摘要：针对超声波电机转速控制的非线性特点，给出一种解析逆控制方法。根据超声波电机的二阶频率-转速控制模型，求出逆模型，得到线性化的伪线性系统。考虑未建模动态影响，设计极点配置控制器实现伪线性系统的闭环控制。空载和加载情况下的转速控制实验，表明所提控制方法有效，具有较好的鲁棒性。

关键词：超声波电机；解析逆控制；伪线性系统；极点配置
Abstract: According to nonlinearity of ultrasonic motors speed control characteristics, a kind of analytical inverse control strategy was proposed. Based on the twoorder frequencyspeed model of ultrasonic motor, the inverse model and pseudo linear system was obtained. The closedloop controller using pole assignment strategy was also designed to deal with the nonmodeled dynamic characteristic. Experiment results with load and noload conditions show that the proposed scheme has excellent dynamic and static control performance.
Key words: ultrasonic motor；analytical inverse control；pseudo linear system；pole assignment