中文摘要：

通过超声电机（USM）的调速特性分析，选定驱动频率为控制变量；设计了基于CD4046的伺服调频电路进行uSM驱动；构建了USM的计算机测控系统；引入了利用遗传算法优化器整定P、I参数的PI控制器进行USM控制；采用二值编码技术对P、I参数进行染色体编码；构建了以位置偏差最小为目标的优化器适应度函数；通过遗传操作对PI参数动态地进行优化。进而实现了uSM的遗传算法．PI控制。实验表明：在USM性能发生变化的条件下，遗传算法一PI控制能实现uSM快速精确的位置控制，位置偏差可控制在：-0．1°～＋0．09°。

英文摘要：

Based on the speed characteristic of the ultrasonic motor（ USM）, driving frequency is determined as the control variable of the USM. A driving circuit used to regulate the driving frequency of the USM was designed. A measuring and control system based on a micro-computer was established. A PI controller with genetic algorithms （GAs） optimizer to optimize the PI parameters is introduced into the system. Chromosome based on binary genes is employed to code the parameters of the PI controller. The fitness function of the GAs-optimizer aiming at minimizing the position error of the USM is proposed. By a series of genetic operations, the parameters of the PI controller are optimized dynamically, hence the GAs-PI controller for the USM is implemented. It is shown by the experiments that rapid and precise positioning can be implemented using such a GAs-PI controller, and the positioning accuracy reaches -0.1°～＋0.09°.