Abstract: In order to achieve beam steering of mechanical phased array antenna, the brushed direct current motor(BDCM) is adopted to drive a helical antenna element to rotate to a predetermined radiation. The design and implementation of a multi-axis BDCM controller using a field programmable gate array (FPGA) is studied. Based on IP core design methodology, the flexibility of the system on a Programmable Chip(SoPC) in multiple-axis BDCM controller enables the processing of the most position servo control operations by hardware(BDCM controller IP core) and the trajectory computation and communication operations by software (Nios II microprocessor) in the same device. A high performance BDCM controller IP core described in Verilog HDL is designed, and simulation is fulfilled. The reusability of the IP core is demonstrated with the design of a 56 axis SoPC system. The experimental results show that the system can realize high precision control of the 56 axis BDCM, each axis is independent of the others, all parameters are programmable online, and consistency meets the system requirement. The built-up system based on this mode has many advantages, such as easy expansion, high portability and broad applicability. It has been applied to a phased array antenna.