中文摘要：

介绍了PSoC技术在行波型旋转超声波电动机驱动的直线位移机构步进运动控制系统中的应用。由PSoC微处理器构成步进超声波电动机的智能控制器，PSoC内部的PWM（脉冲宽度调节器）模块发出连续方波信号，经由功率放大电路将方波信号转换成驱动超声波电动机运转所需的正弦信号，通过计数器控制中断实现信号脉冲发射，从而实现基于超声波电动机的直线位移机构的步进运动。用LabVIEW编写了相关程序和控制界面，由L位机PC端控制超声波电动机的运行状态，通过RS－232串口通信电路向PSoC发送控制命令。最后通过XL-80激光卜涉仪对机构进行了位移精度测试，试验结果表明该机构运行平稳，步距固定，位移分辨率达到了6nm，取得了理想的效果。

英文摘要：

The application of PSoC in the stepper control system of liner displacement mechanism drived by TRUM （traveling wave rotary ultrasonic motors） was put forward. Single PSoC constituted the controller of stepper motor in which the PWM module sent square wave signal out continuously, and was interrupted by counter to achieve pulse sending. At last, the square signal was switched to the sine signal that was essential to the motor＇ normal working through power amplifier circuit ,so as to realize the linear displacement of the mechanism. We send out command signal from PC to PSoC by RS-232 to control the motor＇s running state and write related program in LabVIEW. At last, we made a test about the mechanism＇s stepping displacement by XL-80 laser interferometer and draw the curve. The test result shows that the mechanism moves steadily and has fixed step distance, which achieves a displacement resolution of 6 nm, so it achieves a good effect.