The DC motor speed control system of paper feeding machine was designed based on FPGA. A control strategy of inertia separation, which machine runs according to a predetermined speed curve, was put forward. The double closed-loop speed regulation algorithm of fuzzy PID was designed to reduce rising time and steady state error. The paper jam and overlapping problems was settled well with a judgment method. A RS232 interface was designed to form a multi-machine cooperation system. The control core, including speed and current detection, fuzzy-PID algorithm, speed setting and RS232, was designed by Quartus II 6.0. Tests results showed that the system has accurate operation, fast response and steady performance.