Aiming at the complex control problems such as nonlinearity, external disturbance and internal uncertainty in the artillery position servo system with electric cylinder as actuator, the mathematical model of the system is analyzed, and a feed-forward compensated auto-coupling proportional integral derivative (ACPID) control strategy was proposed. All the internal uncertainties and external bounded disturbances were defined as the sum disturbance, the controlled error system driven by the compound total disturbance was established, the control law model with the velocity factor as the core was designed according to the feed-forward compensated ACPID control method and parameter tuning rules, and the system's large-range robust stability and anti-disturbance robustness were theoretically analyzed, followed by controller parameter tuning, control law switching, and anti-integrator saturation design. Through simulation experiments, it can be verified that the system under feed-forward compensated ACPID has the characteristics of fast response speed, high control accuracy, small overshooting, strong anti-disturbance ability and robustness, etc., and only need to adjust a speed factor, the parameter adjustment is easy, and it has important research value and application prospect in the field of large-caliber artillery electric cylinder position servo system.