This paper develops an electromechanical TWUSM (traveling-wave ultrasonic motor) model combining the driving circuit withthe motor itself. An equivalent circuit model substituted for thepiezoelectric ceramics is designed in the driving circuit model to obtain accurate input currents and powers. Then teeth discretization isimplemented in the stator–rotor contact model, which can calculate the interaction forces more accurately. After building the complete model ofTWUSM, a typical startup–stopping process is divided into five stages by evaluating the changes in contact status and driving forces. Finally, the fitness of transient responses of the rotor speed increasing from 55 % to89 % shows that the proposed model fits better than the one without teeth discretization, and the experimental tests under various driving parametersverify the effectiveness of the model.
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