摘要：The paper presents the methodology of tribological parameters control in the contact zone of ultrasonic piezo-electric motors. The main tribological surface characteris-tics influencing the speed regularity of USM in steady regimen (macro- and micro-asperities and friction coeffi-cient fluctuations between rotor surface and friction ele-ment) were analysed. Presenting control schemes of piezo-electric motors can diagnose the tribological properties of the contact zone and stabilise the rotation speed of piezo-electric motor.
