Method and device for controlling a piezoelectric motor

Method for controlling a piezoelectric motor by way of at least two driving electrodes by applying periodic control voltages to the driving electrodes the method comprising:

• in a first step, applying the periodic control voltages with a phase shift to said driving electrodes;
• and
• in a second step changing an amplitude ratio of said periodic control voltages with respect to the first step, wherein:
• in the first step the phase shift and/or the amplitude ratio of said periodic control voltages is/are adjusted such that a static friction of friction contact between a friction element of said piezoelectric motor and an output element to be driven by said friction element is reduced without creating a propulsion of said output element at a same time, and wherein:
• in the second step, the phase shift and/or the amplitude ratio of said periodic control voltages is/are changed in such a way with regard to the first step that a vibration path of said friction element inclines as compared to the first step and thereby produces a propulsion of said output element.