The invention discloses a servo system friction processing method based on a coulomb model and estimation and compensation and is suitable for a servo system control field. Aiming at a complex technological difficulty of a servo system friction model, a technical scheme including six steps is provided. The technical scheme comprises the following steps of 1, through a speed instruction planning unit, planning two speed instructions with a special form for a servo system; 2, through a friction model test unit, testing a given torque in an on-line mode and testing an initial friction model; 3, through a coulomb model identification unit, identifying and acquiring the coulomb model; 4, through a coulomb model feedforward unit, calculating and acquiring a model feedforward current; and 5, through a compensation unit, using a given current and a rotation speed of a motor to acquire a compensation current via a compensation equation, and through a current instruction generation unit, generating a final current instruction. In the invention, a form is simple and is easy to realize, and a condition that a servo system friction processing effect is poor in the prior art can be improved.