摘  要：根据圆柱形多自由度超声电机的工作原理和特点，设计了一种新型驱动电路分析了其原理和特性。驱动电路特点是：用积分电路代替微分电路，消除了幅值和相位的耦合,较好地满足了电机驱动和控制的要求，有一定实用价值。
关键词：多自由度；超声电机；驱动电路；原理；特性；实验

Abstract:According to the mechanical characteristics of the cylinder type multi-DOF ultrasonic motor,the design requirements of its driving circuit were submitted.A driving circuit of the motor was developed and its driving principle and characteristics were analyzed.But the drive circuit above still has some deficiency.So the driving circuit was improved in which the differential circuit was replaced by an integral circuit.The new integral circuit avoided influence each other between the amplitude and the phase of the driving voltage,and the driving and controlling requirements of the cylinder type multi-DOF ultrasonic motor were satisfied well.
Key Words: Multi-degrees freedom;Ultrasonic motor;Drive circuit；Principle;Characteristic;Experiment