In order to realize the large-stroke and high-resolution movement of advanced manufacturing industry, the new liner piezoelectric motor that composes with the ultrasonic motor and the piezoelectric ceramic drive in the structure is proposed. Therefore, the large-stoke and high-resolution drive system that achieve the integration of the macro and micro drive system is proposed. The system realizes the seamless switching between AC and DC voltage. When working in the macro-drive state, it can output two adjustable phase (－90°~90°) and adjustable frequency (10kHz~60kHz) AC voltage. When working in the micro-drive state, it outputs the adjust able DC voltage. The controller based on TMS320F28335 processes and controls the state of the drive system. The chip PA85 is used to form DC amplifier stabilization circuit which can output the adjustable high DC voltage for the system. According to the influences on the controlled object which has non-linear, time-varying and coupling characteristics, the control algorithm of fuzzy adaptive incremental PID is proposed. The experiments results show that the outputs of the drive system have been improved obviously by the modification of the regulator. Moreover, using the rotary ultrasonic motor and the new liner piezoelectric motor to test the drive system, the results show that the control accuracy of phase and frequency is 5°and 0.5 kHz, which can drive two types of piezoelectric motor in a good state, and has good generality.