Abstract: To address the issues of torque and speed disturbances in servo systems, a disturbance suppression scheme for servo systems based on adaptive feedforward cancellation (AFC) technology is proposed. This scheme effectively compensates for motor cogging torque and calibrates encoder installation errors through software algorithms without modifying the hardware. Experimental results show that with the adoption of AFC technology, torque and speed fluctuations in the servo system are reduced by 95%, significantly enhancing the stability and control precision of the servo system. This provides an efficient and economical solution for industrial automation and high-precision motion control.