The invention discloses a similar gear transmission travelling wave ultrasonic motor and a control method of the travelling wave ultrasonic motor. The travelling wave ultrasonic motor similar to the gear transmission comprises a first electric brush, a first copper ring, a motor output shaft, a shell, a rotor, a stator, a base, a second electric brush, a second copper ring, a base bearing, a pressure sensor, an elastic washer, a pre-tightening screw nut and a shell bearing. According to the travelling wave ultrasonic motor similar to the gear transmission disclosed by the invention, excitation signals are respectively applied on a stator and a rotor of the ultrasonic motor, two rows of travelling waves are excited in a metal elastic body of the stator and the rotor, and the wave crests and the wave troughs of the two rows of the waves are engaged with each other to form a similar gear transmission, so that the driving of mass points on the surfaces of the stator and the rotor are utilized fully, and the transmission efficiency is improved; and meanwhile, the electric brushes are adopted for supplying power to the rotor of the ultrasonic motor, and the durable and stable running of the ultrasonic motor is guaranteed effectively.