Ultrasound has good penetration and a wide wavelength range, which can break through the size limitation of controlled particles by traditional optical tweezers, magnetic tweezers and microfluidic technology. Therefore, ultrasonic control technology has developed. In order to overcome defects of traditional standing wave acoustic tweezers, we discuss the millimeter particle trajectory control method based on single-axis holographic acoustic tweezers. On account of the Twin trap, a fast implementation algorithm for calculating the corresponding phase matrix is proposed to ensure the real-time performance of trajectory control. Meanwhile, according to the force model and self-balancing time of particles, the trajectory control strategy is set for stability . For ensuring the synchronization of drive signals, corresponding multiplexing circuit is designed based on the processor FPGA. For improving the accuracy of actual trajectory, closed-loop feedback is realized based on the real-time vision measurement function. In the experiment, the square track movement of a PP ball with a diameter of 3mm is successfully finished. The results show that the proposed system has high computational efficiency in the generation of acoustic field, visual measurement, fast synchronization, real-time reliability of trajectory control, and good consistency between actual and target trajectory.