中文摘要：

超声波电动机是一种依靠振动和摩擦来传递运动的新型微电机。从工作原理来看，超声波电动机是一个高度非线性系统，采用经典PID控制无法取得理想的控制效果。设计一种单神经元自适应PID控制器，用于超声波电动机转速控制研究，取得较好的试验效果。

英文摘要：

Ultrasonic motor is a new type of micro motor, which transmits motion by vibration and friction. From the working principle of ultrasonic motor, it is a nonlinear system, so if using the traditional PID control method the system can not get a better control effect. A single neuron adaptive PID controller was designed for the speed control of the ultrasonic motor, and a better test effect was gotten.