Ultrasonic cleaning is one of the most promising types of cleaning in terms of environmental friendliness, cost and efficiency. The condition of the cleaning body must be taken into account for optimal control of the ultrasonic cleaning process. This allows you to irradiate only those areas that really need it. The modeling of the process of ultrasonic cleaning of bodies of different configurations and the analysis of the parameters of ultrasonic responses at different stages of cleaning were performed. This allowed us to identify the parameters by which the assessment of the process should be formed. The main parameter was the change in the time of receipt of the threshold value of the signal, and the auxiliary - the change of the nonlinearity coefficient of the second order. The change in the time of receipt of the threshold value of the signal is an indicator of dirt peeling, and the change in the nonlinearity coefficient demonstrates the approach to the final result of cleaning. These parameters became clear input data for the 3-D fuzzy interval controller. The functions of affiliation were defined and the base of rules was formed. Modeling of the ultrasonic cleaning process using the established method of estimating the course of the process and the use of 3-D fuzzy interval controller showed about 35% energy savings.