This study proposes a direct-drive system for a heald frame, and establishes a unified mathematical model that incorporates both electromagnetic characteristics and mechanical dynamics. By applying the Clark-Park coordinate transformation, a d-q axis decoupling control model is constructed, and a PI controller is employed to achieve precise control of the electromagnetic thrust. A simulation model was built in the MATLAB/Simulink environment to systematically analyze the dynamic response characteristics of the system under different external loads (10 N, 20 N, 30 N, and 40 N). The simulation results indicate that under a 10 N load, the system response time is less than 0.01 seconds, with the displacement tracking error maintained within ±3.19 mm. As the load increases to 40 N, the system continues to exhibit good tracking performance, with the q-axis current peak increasing linearly from 30 mA to 120 mA to provide sufficient electromagnetic thrust. The amplitudes of the three-phase currents increase linearly with the load, and the maximum current fluctuation ranges from −95.47 mA to 97.98 mA, indicating that the system has excellent load adaptability. The thrust fluctuation remains stable within ±0.70 N, demonstrating consistent and stable thrust control accuracy. Additionally, when a 20 N step disturbance is applied at 2.0 seconds, the system can recover stability within 0.05 s. The q-axis current responds rapidly to achieve effective disturbance compensation, thereby verifying the system's robustness and strong anti-interference capability.