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The maximum hysteresis nonlinear error of the Piezoelectric ceramic actuator can exceed 15% of the output displacement. For the fast-tool-servo (FTS) system, the repeated positioning accuracy is better than 10nm and the relative linearity error is better than 0.5%, the above errors bring great challenges. In this paper, the hysteresis nonlinear error of piezoelectric ceramics is experimentally analyzed, and the hysteresis nonlinear error is divided into frequency-independent hysteresis phenomenon and frequency-dependent hysteresis phenomenon. Then, the frequency-independent hysteresis models of Bouc-Wen (BW) and Prandtl-Ishlinskii (PI) are revised and compared, and it is determined that the PI model is used to describe the frequency-independent hysteresis phenomenon in this paper. The identification accuracy of the PI model for the frequency-independent hysteresis curve is 0.392 %. Then a frequency-dependent hysteresis model based on the Hammerstein model is designed. Compared with the PI model, the root-mean-square value of the Hammerstein model's identification error for the frequency-dependent hysteresis curve is reduced by 88.068%. In this paper, a modeling method of hysteresis nonlinear error of piezoelectric ceramic actuator is proposed, and its validity and accuracy are analyzed, which provides a practical feedforward controller for FTS servo control.