The invention discloses a nonlinear inverse control method used for dynamic hysteresis compensation of a piezoelectric actuator. Nonlinear inverse control of the piezoelectric actuator is performed based on a Prandtl-Ishlinskii model by aiming at the problem that most models cannot perform accurate inverse analysis for the modeling difficulty of a dynamic hysteresis system; a dynamic critical value related to the input frequency is established to obtain a rate-dependent play operator, and the rate-dependent play operator is combined with a density function so as to obtain a rate-dependent Prandtl-Ishlinskii model; a hysteresis main ring is measured under different input frequencies so as to determine model parameters; the inverse parameters of the model are inversely solved by solving an initial load curve so as to obtain a rate-dependent Prandtl-Ishlinskii inverse model; and the Prandtl-Ishlinskii model and the inverse model thereof are used for an open-loop control system so as to compensate the hysteresis nonlinear property of the piezoelectric actuator. The experiment proves that the rate-dependent Prandtl-Ishlinskii model can accurately describe the hysteresis nonlinearity of the piezoelectric actuator and the rate-dependent Prandtl-Ishlinskii inverse model enhances the positioning and control precision of a hysteresis nonlinear system.