The invention discloses a motor tracking control method based on predictive function control on a single-chip microcomputer. The motor tracking control method comprises the following steps that step 1, the unit step response of the controlled motor system is detected so as to acquire the system parameter; step 2, a motor tracking control device is established, the device comprises an A/D conversion module, the single-chip microcomputer and a D/A conversion module which are connected in turn, and the predictive function control algorithm is realized on the single-chip microcomputer; step 3, thephase voltage difference of the active motor and the slave motor is acquired through the A/D module; step 4, the voltage input of the slave motor is calculated by using the predictive function control algorithm on the single-chip microcomputer; step 5, the digital voltage is converted into the analog voltage through the D/A module and the analog voltage is applied to the slave motor; and step 6,the steps 3-5 are repeated so as to realize real-time control of motor tracking. With application of the motor tracking control method, acquisition and control of multipath signals can be realized sothat the degree of integration can be enhanced, the cost can be reduced and the stability and the dynamic performance are better.