The present invention discloses a dual-mode controller of an electrical-mechanical converter. The dual-mode controller of the electrical-mechanical converter comprises a control chip, a digital analog converter (DAC), a hysteresis comparison PWM modulator, a current signal conditioning circuit, a difference orthogonal signal conditioning circuit, a signal switching switch, an H-bridge driving module, a protection circuit, the electrical-mechanical converter, a temperature sensor, a current sensor and a digital grating scale. An input signal and a feedback signal are processed by the signal conditioning circuits and then are sent to the control chip, the control chip determines and operates to obtain a control signal, and the control signal is sent to an H-bridge driver to drive the electrical-mechanical converter to reach an expected control objective, wherein the control chip switches between a PID closed-loop control mode and a time optimal Bang-Bang control mode according to an error signal, thereby achieving the control objective of being high in response characteristic and not losing the precision.