The invention relates to a novel position tracking control method in the energy storage process of a mechanical elastic energy storage system. In the energy storage process of a mechanical elastic energy storage system, conversion from electric energy to mechanical energy and storage of mechanical energy are realized by making a permanent magnet synchronous motor (PMSM) tighten a mechanical elastic energy storage device. In the energy storage process, a spring contracts from the box wall to the spindle, which will cause a gradual increase in the counter torque and a gradual decrease in the moment of inertia of a vortex spring box. A PMSM control scheme is needed to ensure accurate tracking of the PMSM angle (position) so as to ensure the accuracy of system energy storage, and to ensure that the output torque of PMSM can quickly track the counter torque of an energy storage box so as to ensure the safety of a control system. Virtual variables with the angle and torque of the energy storage box as the core are designed. A stator voltage equation under a d-q coordinate system is obtained according to the virtual variables and a parameter estimation result of an exponential forgetting method. The operation of an inverter is controlled based on the stator voltage equation so as to ensure the efficient and stable operation of the energy storage system.