In view of the disturbance force caused by the strong coupling problems in the electrohydraulic system subjected to vibration and force loading, the structure and working principle of the coupling system were analyzed. The dynamic model of the coupling electrohydraulic system subjected to vibration and force loading was established. Based on the dynamic model, production mechanism of the disturbing force in the coupling system was analyzed and a feedforward velocity compensation control strategy with a disturbance observer was proposed. The performance of the proposed method was validated through experiments using a coupling electrohydraulic testing rig subjected to vibration and force loading. The experimental results demonstrate that the proposed algorithm can suppress the disturbing force and improve the force tracking accuracy effectively.