The invention relates to a 
hydraulic cylinder frictional compensation device and a control method, and belongs to the field of 
hydraulic control systems. The device comprises a motor, a pump, a filter, an electro-hydraulic 
servo valve, an 
amplifier, a controller, a position instruction device, a displacement sensor, a 
hydraulic cylinder, a load, an overflow valve and the like; a 
motor control pumpsupplies oil to the electro-hydraulic 
servo valve through the filter, one end of the filter passes through an overflow 
valve oil returning box, the other end of the filter supplies oil to the 
hydraulic cylinder through an oil inlet of the electro-hydraulic 
servo valve, a hydraulic cylinder 
piston rod is pushed to move, the position instruction device receives an instruction, 
signal current is input to the electro-hydraulic servo valve through the controller and the 
amplifier, the load aim is achieved, displacement of the 
piston rod is converted into current through the displacement sensor tobe compared with an input 
signal, and a hydraulic feedback 
system is formed. Through the control process, the 
system tracking precision is improved, and the higher 
system dynamic and 
static response performance can be achieved.