Abstract: There is time overcoupling in the classical control model, and both velocity planning and real-time trajectory control are related to time, which leads to the deficiency of real-time computation and coordination between planning and control. Firstly, a dual feedback control model is established. The internal feedback inherits the classical control model and feeds time back to the controller, while the external feedback feeds non-time back to the planner. Then the factors affecting the speed planning are divided into time dependent and time independent factors, time dependent factors are controlled in real time in the controller, and time independent factors are planned in the planner. A multi-dimensional constraint model based on path length, trajectory geometry, motion parameters and program line number is established in the planner. Finally, the path length is used as the reference of motion instead of time, and the mapping relationship between the path length and the geometric characteristics of the trajectory is considered in combination with the multidimensional constraint model, so that the trajectory characteristics are spatially correlated with non-time. The anti-interference ability of the control model is verified by MATLAB simulation, and the results of CODESYS software programming and experiments show that the proposed method is feasible and effective