The invention discloses an embedded ultrasonic motor drive controller, and the controller comprises an external clock, a microcontroller module, a power amplification and matching module, a position sensor interface module, a motion control card interface module, a circuit protection module, a display interface module, a communication interface module and a power conversion unit module, wherein the external clock provides a time reference for the microcontroller module. A signal generated by the microcontroller module is used for driving a to-be-controlled ultrasonic motor. The position sensor interface module collects position information, and feeds back the position information to the microcontroller module. The motion control card interface module supplies an enabling signal, a position instruction signal and a speed instruction signal to the microcontroller module. The circuit protection module provides a function of motor connection protection and functions of overheating, overvoltage, undervoltage and overcurrent protection. The display interface module and the communication module provide man-machine interaction windows for a drive controller. The drive controller is good in universality, is diversified in control parameters, is easy for the integration of a plurality of control modes, and facilitates the implement of high-precision control of an ultrasonic motor.