The control accuracy of servo system is easily affected by friction and other disturbances at low speed. Through the analysis of the friction and disturbance in the ball screw platform, a disturbance compensation method based on the LuGre friction model and the reduced-order extended state observer (RESO) is proposed. Through the curve fitting and genetic algorithm to identify the parameters of the system′s LuGre friction model, the identified friction model is used to achieve the compensation of the friction in the system. The RESO is used to achieve the compensation of friction over-compensation or less-compensation and external lumped disturbances in the system. The experimental results show that this method can not only improve the effect of friction compensation, but also suppress the disturbance of the system, which effectively improves the tracking accuracy of the system.