of V-gate AlGaN/GaN high-electron-mobility transistors
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作者 张凯 曹梦逸 +4 位作者 陈永和 杨丽媛 王冲 马晓华 郝跃 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第5期484-487,共4页
V-gate GaN high-electron-mobility transistors (HEMTs) are fabricated and investigated systematically. A V-shaped recess geometry is obtained using an improved Si3N4 recess etching technology. Compared with standard ... V-gate GaN high-electron-mobility transistors (HEMTs) are fabricated and investigated systematically. A V-shaped recess geometry is obtained using an improved Si3N4 recess etching technology. Compared with standard HEMTs, the fabricated V-gate HEMTs exhibit a 17% higher peak extrinsic transconductance due to a narrowed gate foot. Moreover, both the gate leakage and current dispersion are dramatically suppressed simultaneously, although a slight degradation of frequency response is observed. Based on a two-dimensional electric field simulation using Silvaco "ATLAS" for both standard HEMTs and V-gate HEMTs, the relaxation in peak electric field at the gate edge is identified as the predominant factor leading to the superior performance of V-gate HEMTs. 展开更多
关键词 high-electron-mobility transistors electric-field distribution field plate current dispersion
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AlGaN/GaN high-electron-mobility transistors with transparent gates by Al-doped ZnO
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作者 王冲 何云龙 +3 位作者 郑雪峰 马晓华 张进成 郝跃 《Chinese Physics B》 SCIE EI CAS CSCD 2013年第6期642-645,共4页
AlGaN/GaN high-electron-mobility transistors (HEMTs) with Al-doped ZnO (AZO) transparent gate electrodes are fabricated, and Ni/Au/Ni-gated HEMTs are produced in comparison. The AZO-gated HEMTs show good DC charac... AlGaN/GaN high-electron-mobility transistors (HEMTs) with Al-doped ZnO (AZO) transparent gate electrodes are fabricated, and Ni/Au/Ni-gated HEMTs are produced in comparison. The AZO-gated HEMTs show good DC characteristics and Schottky rectifying characteristics, and the gate electrodes achieve excellent transparencies. Compared with Ni/Au/Ni-gated HEMTs, AZO-gated HEMTs show a low saturation current, high threshold voltage, high Schottky barrier height, and low gate reverse leakage current. Due to the higher gate resistivity, AZO-gated HEMTs exhibit a current-gain cutoff frequency (fT) of 10 GHz and a power gain cutoff frequency (fmax) of 5 GHz, and lower maximum oscillation frequency than Ni/Au/Ni-gated HEMTs. Moreover, the C-V characteristics are measured and the gate interface characteristics of the AZO-gated devices are investigated by a C-V dual sweep. 展开更多
关键词 ALGAN/GAN high-electron-mobility transistor Al-doped ZnO
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Effect of gate length on breakdown voltage in AlGaN/GaN high-electron-mobility transistor
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作者 罗俊 赵胜雷 +5 位作者 宓珉瀚 陈伟伟 侯斌 张进成 马晓华 郝跃 《Chinese Physics B》 SCIE EI CAS CSCD 2016年第2期421-425,共5页
The effects of gate length L_G on breakdown voltage VBRare investigated in AlGaN/GaN high-electron-mobility transistors(HEMTs) with L_G= 1 μm^20 μm. With the increase of L_G, VBRis first increased, and then satura... The effects of gate length L_G on breakdown voltage VBRare investigated in AlGaN/GaN high-electron-mobility transistors(HEMTs) with L_G= 1 μm^20 μm. With the increase of L_G, VBRis first increased, and then saturated at LG= 3 μm. For the HEMT with L_G= 1 μm, breakdown voltage VBRis 117 V, and it can be enhanced to 148 V for the HEMT with L-_G= 3 μm. The gate length of 3 μm can alleviate the buffer-leakage-induced impact ionization compared with the gate length of 1 μm, and the suppression of the impact ionization is the reason for improving the breakdown voltage.A similar suppression of the impact ionization exists in the HEMTs with LG〉 3 μm. As a result, there is no obvious difference in breakdown voltage among the HEMTs with LG= 3 μm^20 μm, and their breakdown voltages are in a range of 140 V–156 V. 展开更多
关键词 A1GaN/GaN high-electron-mobility transistors (HEMTs) breakdown voltage gate length
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Extraction of terahertz emission from a grating-coupled high-electron-mobility transistor
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作者 周宇 李欣幸 +5 位作者 谭仁兵 薛伟 黄永丹 楼柿涛 张宝顺 秦华 《Journal of Semiconductors》 EI CAS CSCD 2013年第2期6-10,共5页
In a grating-coupled high-electron-mobility transistor, weak terahertz emission with wavelength around 400um was observed by using a Fourier-transform spectrometer. The absolute terahertz emission power was extracted ... In a grating-coupled high-electron-mobility transistor, weak terahertz emission with wavelength around 400um was observed by using a Fourier-transform spectrometer. The absolute terahertz emission power was extracted from a strong background blackbody emission by using a modulation technique. The power of terahertz emission is proportional to the drain-source current, while the power of blackbody emission has a distinct relation with the electrical power. The dependence on the drain-source bias and the gate voltage suggests that the terahertz emission is induced by accelerated electrons interacting with the grating. 展开更多
关键词 two-dimensional electron system Smith-Purcell radiation grating coupler high-electron-mobility transistor
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铜/钢异种金属高能束焊接技术的研究现状 被引量:1
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作者 赵健 石磊 +3 位作者 崔烺 陆煜 王英 陈东亮 《热加工工艺》 北大核心 2025年第3期7-13,共7页
随着异种金属复合结构件的应用日益广泛,铜/钢的焊接方法在工程应用中显得尤为重要。由于高能束焊接具有焊缝深宽比大、精确可控的聚焦方式以及焊件热变形小等优点,成为异种金属材料焊接领域的研究热点。在铜/钢异种金属焊接特点的分析... 随着异种金属复合结构件的应用日益广泛,铜/钢的焊接方法在工程应用中显得尤为重要。由于高能束焊接具有焊缝深宽比大、精确可控的聚焦方式以及焊件热变形小等优点,成为异种金属材料焊接领域的研究热点。在铜/钢异种金属焊接特点的分析基础上,综述了国内外铜/钢异种金属电子束焊接与激光焊接两方面的研究现状,归纳总结了研究中出现的问题及解决方法,并对其未来发展趋势进行了展望。 展开更多
关键词 铜/钢异种金属 高能束焊接 电子束焊接 激光焊接
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微束斑RHEED类平行束电子枪设计
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作者 赵伟霞 史丽娜 +2 位作者 刘俊标 殷伯华 韩立 《光学精密工程》 北大核心 2025年第12期1876-1888,共13页
针对高分辨率反射式高能电子衍射仪(RHEED)在微电子制造与表面分析领域的应用需求,而且长工作距离、微束斑、小束半角的电子枪是实现RHEED高分辨检测的关键核心部件,研制了微束斑的RHEED类平行束电子枪,分析了电子枪的电子光学系统特性... 针对高分辨率反射式高能电子衍射仪(RHEED)在微电子制造与表面分析领域的应用需求,而且长工作距离、微束斑、小束半角的电子枪是实现RHEED高分辨检测的关键核心部件,研制了微束斑的RHEED类平行束电子枪,分析了电子枪的电子光学系统特性,采用电子光学仿真软件仿真设计了低像差聚焦透镜;搭建了实验平台对研制的电子枪进行了束斑直径、束流和束半角性能测试与高定向热解石墨(HOPG)样品的衍射成像测试。实验结果表明:在工作距离500 mm下,RHEED类平行束电子枪的束斑直径为47.1μm(加速电压30 kV),发射束流与束半角分别为144.96μA,0.289 mrad(加速电压15 kV),在HOPG样品上获得了清晰的强度与晶体结构因子相对应的衍射斑点。 展开更多
关键词 电子光学 反射式高能电子衍射 电子枪 类平行电子束
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S波段GaN高功率前端组件设计与实现
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作者 张兆华 孟伟 +1 位作者 刘登宝 王珂珂 《微波学报》 北大核心 2025年第3期88-91,98,共5页
远程探测相控阵雷达等武器装备对收发组件提出了数字化、高功率、模块化、高集成的技术需求。本文针对高功率前端收发组件大电流传输通路的小压降及氮化镓(GaN)高功率器件的低热阻装配需求,采用先进纳米银烧结工艺、高介电常数基板制造... 远程探测相控阵雷达等武器装备对收发组件提出了数字化、高功率、模块化、高集成的技术需求。本文针对高功率前端收发组件大电流传输通路的小压降及氮化镓(GaN)高功率器件的低热阻装配需求,采用先进纳米银烧结工艺、高介电常数基板制造技术及高集成微组装等工艺技术,满足了高功率组件大电流传输中的小压降、GaN管芯内匹配电路的小型化、高温环境下高效散热等需求,基于GaN高功率管芯研制了一款S波段高功率高集成的前端收发组件,该组件的输出功率大于500 W、发射附加效率大于52%、功率器件供电通路上的大电流压降小于0.25 V@20 A、接收增益大于23 dB、噪声系数小于2.2、体积为63.5 mm×30 mm×10 mm、质量≤35 g,具有重要的应用价值。 展开更多
关键词 射频前端 氮化镓高电子迁移率晶体管 内匹配 纳米银烧结 氮化铝高温共烧陶瓷
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“高频电子线路”国家一流课程建设及改革实践
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作者 付卫红 韦娟 刘乃安 《电气电子教学学报》 2025年第1期44-48,共5页
“高频电子线路”是西安电子科技大学获批的国家一流本科课程,该课程是工程教育、专业认证等方面的重要支撑课,对通信工程相关专业的人才培养起着至关重要的作用。首先分析了传统的“高频”课程面临的问题和挑战,然后介绍了西安电子科... “高频电子线路”是西安电子科技大学获批的国家一流本科课程,该课程是工程教育、专业认证等方面的重要支撑课,对通信工程相关专业的人才培养起着至关重要的作用。首先分析了传统的“高频”课程面临的问题和挑战,然后介绍了西安电子科技大学“高频”课程组在一流课程建设方面的一些工作以及课堂改革方法和效果。课程建设和教学改革实践解决了高频课程教学中面临的多个问题,取得了良好的教学效果。 展开更多
关键词 一流课程 教学改革 高频电子线路
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高空大气X射线电离的工程计算模型
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作者 彭国良 孙华洋 +1 位作者 李夏至 韦源 《强激光与粒子束》 北大核心 2025年第10期20-24,共5页
建立了高空大气X射线辐射电离的工程计算模型,模型考虑了X射线与大气作用产生的高能电子在地磁场中的输运及电离大气问题,相较传统的射线能量沉积模型提高了计算精度。利用该模型分析了爆炸高度、纬度和当量对电离密度分布的影响规律,... 建立了高空大气X射线辐射电离的工程计算模型,模型考虑了X射线与大气作用产生的高能电子在地磁场中的输运及电离大气问题,相较传统的射线能量沉积模型提高了计算精度。利用该模型分析了爆炸高度、纬度和当量对电离密度分布的影响规律,结果表明:由于高能电子输运的影响,电离密度分布丧失了对称性;电离密度分布在经过爆心垂直于磁力线方向有明显增强;爆高越大,高海拔位置电离密度变大,高能电子输运带来的影响在高海拔区域变小,低海拔位置电离密度变小;当量对电离密度的数值有较大影响,但对电离密度的相对分布影响较小。 展开更多
关键词 高空大气电离 X射线 高能电子输运 工程模型 地磁场
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基于OBE理念的“高频电子技术”课程教学改革研究
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作者 宋智 董宝玉 +1 位作者 陈少华 盛虎 《科技风》 2025年第20期72-74,131,共4页
工程教育专业认证是国际通行的工程教育质量保障制度,对我国工程教育水平的提升及工程教育的国际化进程的促进具有深远影响。本研究聚焦大连交通大学“高频电子技术”课程教学现状,旨在探讨如何将学生中心、产出导向和持续改进的工程认... 工程教育专业认证是国际通行的工程教育质量保障制度,对我国工程教育水平的提升及工程教育的国际化进程的促进具有深远影响。本研究聚焦大连交通大学“高频电子技术”课程教学现状,旨在探讨如何将学生中心、产出导向和持续改进的工程认证理念整合进专业课程教学中,以实现教学理念与实践的有效融合。本文从课程目标设定、教学模式创新及多元化考核机制三个核心环节展开系统改革,实施基于成果导向教育(OBE)理念的高频课程教学改进措施,有效提升了学生实践能力和创新思维能力。 展开更多
关键词 OBE 高频电子技术 教学改革
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分立GaN HEMT器件动态电阻测量系统设计
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作者 文阳 石孟洁 +1 位作者 杨媛 张冲 《电力电子技术》 2025年第1期117-120,共4页
氮化镓(GaN)高电子迁移率晶体管(HEMT)在高频、高功率密度等应用领域得到广泛应用,然而GaN HEMT器件的导通电阻会随着应用工况发生改变(动态电阻现象),导致其在应用中导通损耗不能被准确评估。针对这一问题,本文设计了一种GaN HEMT器件... 氮化镓(GaN)高电子迁移率晶体管(HEMT)在高频、高功率密度等应用领域得到广泛应用,然而GaN HEMT器件的导通电阻会随着应用工况发生改变(动态电阻现象),导致其在应用中导通损耗不能被准确评估。针对这一问题,本文设计了一种GaN HEMT器件动态电阻测量系统。首先,介绍了动态电阻测试原理,其次,介绍了该测试系统的组成并对各部分设计原理及选型进行了详细的描述。最后,搭建了GaN HEMT器件动态电阻测试系统并对测试系统性能进行了测试。结果表明,该系统可以准确地测试GaN HEMT器件在不同工况下的动态电阻值。 展开更多
关键词 高电子迁移率晶体管 动态电阻 导通电压测量 测量系统
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Q值辨析及其在高频电子线路中的作用
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作者 于红旗 郑甜 +1 位作者 李楠 王玺 《电气电子教学学报》 2025年第4期46-50,共5页
Q值又称为品质因数,是器件和电路的一个重要参数,影响电路的频率选择性、稳定性、损耗、带宽、阻抗匹配、输出纯度等。不同的高频电子线路教材对Q值定义的角度不甚相同,易引起学生疑惑,论文对Q值的起源做了介绍,结合IEEE给出的定义,综... Q值又称为品质因数,是器件和电路的一个重要参数,影响电路的频率选择性、稳定性、损耗、带宽、阻抗匹配、输出纯度等。不同的高频电子线路教材对Q值定义的角度不甚相同,易引起学生疑惑,论文对Q值的起源做了介绍,结合IEEE给出的定义,综合多部教材,对Q值进行了详细阐述。最后给出了在高频电子线路中,Q值的应用及仿真,并结合RFID电子标签应用,给出了Q值对实际工程的指导意义。 展开更多
关键词 品质因数 高频电子线路 MULTISIM仿真
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基于电子齿轮箱叠加高阶运动的连续展成磨齿齿面修形方法
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作者 韩江 芮啸宇 +3 位作者 田晓青 游通飞 李光辉 夏链 《机械传动》 北大核心 2025年第8期38-45,共8页
【目的】齿轮齿面修形可以减少传动噪声和振动,提高承载能力和寿命。然而,传统修形齿轮加工时仅将鼓形量作为修形加工的约束条件,使得齿轮的修形设计与制造之间存在较大差异。针对该问题,提出了一种基于电子齿轮箱与高阶多项式插补相叠... 【目的】齿轮齿面修形可以减少传动噪声和振动,提高承载能力和寿命。然而,传统修形齿轮加工时仅将鼓形量作为修形加工的约束条件,使得齿轮的修形设计与制造之间存在较大差异。针对该问题,提出了一种基于电子齿轮箱与高阶多项式插补相叠加的连续展成磨齿齿面修形加工方法。【方法】首先,将标准圆柱斜齿轮的渐开线齿面通过坐标变换对蜗杆砂轮齿面进行建模;其次,根据蜗杆砂轮齿面参数方程与电子齿轮箱联动关系建立连续展成磨削加工模型,对加工过程中的砂轮的进给轴附加高阶多项式运动;再次,以标准渐开线齿面与实际加工齿面网格点之间的法向偏差为评判标准,通过Levenberg-Marquardt算法优化砂轮各进给轴运动函数的多项式系数;最后,通过西门子840Dsl数控系统的多项式插补功能,对该修形方法在西门子840Dsl磨齿机床上的实际运用做出探讨。【结果】通过数值分析和试验,验证了所提出的修形方法的有效性和可行性。 展开更多
关键词 蜗杆砂轮磨齿 齿面修形 电子齿轮箱 高阶多项式 多轴运动
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