For the time-varying trajectory tracking control problem of the relative motion configuration of spacecraft formation, a distributed coordinated control method was designed based on the PH(port-Hamiltonian) model and generalized canonical transformation, using IDA-PBC（interconnection and damping assignment passivity-based control） algorithm.Through the PH modeling and generalized canonical transformation of the linear dynamics of spacecraft formation, the trajectory tracking error PH system was obtained. Under the assumption that the topological structure is connected and fixed, a distributed coordinated control method for formation trajectory tracking considering relative errors between neighboring spacecraft was derived based on IDA-PBC algorithm and using the PH model of relative motion errors. Numerical simulation verifies the effectiveness of the control method. 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.