The traditional dynamic models of linear ultrasonic motor (LUSM) do not consider the influences of the preload force and the roughness of the contact surface of stator/slider on the performance of the motor, which unable to effectively describe the dynamic behavior of the motor. In this paper, a dynamic model is established for a V-shaped LUSM considering the influence of the preload force and the roughness of the contact surface of stator/slider on the dynamic behavior of the motor. The contact mechanism of the stator/slider and the influence of preload force on the stator parameters are studied and analyzed. The effectiveness of the developed model is verified by comparing with the analytical model that ignored the effect of the preload force on the stator parameters. The experimental results shown that the developed model can accurately reflect the dynamic characteristics of the motor, and the model will be helpful for the function prediction and precise control of the motor.
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