中文摘要：

文章介绍一种超声波电动舵机控制系统的设计与实现方案,该方案以FPGA为控制核心,并采用变速积分PID控制策略来提高系统品质,将舵机控制系统与驱动系统进行一体化设计,从而实现了对超声波电动舵机的一体化控制。实验表明,该超声波舵机系统具有性能稳定、集成度高、精度高等特点,且其性能指标满足使用要求。

英文摘要：

The ultrasonic electromechanical-actuatorand its control principle is introduced, a FPGA-based control system for USM and a position control system of USM are also researched. The controller used the FPGA as the core, including the control circuit and drive circuit. The variable integral PID algorithm was used to improve the dynamic performance of the system. Experiments results show that the system is easy to design and realize, and can fulfill the demand of engineering.