In the process of brushless DC motor driving large inertia load, the sudden change of speed will cause mechanical damage to the transmission structure such as rotor or gear, and the position control accuracy is difficult to guarantee. In order to improve the service life of brushless DC motor and transmission structure, as well as the stability and accuracy of rotation motion, the scurve acceleration and deceleration algorithm was deeply analyzed, and a simplified implementation method of S-curve acceleration and deceleration algorithm was proposed which was suitable for embedded platform. The smooth S-curve was simulated and fitted by using MATLAB, and the smoothness control indexes of S-curve under different constraints were proposed. The S-curve acceleration and deceleration control of brushless DC motor was realized on embedded ARM processor by discretizing S-curve into multiple pulse frequency bands. The pulse test proves that the control method can be used to effectively improve the stability and accuracy of the brushless DC motor in the process of motion