For the control pattern of rendezvous and docking of spacecrafts, the impulse control method has been applied in common, but it deplete more energy. In this paper, the concept of helixapproach was firstly applied to the rendezvous and docking control of spacecrafts and the idea that by helix relative orbit the approach spacecrafts could rendezvous the aim spacecraft was proposed. First, the feedback form of law of control, which helps to realize helix-approach orbit, was educed with the Hill equtions. Then, the helix-approach orbit of Inspetor satellite in space circular fly-around relative orbit was fully studied,and the trait of helix-approach control was analysed, and stability of helixapproach control was explained, and fuel of wasting was estimated. Last, as a resut of simulations of return of Inspetor satellite in space circular relative orbit, figures of contorl acceleration and helixapproach orbit are shown, which the result of simulations indicates right stability, and it prove that the helix-approach relative orbit is not only feasible but also of fine characters.