As the nonlinear effect caused by the hysteresis of piezoelectric stack seriously restricts the improvement of system control accuracy, a piezoelectric control method based on compound control is proposed in this paper. The nonlinear error of the system is modeled and compensated, and the embedded drive design is realized based on the numerical control (NC) chip. The generalized PI model is used to model the controlled piezoelectric actuator, the exponential function is used as the density function, and the parameters of the envelope function and the density function are optimized based on the particle swarm optimization algorithm. Finally, the feedforward compensation inverse model of the piezoelectric actuator is obtained, and the compound control of the system is realized by combining the proportional integral control rate. At the same time, the control architecture of digital signal processing + field programmable gate array (DSP+FPGA) is adopted, which not only ensures the convenience of solving the inverse model in DSP, but also ensures the real-time and rapidity of sampling and closed-loop control in FPGA. The experimental results show that the proposed design method is correct and effective.