The invention has a technical scheme that a control method of the revolving speed linearization of an ultrasonic motor is provided and comprises the following steps: S1) in an initialization stage of a control system of the ultrasonic motor, introducing linear-variation frequency excitation into the ultrasonic motor, and testing a revolving speed-frequency curve of the ultrasonic motor system; S2) fitting the revolving speed n-frequency f curve; S3) taking the n as lineation to obtain a (n,f) dot pair; S4) generating a corresponding mapping table of controlled quantity n and the frequency f for a control instruction to inquire; and S6) looking up the corresponding mapping table to obtain frequency f data corresponding to the revolving speed controlled quantity n. The control method of the revolving speed linearization of the ultrasonic motor realizes the precise control of the revolving speed linearization of the ultrasonic motor. The control method adopts a fitting method and an interpolation method to obtain the (n,f) dot pair corresponding to the revolving speed linearization, so that the revolving speed of the ultrasonic motor can be more precisely controlled.