A braking method of traveling wave type rotary ultrasonic motor (TRUM) driving feeding mechanism is designed. and a speed regulating system of a rudder-actuator is proposed to control the fixed canards in the high rotating guided ammunition. The test platform is established for the actuator and the performance of speed control is tested on it. First, the model of the frictional braking between the brake disc and the rotating disc is built based on the Coulomb and viscous friction theory. Considering the mechanical characteristics of the TRUM, the frictional torque is calculated, and the dynamic equation of the rotating disc (including rudder wings) is obtained. Then, combined with the experiment and simulation, the damping coefficient of the structure is determined. Finally, the correctness of the frictional braking model is verified by experiments. The speed control curve of the rudder-actuator is measured, and the speed fluctuation rate is introduced to measure the speed control effect. It shows that the speed control response time of the rudder-actuator is less than 150 ms, and the speed fluctuation rate is less than 10%.