Aiming at the problem of parfocalization feafures of continuous zoom infrared lens at different temperatures, a synchronous motion control method is proposed according to the compensation curve fitting of parfocalization feafures of continuous zoom infrared lens. The zoom motion and the compensation motion are combined by using master-slave cooperative motion, path planning, trajectory decomposition and synthesis. After prediction compensation, synchronous sampling and interpolation algorithm, the compensation motion is completed quickly. In addition, the root node calibration and position coupling are used to reduce the cumulative compensation error. Under the cooperative action of the zoom motor and the compensation motor, it is ensured that the infrared lens can realize the zoom uniform motion at different ambient temperatures, and the focus uniformity is within the specified accuracy range, so as to realize the focus uniformity of the infrared lens. It can effectively make up for the lack of focus uniformity of continuous zoom infrared lens due to continuous operation or temperature change.