超声电机具有明显的非线性和时变特性。为提高其控制性能，神经网络等复杂控制策略已被提出，但这些方法计算复杂，导致系统硬件成本提高，不利于超声电机的产业化应用。为得到计算量较小且具有较高控制性能的控制策略，通过对超声电机典型控制过程的理论分析与转速控制实验研究，提出一种仅有2条专家规则的简单专家比例-积分-微分(proportional integral derivative，PID)控制方法。专家规则根据当前控制状况，调节PID控制参数，改善控制性能。与常规 PID 控制相比，所提方法的在线计算量增加不大，易于采用单片机等器件实现。多种变化工况下的实验表明，所提方法对超声电机特性变化及负载扰动的适应能力强，控制效果较好，为超声电机的规模化应用提供了一种可选的控制方法。“,”The ultrasonic motor has obvious nonlinearity and time-varying characteristics. Some complicated control strategies, such as the neural network, have been proposed to improve the control performance. But the cost of the system was also increased because of the computational complexity of the control strategy. That went against with the mass production requirement of ultrasonic motors. To obtain a control strategy with little computational complexity and satisfied performances, a simple expert PID speed controller of ultrasonic motor was proposed. Based on the theoretic analysis of the typical control process and the study on speed control experiments, only two expert rules were used in the proposed controller. The rules adjusted the control parameters of the PID controller according to the current control status, so the control performance could be improved. Compared with the traditional PID controller, online calculation amount of the proposed method only had a little increment. The cheap embed chip, such as MCU, was enough to realize the controller. Experiments with different voltage amplitudes and loads show that, the proposed control method can deal with the nonlinearity and the load disturbance to maintain good control performances. So, an optional control method is proposed for the mass production of ultrasonic motors.