Aiming at the errors caused by hysteresis nonlinear effect in the operation of piezoelectric ceramic actuators, a hysteresis compensation control method is proposed. Firstly, for the hysteresis nonlinearity, the corresponding hysteresis model is built based on the PI model, and the inverse model is used to adjust the input voltage of the piezoelectric actuator. Secondly, aiming at the shortcomings of PI model, PID closed-loop control is combined to further compensate the hysteresis error. Finally, the piezoelectric hysteresis compensation control system is built based on LabVIEW FPGA module, and the elliptic vibration trajectory control experiment is studied. The experimental results show that the maximum relative error of the displacement of the piezoelectric actuator under the composite control is less than 3%.