In order to meet the comprehensive needs of inertial navigation equipment testing, the method to construct the control system of the single-axis turntable with angular position, angular velocity and angular vibration functions is studied. According to the functional requirements, the overall scheme design of the control system hardware and the selection of the main components have been carried out. Then the mathematical model of the turntable has been established, the principle and control algorithm of the motor servo drive have been analyzed, the control parameter setting method have been demonstrated, and the upper computer control software has been designed. After coordinate transformation, the three-phase permanent magnet synchronous motor can be converted into a DC motor (a second-order electromechanical system) which is controlled by the driver through the "position-speed-current" three-closed-loop control algorithm. A solution is given for the problem of vibration amplitude attenuation in high frequency angular vibration. The turntable that uses the designed control system can carry out high frequency angular vibration under large load, which is able to provide guarantee for the inertial navigation device test.