The hysteresis characteristics of piezoelectric actuators will affect the positioning accuracy of the micro operating system. A Hammerstein like model is proposed to describe the hysteresis characteristics of piezoelectric actuators. Firstly, a modified dynamic hysteresis operator(MDHO) is proposed. By adding the offset, dead zone width and slope in the operator, the height and width of the hysteresis can be adjusted to reflect the asymmetry and rate correlation of hysteresis. Then the modified hysteresis operator is used to represent the static nonlinear part. The parameters and weights of the hysteresis operator can be adjusted online to adapt to changes in external conditions. The input autoregressive model is used to represent the dynamic linear part; a Hammerstein like model that can describe the rate dependent hysteresis characteristics of piezoelectric actuators is established. Finally, the parameters in the model are identified by the least squares method, matrix expansion, and matrix singular value decomposition in turn and the identified parameters were proved to be unbiased estimates. The effectiveness of the proposed modeling method is verified by experiments.