摘  要：适合于控制应用的超声波电机模型是提高电机控制性能的基础。以频率为输入变量的超声波电机转速控制模型对于提高转速控制性能具有重要意义。该文设计实验测取转速阶跃响应，采用特征点法辨识电机模型。并针对模型参数的时变性，分别采用频率和转速为自变量对模型参数进行了函数拟合，得到了适当考虑非线性的电机转速控制模型。
关键词：超声波电机，转速控制，模型，辨识

Abstract: Ultrasonic motor’s model adapting to control application is the foundation of the motor’s high performance control. Ultrasonic motor’s frequency-speed control model gives a signification to improve speed control performance. This paper showed the design of stepping response experiments, and also explained the model identification of USM by the way of characteristic point method. Considering its time-varying characteristic, model parameters can be fitted using functions with the independent variable is frequency or speed. Consequently, non-linearity can reflect in speed control model appropriately.