中文摘要：

为实现多自由度超声波电机优良的控制性能,需对电机的模态特性和输出特性进行精确测试。提出一种新型旋转-直线二自由度超声波电机的测控平台,并阐述测试的原理和方法。通过对定子端面振幅和转子运动速度的测试,证明该电机近谐振点惯性冲击驱动方法的有效性。

英文摘要：

In order to improve control performance of multi- degree- of- freedom （ M - DOF ） ultrasonic motor, modal characteristics and output characteristics of the motor should be tested accurately. A measurement and control platform for torsional-longitudinal 2-DOF motor was put forward, and testing principle and method were also illustrated. By testing the amplitude of the stator surface and the velocity of the rotor, the validity of smooth impact drive method （SIDM） was proved.