According to the operating requirements of the SGCMG gimbal servo control system, permanent magnet synchronous motor（PMSM）is used as control motor, and the control scheme of current loop、speed loop and position loop is designed. The accuracy and the feasibility of the design are confirmed by the simulations that are performed based on Simlink. Then the hardware and software based on FPGA are designed, which yields satisfying results. And the speed and position precision control of SGCMG gimbal servo control system can be realized, which accords with the operating requirements of SGCMG.