The invention discloses a motor single chip control device based on an SoC-FPGA, which comprises an SoC-FPGA unit and an external function unit, wherein the SoC-FPGA unit comprises an FPGA module and an HPS module; the FPGA module comprises a peripheral management unit, a special function unit, a fast parallel computing unit, a fast interrupt interface and a PWM output interface; the peripheral management unit is used for being in charge of work control on the external function unit and comprises an analog input interface, a digital input / output interface, a temperature signal interface, a DA output interface, a QEP interface and a communication interface; and the HPS module mainly comprises an ARM, an RAM controller, a memory controller and a driver interface. according to the control structure of the invention, advantages of flexibility and strong expansibility of the FPGA are exerted, the HPS computing ability and the strong system management function are made full use of, rich wiring resources and the high-efficiency bus system between the FPGA and the HPS can greatly improve the performance of the control system, the cost is reduced, and the hardware structure provided by the invention has strong practical value.