Abstract: New approach combined with friction lead compensation based on Stribeck equivalent control voltage model with its parameters fuzzy tuning and proportion integral differential(PID) control was presented to enhance the control traits of a middle axis driven by servo valve control hydraulic motor for a high precision flight motion simulator. Firstly, Stribeck equivalent control voltage parameters were directly acquired just with available components of simulator itself, thus avoiding model and parameters dependence of conventional feed forward friction compensation. Secondly, fuzzy-setting was designed to obtain the speeding relevant variables of the improved model to avoid the difficulty in ultra-low speed signals acquiring. Lastly, experiments were carried out to verify the merits of the approach. With a stable two-way minimum speed 0.000006(°)/s response represented by a triangle-wave, 95% time the tracking error is within 0.0002°, other servos such as sine tracking are also with high precision.