A optical disk drive long distance seek control device and method thereof, capable of feeding back the optical head control device through the step motor control device during the long distance seek; wherein, the step motor control device comprises a velocity profile generator capable of producing a quadratic profile to stabilize the step motor when finishing the seek; and more particular, the optical head control device uses a center error signal and a velocity error signal alternatively; moreover, the velocity error signal can be adjusted according to the output signals from the optical head control device and the step motor control device through a weighting mechanism.