When a servo motor performs an emergency stop under large inertia load conditions, since the load inertia is much larger than the motor rotor inertia, the system kinetic energy is difficult to dissipate quickly, which easily causes position overshoot, seriously affecting positioning accuracy and equipment safety. Aiming at the overshoot problem during the emergency stop process of servo systems with large inertia loads, this paper analyzes the physical mechanism of its occurrence and establishes a dynamic model of the servo system during the emergency stop process. Based on this, a composite suppression strategy combining improved feedforward control and Active Disturbance Rejection Control is proposed. This strategy predicts the overshoot trend through a position pulse compensation mechanism, and utilizes an Active Disturbance Rejection Controller to estimate and compensate for the total disturbance during the emergency stop process in real time, effectively suppressing position overshoot without significantly increasing algorithm complexity. Simulation results show that, compared with traditional PID control, the proposed method reduces the emergency stop overshoot by more than 65% and shortens the settling time by 40%, demonstrating good engineering application value.