If the smoke detectors are more than 8 years old and having issues, replace them. If the exisiting "smokes" are hard-wired with battery back-up, I would replace them with same. Whether you use the hard-wired with batteries or just battery operated units, replace the batteries at least once per year, preferably twice when you reset your clocks for the seaonal time changes. Kidde makes a decent product.
Try to "reset" the detectors by pushing the test button and setting them off. Sometimes that alleviates the chirping if it is not battery related. If neither the battery change-out or reset stops the chirp, it is usually time to change out at least the one in question, if not all. Try to keep them all the same brand/type if they are interconnected. Mixing can also sometimes create an issue, but not always.