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With the development of the technology of ocean, the application of submarine is more and more widely. And once the submarine has problems in deep ocean, it will be difficult to rescue. So, the DSRV(Deep Submergence Rescue Vehicle) plays an important role in this part. For the failure of the DSRV under water, especially in the rudder control, a kind of TMR (Triple Modular Redundancy) motion control computer system which canbe applied to the DSRV control system was designed. The system’s foothold is to study the redundancy technology which can satisfy the high reliability system. And using fault detection algorithm and vote algorithm, researching on the redundancy management scheme used in the redundancy system to improve fault tolerant ability of redundancy system mostly. At last, this paper designs the fault simulation experiments to verify the feasibility of design scheme, in which the TMR motion control computer system was used in the steering control to verify the feasibility of redundancy design scheme, fault detection algorithm and vote algorithm. Through the results of the simulation, the availability of TMR control system is proved.