By taking the RoboCup middle size league soccer robot as a study object, in order to improve the hardware system performance of robotic soccer board as an aim, a kind of soccer robot which was based on the 2 Digital Signal Processor (DSP) structure with the Fuzzy-Proportion Integration Differential (PID) algorithm was designed. The experimental results show that this system is very good for improving the robots active capability, control precision and real time capability, and can satisfy the requirements of the motion control of full autonomous soccer robot.