To address the challenge of insufficiently considering dynamic characteristics (magnitude-phase frequency characteristics) in the PD parameter design of electromechanical servo systems, this paper proposes a PD design method focused on dynamic characteristic indicators. Firstly, a ninth-order transfer function (TF) model of the electromechanical servo system is established based on the dynamic equations. Subsequently, the Routh-Hurwitz criterion and the relationship between TF coefficients are employed to supplement the system’s stability constraints and the compatibility constraints of TF coefficients, ensuring stability and compatibility during the PD design process. Building on this foundation, an improved rational fractional polynomial method is utilized to identify the coefficients of the TF model based on the concept of parameter identification, enabling the rapid determination of PID parameters that meet dynamic characteristic indicators, thereby enhancing design efficiency. Furthermore, by adjusting requirements data, multiple sets of controller parameters that satisfy the original requirements can be identified. Simulation results demonstrate that the designed PID parameters not only meet the requirements of dynamic characteristic requirements but also consider system stability and the compatibility of TF coefficients, showing good agreement with the experimental results.