For the time-varying trajectory tracking control problem of the relative motion configuration of spacecraft formation, a distributed coordinated control law was designed based on the Port-Hamiltonian(PH) model and generalized canonical transformation, using IDA-PBC algorithm.Through the PH modeling and generalized canonical transformation of the linear dynamics of spacecraft formation, the trajectory tracking error PH system is obtained. Under the assumption that the topological structure is connected and fixed, a distributed coordinated control law for formation trajectory tracking considering relative errors between neighboring spacecraft is derived based on IDA-PBC method using the PH model of relative motion errors. Numerical simulation verifies the effectiveness of the control law. The results show that the PH method can complete the trajectory tracking control of spacecraft formation, which provides a new effective method for the distributed coordinated control of spacecraft formation .