The multi-motor cooperative control scheme of ultra-long focal length continuous zoom system is an important design link to ensure the imaging quality and effect. In this paper, the control and demand indexes of a continuous zoom thermal imager are analyzed, and the advantages and disadvantages of various control schemes are discussed in detail based on the index data. In addition, according to the results, a multi-motor cooperative control scheme based on SOPC system-on-chip is designed. The specific design and software implementation method of the scheme in continuous zoom system are described in detail. The design can realize multi-component cooperative control on a single FPGA. The time and position accuracy can reach 0.01 s level and 0.01 mm level respectively, which effectively ensure the control requirements of the ultra-long focal length continuous zoom system.