In order to realize self-stabilizing control of the quad-rotor UAV,the dynamics modeling and control of the quad-rotor UAV were studied.A dynamics simulation model for small quad-rotor aircrafts was established by using mechanism modelling together with experimental test.And the nonlinear model was linearized by using LPV method.PID controllers were respectively designed for the four decoupling channels of the aircraft model.We made simulation to the whole control system on the Matlab/Simulink simulation platform.The results showed that the dynamic model and the PID controllers can efficiently achieve the self-stability control of the aircraft,laying a foundation for the subsequent control research about the quad-rotor unmanned aerial vehicles.