摘要： A classical Bouc-Wen model is widely applied in hysteresis modeling and compensation for piezoelectric ceramic actuators. However, the classical Bouc-Wen model cannot characterize rate-dependent hysteresis under excitations at high frequencies precisely. In this paper, an enhanced Bouc-Wen model is developed by introducing the frequency of input voltage based on the classical Bouc-Wen model. A number of experiments were conducted to characterize the rate-dependent hysteresis of piezoelectric ceramic actuators under sinusoidal excitations at a range of 1–150 Hz. The measured data were used to demonstrate the validity of the developed model. A method of parameter estimation based on the Matlab/Simulink parameter estimation tool is adopted to identify the parameters of models. The comparisons of experiments and simulations show that the developed model can describe rate-dependent hysteresis more accurately than the classical Bouc-Wen model. The modeling errors of the developed model were decreased by nearly 75% compared with that of the classical Bouc-Wen model. The root-mean-square error of the developed model is controlled in 0.1719 μm.