A novel principle of push-pull relay movement is proposed and applied in the design of the piezoelectric micro-motion stage.In structure design the traditional single actuator is updated to the double actuators in order to avoid the impending state.With the proper four-channel driving signals

the stage can move continuously and smoothly.The driving and controlling system is designed.The four-channel driving signals with different voltage and frequency are generated by C8051F MCU.In addition the close-loop position is realized.