The invention relates to a master-slave type electromechanical servo cooperative motion control system, and relates to the field of aerospace thrust vector control electromechanical servo. The system aggregates signals, such as a bus instruction of a control system, linear displacement feedback of a master actuator and linear displacement feedback of a slave actuator; according to the swing angle of a spray tube, the corresponding telescopic lengths of the master and slave actuators and the accelerated factor and the acceleration factor of master and slave motion tracks are calculated in real time; a real-time motion track plan of the master and slave actuators is realized; an instruction signal of the master actuator is output in real time; a master-slave servo control driver completes inversion control of a direct-current power supply on a guided missile through a motor space vector control algorithm; a servo motor drives an electromechanical transmission mechanism to act a load, so that the purpose of controlling a thrust vector is achieved; the characteristic that synchronous control is strictly realized by master-slave cooperation is realized; furthermore, a basic technology is relatively matured and easy to realize; high integration and cooperative motion control of the system are realized; and thus, the technical problem that the spray tube is structurally damaged due to super-swing of the spray tube through a two-channel independent control method can be solved.