Piezoelectric actuators are core components in micromanipulation systems in the field of biomedicine. The asymmetrical hysteresis of piezoelectric actuators greatly affects its performance, and the existing asymmetric hysteresis models are either inaccurate or complicated. In this paper, an accurate and simple asymmetric hysteresis model is proposed based on the Prandtl-Ishlinskii (PI) model. Firstly, the Play operator is modified to be asymmetric to enhance its flexibility, and the influence of parameters on the operator is analyzed. Secondly, the Asymmetric Prandtl-Ishlinskii (API) model is proposed based on the asymmetric Play operator and verified by experiment. Compared with several existing models, the API model can describe the asymmetric hysteresis in a more accurate and simple manner under the same conditions. Thirdly, the parameters of the API model are optimized. Compared with the unoptimized API model, the optimized one can reduce the number of parameters and maintain high accuracy. Furthermore, the influence of the order on accuracy is discussed, and a guidance for selection of the order is provided. Last but not least, the optimized API model is used to compensate for the hysteresis. The experimental results show that the compensator based on this model can effectively suppress the hysteresis of the piezoelectric actuator.

压电致动器是生物医学领域微操纵系统中的核心组件。压电致动器的非对称磁滞极大地影响了其性能，并且现有的非对称磁滞模型要么不准确，要么复杂。本文基于Prandtl-Ishlinskii（PI）模型，提出了一种准确，简单的非对称磁滞模型。首先，将Play算子修改为非对称以增强其灵活性，然后分析参数对算子的影响。其次，基于非对称Play算子，提出了非对称Prandtl-Ishlinskii（API）模型，并通过实验验证。与几种现有模型相比，API模型可以在相同条件下以更准确，更简单的方式描述非对称磁滞。第三，API模型的参数已优化。与未优化的API模型相比，经过优化的模型可以减少参数数量并保持较高的准确性。此外，讨论了订单对准确性的影响，并提供了选择订单的指南。最后但并非最不重要的一点是，优化的API模型用于补偿滞后现象。实验结果表明，基于该模型的补偿器可以有效地抑制压电致动器的滞后现象。优化的API模型用于补偿滞后。实验结果表明，基于该模型的补偿器可以有效地抑制压电致动器的滞后现象。优化的API模型用于补偿滞后。实验结果表明，基于该模型的补偿器可以有效地抑制压电致动器的滞后现象。