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A direct current motor servo system was designed using FPGA as the core microprocessor in this paper. Feedforward-feedback control algorithm was adopted and the fuzzy-PID was taken as the control algorithm of feedback. The position loop, velocity loop and current loop control in the system improved both the dynamic performance and the static characteristic. The feedforward and PID control algorithm were achieved by DSP Builder, and simulated in MATLAB Simulink. The whole system's analysis, synthesis, simulation and configuration were completed by Quartus II. Finally, application in DC motor servo system indicates that this method improves the system responding speed, and the tracking precision.