Abstract: For the classical control model time-overcoupled problem, velocity planning and real-time trajectory control are related to time, resulting in the disadvantageous situation of real-time calculation, planning and control coordination. A dual feedback control model is established, which the internal feedback inherits the classical control model to feed back time to the controller, and the external feedback feeds back non-time to the planner; The factors affecting velocity planning are divided into time dependent factors and time independent factors, which the time related factors are mainly considered to be controlled in real time in the controller, and the time independent factors are considered to be used in the planner for non time speed planning; A multi-dimensional constraint model based on trajectory displacement, trajectory geometric characteristics, motion parameters and program line number is established in the planner; A non-teme velocity planning, which takes the trajectory displacement instead of time as the motion reference, combines the multi-dimensional constraint model, and considers the mapping relationship between the geometric characteristics of the trajectory and the trajectory displacement, so that the trajectory characteristics and the non-time are spatially related. The anti-interference ability of the control model is verified by MATLAB simulation, and the feasibility and effectiveness of the non-time velocity planning method are demonstrated by CODESYS software programming and experimental results on the experimental platform.