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The walker aid robot has very high demand on the dynamic characteristics of the system, and in the process of climbing stairs, it also has many uncertain factors. So the result of single closed-loop feedback control system based on the traditional control strategy is bad and unsatisfactory. In the circumstances, I have established the mathematical model of the system, and designed the double closed loop speed control system based on fuzzy PID compared with the traditional PID. In order to guarantee stability and comfortable of the process, I have designed the sine speed curve according to the speed of elevator running curve. The simulation results show that fuzzy PID control is better than traditional PID control, starting and braking process is smoother, more comfortable.