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中文摘要：
驱动控制是超声电机性能提高和工程应用的关键技术之一。基于行波型超声电机的工作机理，分析因为外界环境因素（如温度的改变，驱动电压的改变）的变化对超声电机工作性能的影响，开发了一种通过稳定超声电机一相驱动电压与孤极反馈电压的相位差，从而保持电机工作状态恒定的新型驱动控制器。从硬、软件2个方面设计基于单片机的超声电机恒工作状态控制系统，并进行了实验验证。结果表明，此种通过稳定相位差的新型超声电机驱动控制器，基本可以达到维持电机恒定工作状态的目的。
英文摘要：
Driving and control techniques are important for applications of ultrasonic motor. Based on the working mechanism of traveling wave ultrasonic motor, the impacts that the operational conditions affect on it were analyzed. A novel controller based on stabilizing the phase difference between the driving voltage and the monitor electrode voltage was designed, and it could keep the motor work on a required state stably. The topic began from the hardware and the software aspects to design the ultrasonic motor control system that based on the SCM （single chip microcomputer） PID control. The hardware electric circuit mainly included the monolithic integrated circuit, basic driving circuit and feedback circuit which consist of waveform converter, phase discriminator and keyboard control circuit. Experimental results show that the proposed circuit can maintain the phase difference invariable.
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