The invention, which belongs to the field of the FPGA realization technology, relates to a non-linear-model-predictive-control-based FPGA hardware acceleration controller and an acceleration realization method. The invention aims at extending application of non-linear model predictive control (NMPC) in rapid dynamic system; and a non-linear-model-predictive-control-based FPGA hardware acceleration controller and an acceleration realization method in non-linear planning can be realized by using a PSO algorithm. For a hardware acceleration controller, a WMR prediction control model is established; according to a control requirement of target model WMR trajectory tracking, an optimization problem is solved; and an NMPC-PSO algorithm flow is executed. According to the invention, on the basis of a one-to-one correspondence relationship between codes and bottom circuits, the parallel computing structure of the FPGA and the parallel computing characteristics of the PSO algorithm can be combined well, so that the rapid computing capability of the NMPC is improved, the real-time requirement of the controller can be met well, and NMPC application in the actual rapid dynamic system can be extended. Meanwhile, on-line flexible reducing, extending, and upgrading of the scheme can be realized; and thus the controller and the realization method can adapt to the current situation of the fast product updating speed; and the controller can be verified rapidly.