The invention provides a single-shaft high-precision servo control system adjustment and control device which comprises a servo control component, a servo angle encoder, a servo torque sensor, a transmission mechanism/torsion bar, an inertia disc, a loading torque sensor, a monitoring angle encoder, a disturbance simulation moment motor and an installation bracket. The installation bracket provides various types of installation machinery interfaces for a whole testing device and comprises the mounting surfaces of the servo control component, the servo torque sensor, the loading torque sensor and the disturbance simulation moment motor and the relative positions of other components. At the same time, a high precision movement guide rail is arranged on the installation bracket, and various types of driving chain combinations can be realized. Through the single-shaft high-precision servo control system adjustment and control device, the adaptability adjustment of the transmission gap, the transmission rigidity, the load eccentricity, the disturbance resistance moment and the like of a servo mechanism can be conveniently realized, and thus the control scheme design and effect assessment of a servo control system are carried out.