In order to improve the tracking performance of the speed regulation servo system, a self-disturbance rejection control strategy of the speed regulation servo system based on the LuGre model is proposed. Using the LuGre friction model to identify the frictional disturbance, and feed-forward compensation, adding the first-order self-disturbance rejection controller to the speed loop and the current loop respectively, the remaining disturbance is estimated and compensated in real time. ADRC makes up for the non-absolute perfection of the friction model, and the LuGre model also relieves the computational pressure of ADRC, complements each other and improves performance. The simulation results show that the proposed control strategy has fast response speed, short adjustment time and low overshoot, which improves the control speed and accuracy of the system.