Abstract: In order to solve the problem of real time and high quality satellite communication for ships in motion, a servo control system of the shipboard communication on the move based on control chip STM32F4 is proposed. The servo control system contains Miniature inertial attitude system and turntable motion control system. During the ships was moving, the attitude changes can be detected real time by the inertial attitude system, combined the GPS and attitude system perform coarse alignment. With the strength of voltage from beacon receiver the servo control system can control a opened circle and a closed circle combined to make sure that the antenna can accurately alignment to the satellite real time. This system used DMA to control the PWM pulse make the motors move, and there are some encoders feedback the position of motors and implement the antenna turntable locate accurately. The actual application results show that the control system can meet the precision required for attitude detection with an error within 0.5°, which ensures that the shipborne antenna can be aligned with the satellite in real time during the movement, thus realizing high-quality satellite communication.