To eliminate the detrimental effect of nonlinear friction disturbance on the positioning accuracy of linear motors feed system,an adaptive compensation control method based on LuGre friction model was proposed.The dynamic equation of the linear motors feed system was established and an improved LuGre model based on adaptive factor was introduced in system modeling.Backstepping design methodology was adopted and the adaptive control law was derived by the second Lyapunov method.Finally,semi-physical simulations were carried out.Simulation results demonstrate that the application of adaptive controller for compensating the friction of linear motors feed system is feasible,which improve the displacement positioning accuracy and velocity tracking accuracy of linear motors feed system effectively.