Aiming at the influence of the nonlinear part of the electric cylinder lifting servo mechanism on the servo performance of the weapon station, the optimization method of servo performance was studied based on the application background. The mechanism of gain fluctuation, gap width, unbalanced moment, and friction moment in the designable nonlinear part was analyzed. The mathematical models, design constraints, and objective optimization functions of kinematics, dynamics, and control strategies were established based on the mechanism layout and controller parameters. A sub-global parallel optimization method was proposed. The multi-objective optimization based on the interior point method was carried out for the designable nonlinear part, and the local optimization problem of local serial optimization was solved. The composite control strategy based on PI controller + DOB observer was designed separately, and the mismatch between the mechanical inertia parameters, controller parameters, and observer nominal model was solved. It is verified that the optimization results of the sub-global parallel optimization method are better on the whole and more in line with the engineering practice.