Abstract: In order to solve the oscillation and overshooting problems in the servo control system of the high-voltage circuit breaker motor direct-drive actuator mechanism when the classical PI controller is used for the speed loop, an optimized design method of the speed loop PI controller is proposed. The relationship between the tracking performance, disturbance resistance and damping ratio of the velocity loop of the classical PI controller is discussed in depth using the transfer function, and a PI controller structure with active damping function is proposed, and the controller parameter design and robustness are analyzed. Simulation and experimental results show that compared with the classical PI controller, the scheme proposed effectively improves the oscillation and overshooting problems of the velocity loop, reduces the overshooting amount by about 0.94% during startup, and enhances the system’s perturbation-resistant capability.