A triaxial self-stabilized platform vehicle disturbance compensation model was established for the control system of a new shipboard triaxial self-stabilized photoelectric platform through coordinate transformation under the specified space photoelectric orientation and specified way of photoelectric equipment installation. The model was used to compensate for the effect of the hull's rocking, rolling and pitching on the photoelectric pointing accuracy in real time. On this basis, the control system model was established. To restrain the nonlinearity at low speed and improve the pointing precision of control system, a disturbance observer was designed. Simulation results show that the disturbance observer method has a very good effect for nonlinear compensation, and the whole control system has good feasibility.