In order to solve problems of existing electronic stair-climbing wheelchairs such as discontinuous speed change in the start/stop process, excessive impact of the motor, and inflexible joystick control, a control method was proposed which integrates DSP2812 chip and S-curve acceleration/deceleration algorithm. As the key to control, the DSP2812 chip was adopted to realize the S-curve acceleration/deceleration algorithm, so as to plan the motor speed in the start/stop process and study the changes of acceleration and speed. Outputs of the joystick were divided into different sections, each of which corresponded to a particular motion state, specifying the information about speed and direction. This made it easy to control the joystick. The testing results showed that the S-curve acceleration/deceleration algorithm ensures continuity of acceleration in the start/stop process of wheelchair as well as continuity and smoothness of speed change, so as to effectively avoid excessive impact generated by the motor and make the joystick control the motion of wheelchair in a flexible and accurate manner.