Because the change of machine tool shaft friction parameters will lead to the system performance decline,so that its precision control has a great difficulty.A single-axis machine tool system composed of a machine shaft and an equivalent dual-mass oscillator was constructed to control the elastic friction precision of the single-axis machine tool.The dynamics of the uniaxial system was mathematically modeled by converting the torque instruction into the orthogonal current reference signal by the torque constant of the motor.The STSMC-NAC nonlinear axial position control algorithm based on sliding mode and nonlinear control was proposed by using the position-velocity cascade structure,and the experimental comparison with the traditional P-PI cascade control was made.The simulation results show that compared with the traditional P-PI control,the Coulomb friction estimated by STSMC-NAC control at the frequencies of 0.1,0.5，1 Hz is closer to the actual parameter,and the complexity of the system does not increase while the maximum absolute error and power control are reduced by about 50% and 33.3%,respectively.The results show that the STSMC-NAC method can be used to estimate the Coulomb friction well,and the control precision and efficiency of the elastic friction of single-axis machine tools are improved.