Nonlinear factors of the system-friction and gear clearances are the major obstacles improving the positioning accuracy of naval gun servo systems. To improving the low speed performance and control precision, friction torque compensation based on Stribeck model is studied. Influence of friction characteristics on the low speed servo system is analyzed, then, the servo system model of the system is established under Matlab/Simulink, select Stribeck friction model to carry out friction compensation test for servo control system. And carry out simulation comparison with non friction ideal system. The simulation results show that the Stribeck friction model can exactly describe influence of friction cycle on naval gun servo system. The results prove the validity of the theoretical analysis, provides the theoretical basis for the design of control system.