As a kind of hydraulic rotary actuator, helical hydraulic rotary actuator has the excellent characteristics of large angle, high torque and compact structure, which has been widely used in various fields. However, the core technology is in the hands of several companies and has not been disclosed, and the relevant reports are mostly limited to the component level. From the perspective of designing the driving system, the dynamic characteristics of the output when the helical rotary actuator is applied to the closed-loop system are explored. There are two main problems to be studied: one is to establish a reliable mathematical model, and the other is to consider the influence of system parameter perturbation on the output in practice. In this paper, firstly, the dynamic model of valve-controlled helical rotary actuator angle closed-loop system is derived in detail, which has never been reported in the existing literature. Then, the sensitivity analysis of 23 main parameters in the model with perturbation of 10% is carried out under nine working conditions. Finally, the system dynamics model and the sensitivity analysis results are verified by the prototype experiment and co-simulation, which shows the reliability of the theoretical results in this paper.