In this study, the hysteresis nonlinear law of piezoelectric ceramics was explored to provide a reference and theoretical basis for further correction of hysteresis nonlinearity. A hysteresis model was obtained through experimental measurements, and experimental data were analyzed. The corrected straight line of the rising trajectory was fitted; the voltage difference between the rising and falling trajectories at the same displacement was obtained as the compensation voltage; and the input voltage at the sampling points of the two trajectories was determined. The compensation voltage was found to satisfy an approximately polynomial relationship, where 5-, 10-, and 15-V asynchronous lengths were selected for driving experiments. Experimental results show that the rising trajectory (falling trajectory) polynomial parameters are R-square=0.999 2 (0.999 9), root mean square error (RMSE)=0.083 (0.080 86); R-square=0.999 7 (0.999 9), RMSE=0.057 39 (0.094 99); and R-square=0.995 2 (0.999 8), RMSE=0.291 6 (0.165 5). The experimental results also show that the R-square of the two trajectories is approximately 1; the RMSE is closer to 0; and the repeatability error is between 1.13% and 2.63%. The input and compensation voltages satisfied the approximately polynomial relationship, and the degree of fit and matching are high and repeated. The hysteresis model is proven to have good performance and predictability, thus providing a reference and theoretical basis to further correct the hysteresis nonlinearity of piezoelectric ceramic actuators.