No periodical error and free of backlash are the main advantages of friction drive. So friction drive is applied in many ultra-low speed systems in the past years. With the trend that the aperture of optical telescope becomes bigger and bigger, there are some reports about friction drive employed to drive the telescopes. However friction drive also brings up challenge to control system because the inherent nonlinear characteristics of friction drive. This report describes the study on the friction drive finished in an experiment arranged by LAMOST project. It comprises three main parts. First, it introduces the experiment apparatus and presents a friction nonlinear curve to indicate the nonlinear characteristics of friction drive. Subsequently, this report illuminates the negative result that influenced by the nonlinear characteristic. Secondly, this report use nonlinear PID control algorithm to control friction drive. It achieves ultra-low speed and high precision position control. The ultra-low velocity is 0.2″/S and error is 0.032″(RMS). This report also lists some factors that influence the precision of speed. Lastly, this report gives the analysis fluctuating speed of friction drive and applies acceleration feedback to diminish this fluctuating.