In order to reduce the impact of mechanical shaft friction disturbance on the control accuracy of servo controllers in low-speed motion,a high-precision friction compensation scheme based on the generalized Maxwell-slip (GMS)friction model feedforward and disturbance observer is proposed.Firstly,based on traditional control,the GMS friction model feedforward compensation is introduced to preliminarily compensate for the impact of friction disturbance; Then,the residual disturbances that still exist after friction compensation are further suppressed through the design of interference observers.In order to verify the effectiveness of the proposed control strategy in suppressing friction disturbances in mechanical shaft systems,the low-speed motion dynamic performance of the control method was tested using a physical platform,and the control error was compared between the traditional PI controller and the friction compensation scheme based on disturbance observer before and after.The comparison results show that the control scheme based on GMS friction feedforward and disturbance observer effectively compensates for the influence of privacy such as mechanical friction nonlinearity and model uncertainty on the control system.The new method can reduce the control error of the stable platform during low-speed motion to 0.015°/s,and has high application value in practical engineering.