The performance of ultrasonic motor is closely related to the input parameters of amplitude， frequency， phase difference and the accuracy of the output signal waveform. The current commercial drivers mainly use linear amplification or push-pull circuits， which not only lack the flexibility of three-parameter control， but are also relatively large. This paper proposes a field programmable gate array based on field programmable gate array （FPGA） and advanced RISC machines （ARM） microprocessor. Mainly focusing on multi-parameter drive and bus control， a miniaturized driver solution can realize online adjustment of multiple parameters. First， the overall plan is proposed from two parts： control signal generation and drive architecture design. the drive architecture selects the H-bridge drive mode. Then the design process of power circuit and sensing detection circuit is introduced in detail. Comparing with the waveform qualities of push-pull and H-bridge drive through the output waveform distortion， the output waveform distortion of the motor end of the tested H-bridge solution is smaller （5.25%）. Finally， the designed multi-parameter driver is used to perform basic performance tests on the ultrasonic motor， including variable parameter speed test， output torque test and micro-step response test， etc. The results show that the designed ultrasonic motor driver not only achieves miniaturization （85mm×54mm×23mm），but also it can take into account the online rapid adjustment of parameters and the detection of multi-sensing quantities， which is conducive to rapid analysis and inspection of motor performance. The test results of applying the driver are basically consistent with the motor performance parameters， verifying the effectiveness of the driver scheme， and laying the hardware foundation for the multi-parameter coupling control of the ultrasonic motor.