Aiming at the problem of heavy load, large hysteresis and large friction disturbance of segment assembly machine, the precise control of hydraulic translation systems under friction disturbances was addressed through accurate model identification and the implementation of the iPIDD² algorithm, to improve the accuracy and efficiency of automatic segment assembly. Initially, a signal preprocessing method combining multiple algorithms for noise reduction was proposed based on the theoretical model to preprocess the output signal. Subsequently, a deviation-compensating recursive least squares identification algorithm with a forgetting factor was adopted to obtain a more accurate hydraulic system model. To achieve precise control of the translational motion of the assembly machine under friction disturbances, the iPIDD² control algorithm was proposed to achieve precise control of the translation cylinder. The research results were validated through AMESim-Simulink co-simulation and the construction of an electro-hydraulic servo system experimental platform with real-time control systems. Full-scale experimental verification was conducted under different load conditions. Results showed that compared with PID, this method had better precise control performance and smaller hysteresis time under parameter uncertainty and friction disturbance. The displacement tracking of this method was stable. The state error was less than 3 mm, which was 77.6% smaller than the maximum tracking error of PID control, and the hysteresis time was reduced by more than 10 s. This method held significant potential for improving the assembly precision and efficiency of automatic shield segment assembly under friction disturbances.